CN103444832A - Automatic fifty-fifty splitting robot with single-shaft dual-crank rocking bar mechanism - Google Patents
Automatic fifty-fifty splitting robot with single-shaft dual-crank rocking bar mechanism Download PDFInfo
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- CN103444832A CN103444832A CN2013104413992A CN201310441399A CN103444832A CN 103444832 A CN103444832 A CN 103444832A CN 2013104413992 A CN2013104413992 A CN 2013104413992A CN 201310441399 A CN201310441399 A CN 201310441399A CN 103444832 A CN103444832 A CN 103444832A
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Abstract
The invention relates to an automatic fifty-fifty splitting robot, in particular to an automatic fifty-fifty splitting robot with a single-shaft dual-crank rocking bar mechanism, and aims to solve the problem that short pillars and guide grooves of existing fifty-fifty splitting equipment slide correspondingly, a large amount of mechanical energy is consumed, noise is produced, and wearing of cutters is uneven. According to the automatic fifty-fifty splitting robot, a livestock supporting mechanism is mounted at the front end of a frame, a motor is mounted on the frame, two cranks are arranged parallelly in a same row, the upper end of each crank is connected to one end of a crankshaft, the crankshaft is connected to a rotary shaft of the motor through a bevel gear pair, two crank rocking bar mechanisms are arranged parallelly in a same row, each splitting cutter is connected to the front end of a rocking bar of one crank rocking bar mechanism, each rocking bar is hinged with the frame, and the lower end of each crank is connected to one corresponding crank rocking bar mechanism. The automatic fifty-fifty splitting robot is used for cutting livestock.
Description
Technical field
The present invention relates to a kind of auto-splitting machine device people, be specifically related to a kind of auto-splitting machine device people with single-shaft double-crank-rocker mechanism.
Background technology
In slaughtering animal processing, splitting of livestock ketone body partly cut apart to operation difficulty the most, not only need to consume a large amount of muscle power, and, for the consideration of subsequent job, to splitting half precision, also have certain requirement.Traditional handwork is inefficiency not only, and cut quality is unsatisfactory.Along with the develop rapidly of automatic technology, this heavy and dull work is born by various automated machine gradually.In the job shop of present stage, more typical spliting machine tool is mainly hand-held electric saw and crank block type is split half saw.
Hand-held electric saw is to drive saw blade reciprocating cutting or band moving plate type saw blade circumgyration incision by portable electric machine by transmission mechanism.Although the use of motor makes cutting efficiency greatly improve, the effects such as the cutting force that in cutting process, cutter bears, feeding resistance all can be passed to the operator by motor, cause labour intensity still very large.And, because the cutting line of cutting is held by artificial fully, so split half precision, fail to improve.
It is to drive by slider-crank mechanism half saw of splitting be connected on slide block by fixed electrical machinery to move back and forth that crank block type is split half saw, and transmission mechanism all is placed in protective cover.Same, the application of motor has promoted working (machining) efficiency greatly, and the stressed of motor passed on frame, so labour intensity only is the loading and unloading before and after cutting.But in the said mechanism course of work, stationarity is poor, cause significantly vibration and noise phenomenon.And machine saw easily causes larger bone bits loss, the heat that friction produces can affect the color of livestock spine section again, makes the meat grade descend.The precision aspect, its cutting accuracy is the precision of manual clamping location fully, fails to realize automatic location, has limited overall process velocity.
The utility model patent that the patent No. is 98242927.4 discloses a kind of Double knife spliting machine, comprise frame, two choppers and two by motor-driven swiveling wheel, two choppers be take same fixed axis as the fulcrum rotation, two swiveling wheel rotating shaft conllinear, left and right two choppers are connected with movable the pegging graft of short column and groove with two swiveling wheels respectively, rotation by swiveling wheel between post, groove produces periodic relative displacement, thereby drive, two choppers are staggered to rise and fall.This design double-pole symmetry cuts motion, and not only balance is good, and it is accurate to cut spots localization, obtains and better splits half quality.But the violent relative sliding of short column and cutter groove not only loss a large amount of mechanical energy, and can produce obvious noise, in addition, the blade each point cutting speed of fixed-axis rotation differs larger, causes the uneven wear of cutter.
Summary of the invention
The present invention produces relative sliding for solving existing short column and the guide groove of splitting half equipment, and a large amount of mechanical energy of loss, produce noise, and the inhomogeneous problem of tool wear, and then propose to have the auto-splitting machine device people of single-shaft double-crank-rocker mechanism.
