CN109773871A - Shao La automatic segmentation robot - Google Patents

Abstract

The present invention relates to a kind of Shao La automatic segmentation robots, including station, and it is set on the station and removes neck device, stripping and slicing device, slicing device and manipulator, the manipulator for grab burning to be slit it is cured and be sequentially delivered to it is described remove neck device, the stripping and slicing device and the slicing device, it is described that neck device, the stripping and slicing device and the slicing device is gone to be respectively utilized to complete to burn and cured go neck, stripping and slicing and sectioning.Shao La automatic segmentation robot of the invention can successively carry out neck, stripping and slicing and sectioning instead of manually cured to burning, effectively promotion working efficiency, reduce security risk.

Description

Shao La automatic segmentation robot

Technical field

The present invention relates to robotic technology fields, more particularly to a kind of Shao La automatic segmentation robot.

Background technique

The Guangdong dishes that cured (such as roasted goose, Roast duck) is traditional characteristics are burnt, color golden red, gravy is delicious, and cortex is crisp, by A person sponging on an aristocrat's likes.By taking roasted goose as an example, after general roasted goose turns roasting on open fire, it can hang over and be irradiated under bright shelves shot-light, waiting is cut on part Dish in traditional barbecuer and curer's shop, usually manually carries out cutting to roasted goose.Since roasted goose skeleton is hard, the roasted goose to be cut into Block needs a knife to cut part, especially allows each piece will be cut into same size, skin and flesh bone cannot separate again be it is remarkable, need Good knife work.Thus, traditional barbecuer and curer's shop uses manually to the cured carry out cutting of burning, and it is more demanding to the knife work for burning cured master worker, make It is lower to obtain working efficiency, and there is some potential safety problems in operation.

Summary of the invention

Based on this, it is necessary