The present invention addresses the above problem the technical scheme of taking to be: the present invention includes frame, the livestock supporting mechanism, motor, two choppers, two crank and rocker mechanisms and two cranks, described livestock supporting mechanism is arranged on the front end of frame, motor is arranged on frame, two cranks be arranged in parallel side by side, each is connected with an end of crank axle respectively in the upper end of each crank, described crank axle is connected with the turning cylinder of motor by bevel gear pair, two crank and rocker mechanisms be arranged in parallel side by side, each chopper each front end with the rocking bar of a crank and rocker mechanism respectively is connected, each rocking bar is all hinged with frame, the lower end of each crank connects with a corresponding crank and rocker mechanism respectively.
The invention has the beneficial effects as follows: the present invention has inherited that existing similar machines is efficient, the advantage of automation, accurate positioning, has absorbed the Innovative Elements of the double-pole that is of value to stationarity; Two rocking bar ends in the present invention all dispose counterweight, and with the inertia force in partial equilibrium connecting rod mechanism movement process, and chopper rises and falls to move and hockets, and this all is beneficial to the minimizing cutting vibrating, improves cutting precision; Chopper of the present invention is driven by crank, has avoided the violent friction between front short column and cutter groove, has also reduced noise when improving mechanical efficiency; Chopper of the present invention and the connecting rod associated movement that fixes as one, connecting rod angle speed is very little, thereby makes each point cutting speed on blade be more or less the same, and has avoided the uneven wear of cutter.
The accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention, and Fig. 2 is the crank and rocker mechanism front view, and Fig. 3 is the crank and rocker mechanism top view.
The specific embodiment
The specific embodiment one: present embodiment is described in conjunction with Fig. 1 to Fig. 3, the described auto-splitting machine device people with single-shaft double-crank-rocker mechanism of present embodiment comprises frame 1, the livestock supporting mechanism, motor 9, two choppers 4, two crank and rocker mechanisms 5 and two cranks 8, described livestock supporting mechanism is arranged on the front end of frame 1, motor 9 is arranged on frame 1, two cranks 8 be arranged in parallel side by side, each is connected with an end of crank axle respectively in the upper end of each crank 8, described crank axle is connected with the turning cylinder of motor 9 by bevel gear pair, two crank and rocker mechanisms 5 be arranged in parallel side by side, each chopper 4 each front end with the rocking bar 10 of a crank and rocker mechanism 5 respectively is connected, each rocking bar 10 is all hinged with frame 1, the lower end of each crank 8 connects with a corresponding crank and rocker mechanism 5 respectively.
In present embodiment, two cranks 8 are co-rotation, and motor 9 drives two cranks 8 to rotate by bevel gear pair; In present embodiment, chopper 4 rises and falls to move and hockets, and is conducive to reduce cutting vibrating, improves cutting precision; Two choppers 4 are driven by two cranks 8, have also reduced noise when improving mechanical efficiency; Each chopper 4 and a corresponding rocking bar 10 associated movement that fixes as one, rocking bar 10 angular speed are very little, thereby make each point cutting speed on blade be more or less the same, and avoided the uneven wear of cutter.
The specific embodiment two: present embodiment is described in conjunction with Fig. 1 to Fig. 3, the described livestock supporting mechanism with auto-splitting machine device people of single-shaft double-crank-rocker mechanism of present embodiment comprises yaw frame 2, rocker 3, front jockey wheel group 6 and rear guiding wheels 7, the rear end of yaw frame 2 is connected with the front end of frame l, the front end of the upper end of rocker 3 and yaw frame 2 is hinged, front jockey wheel group 6 is arranged on the lower end of rocker 3, and rear guiding wheels 7 are hinged by installing rack and frame l.
The technique effect of present embodiment is: so arrange, it during rocker 3 SBR, is level, during cutting, transfer to vertically, two front jockey wheels of front jockey wheel group 6 prop up the livestock backbone from outside, after two of rear guiding wheels 7, directive wheel props up the livestock backbone from livestock inside under the promotion of cylinder, thereby realized the surface trimming location, greatly improved the automaticity of machine.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment three: present embodiment is described in conjunction with figure l to Fig. 3, the described auto-splitting machine device people with single-shaft double-crank-rocker mechanism of present embodiment also comprises two counterweights 11, and each counterweight 11 is arranged on respectively the rear end of the rocking bar 10 of a corresponding crank and rocker mechanism 5.
The technique effect of present embodiment is: so arrange, the inertia force in two link motion processes of two counterweight 11 balances, be conducive to reduce cutting vibrating, improves cutting precision.Other composition and annexation are identical with the specific embodiment one.
Claims (3)
1. the auto-splitting machine device people who there is single-shaft double-crank-rocker mechanism, it is characterized in that: the described auto-splitting machine device people with single-shaft double-crank-rocker mechanism comprises frame (1), the livestock supporting mechanism, motor (9), two choppers (4), two crank and rocker mechanisms (5) and two cranks (8), described livestock supporting mechanism is arranged on the front end of frame (1), motor (9) is arranged on frame (1), two cranks (8) be arranged in parallel side by side, each is connected with an end of crank axle respectively in the upper end of each crank (8), described crank axle is connected with the turning cylinder of motor (9) by bevel gear pair, two crank and rocker mechanisms (5) be arranged in parallel side by side, each chopper (4) each front end with the rocking bar (10) of a crank and rocker mechanism (5) respectively is connected, each rocking bar (10) is all hinged with frame (1), the lower end of each crank (8) connects with a corresponding crank and rocker mechanism (5) respectively.
2. the auto-splitting machine device people who there is according to claim 1 single-shaft double-crank-rocker mechanism, it is characterized in that: described livestock supporting mechanism comprises yaw frame (2), rocker (3), front jockey wheel group (6) and rear guiding wheels (7), the rear end of yaw frame (2) is connected with the front end of frame (1), the front end of the upper end of rocker (3) and yaw frame (2) is hinged, front jockey wheel group (6) is arranged on the lower end of rocker (3), and rear guiding wheels (7) are hinged by installing rack and frame (1).
3. the auto-splitting machine device people who there is according to claim 1 single-shaft double-crank-rocker mechanism, it is characterized in that: the described auto-splitting machine device people with single-shaft double-crank-rocker mechanism also comprises two counterweights (11), and each counterweight (11) is arranged on respectively the rear end of the rocking bar (10) of a corresponding crank and rocker mechanism (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013104413992A CN103444832A (en) | 2013-09-25 | 2013-09-25 | Automatic fifty-fifty splitting robot with single-shaft dual-crank rocking bar mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013104413992A CN103444832A (en) | 2013-09-25 | 2013-09-25 | Automatic fifty-fifty splitting robot with single-shaft dual-crank rocking bar mechanism |
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| CN103444832A true CN103444832A (en) | 2013-12-18 |
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| CN2013104413992A Pending CN103444832A (en) | 2013-09-25 | 2013-09-25 | Automatic fifty-fifty splitting robot with single-shaft dual-crank rocking bar mechanism |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109005985A (en) * | 2018-07-16 | 2018-12-18 | 浙江理工大学 | A kind of nonirrigated farmland nursery stock grafting machine |
| CN109169801A (en) * | 2018-08-21 | 2019-01-11 | 常德市天力机械装备有限公司 | A kind of pig splitting device |
| CN111015087A (en) * | 2019-11-22 | 2020-04-17 | 马鞍山市松林刮刀锯有限公司 | Production process of robot splitting knife |
| WO2020249156A1 (en) * | 2019-06-13 | 2020-12-17 | Freund Maschinenfabrik Gmbh & Co. Kg | Apparatus for detaching the backbone from halves of an animal carcass |
| CN112189699A (en) * | 2020-11-02 | 2021-01-08 | 昆山贝资智能科技有限公司 | Slaughtering equipment |
| CN113061320A (en) * | 2021-03-25 | 2021-07-02 | 哈尔滨工业大学 | Sandwich composite material plate for robot structure and protection and preparation method |
| ES2926000A1 (en) * | 2021-04-09 | 2022-10-20 | Aira Robotics S L | DEVICE FOR CUTTING IN HALF AN ANIMAL AND ROBOT CARCASS INCORPORATING SAID CUTTING DEVICE (Machine-translation by Google Translate, not legally binding) |
| CN115399357A (en) * | 2022-08-19 | 2022-11-29 | 南京市宏伟屠宰机械制造有限公司 | Full-automatic livestock and poultry splitting robot |
| CN115624049A (en) * | 2022-10-09 | 2023-01-20 | 厦门傲泓智能装备有限公司 | Combined cutting tool for splitting livestock carcass |
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| US1353013A (en) * | 1918-10-21 | 1920-09-14 | Daniel L Appelberry | Beef-splitting machine |
| US3641624A (en) * | 1968-08-07 | 1972-02-15 | Aubert George | Carcass separation |
| FR2152316A5 (en) * | 1972-09-21 | 1973-04-20 | Gregoire Marcel | |
| US4262388A (en) * | 1975-01-10 | 1981-04-21 | Agence Nationale De Valorisation De La Recherche (Anvar) | Apparatus for longitudinally cutting vertically suspended animal carcasses |
| US4841602A (en) * | 1986-09-02 | 1989-06-27 | Nederlandse Centrale Organisatie Voor Toegepast Natuurwetenschappelijk Onderzoek | Device for cutting up meat and/or bones of a slaughter animal |
| US5421772A (en) * | 1993-04-19 | 1995-06-06 | Durand International | Device for fixation between a support and actuation member and a tool |
| CN2287385Y (en) * | 1997-09-11 | 1998-08-12 | 北京市农业机械研究所 | Low vibrasion low noise reciprocating splitting saw for body |
| CN2355546Y (en) * | 1998-12-16 | 1999-12-29 | 江苏信宏畜牧工程有限公司 | Double knife spliting machine |
| CN1359263A (en) * | 1999-07-01 | 2002-07-17 | 贾维斯产品公司 | Automated saw for splitting carcasses |
| FR2938155A1 (en) * | 2008-11-13 | 2010-05-14 | Couedic Madore Equipement | CUTTING SYSTEM FOR LONGITUDINAL SLITTING MACHINE OF BEEF ANIMALS CARCASSES |
| EP2462810A1 (en) * | 2010-12-08 | 2012-06-13 | Durand International | Knife box for a machine for splitting animal carcasses |
-
2013
- 2013-09-25 CN CN2013104413992A patent/CN103444832A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1353013A (en) * | 1918-10-21 | 1920-09-14 | Daniel L Appelberry | Beef-splitting machine |
| US3641624A (en) * | 1968-08-07 | 1972-02-15 | Aubert George | Carcass separation |
| FR2152316A5 (en) * | 1972-09-21 | 1973-04-20 | Gregoire Marcel | |
| US4262388A (en) * | 1975-01-10 | 1981-04-21 | Agence Nationale De Valorisation De La Recherche (Anvar) | Apparatus for longitudinally cutting vertically suspended animal carcasses |
| US4841602A (en) * | 1986-09-02 | 1989-06-27 | Nederlandse Centrale Organisatie Voor Toegepast Natuurwetenschappelijk Onderzoek | Device for cutting up meat and/or bones of a slaughter animal |
| US5421772A (en) * | 1993-04-19 | 1995-06-06 | Durand International | Device for fixation between a support and actuation member and a tool |
| CN2287385Y (en) * | 1997-09-11 | 1998-08-12 | 北京市农业机械研究所 | Low vibrasion low noise reciprocating splitting saw for body |
| CN2355546Y (en) * | 1998-12-16 | 1999-12-29 | 江苏信宏畜牧工程有限公司 | Double knife spliting machine |
| CN1359263A (en) * | 1999-07-01 | 2002-07-17 | 贾维斯产品公司 | Automated saw for splitting carcasses |
| FR2938155A1 (en) * | 2008-11-13 | 2010-05-14 | Couedic Madore Equipement | CUTTING SYSTEM FOR LONGITUDINAL SLITTING MACHINE OF BEEF ANIMALS CARCASSES |
| EP2462810A1 (en) * | 2010-12-08 | 2012-06-13 | Durand International | Knife box for a machine for splitting animal carcasses |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109005985A (en) * | 2018-07-16 | 2018-12-18 | 浙江理工大学 | A kind of nonirrigated farmland nursery stock grafting machine |
| CN109169801A (en) * | 2018-08-21 | 2019-01-11 | 常德市天力机械装备有限公司 | A kind of pig splitting device |
| WO2020249156A1 (en) * | 2019-06-13 | 2020-12-17 | Freund Maschinenfabrik Gmbh & Co. Kg | Apparatus for detaching the backbone from halves of an animal carcass |
| CN111015087A (en) * | 2019-11-22 | 2020-04-17 | 马鞍山市松林刮刀锯有限公司 | Production process of robot splitting knife |
| CN112189699A (en) * | 2020-11-02 | 2021-01-08 | 昆山贝资智能科技有限公司 | Slaughtering equipment |
| CN113061320A (en) * | 2021-03-25 | 2021-07-02 | 哈尔滨工业大学 | Sandwich composite material plate for robot structure and protection and preparation method |
| ES2926000A1 (en) * | 2021-04-09 | 2022-10-20 | Aira Robotics S L | DEVICE FOR CUTTING IN HALF AN ANIMAL AND ROBOT CARCASS INCORPORATING SAID CUTTING DEVICE (Machine-translation by Google Translate, not legally binding) |
| CN115399357A (en) * | 2022-08-19 | 2022-11-29 | 南京市宏伟屠宰机械制造有限公司 | Full-automatic livestock and poultry splitting robot |
| CN115624049A (en) * | 2022-10-09 | 2023-01-20 | 厦门傲泓智能装备有限公司 | Combined cutting tool for splitting livestock carcass |
| CN115624049B (en) * | 2022-10-09 | 2023-12-29 | 厦门傲泓智能装备有限公司 | Combined cutter for splitting carcasses of livestock |
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Application publication date: 20131218 |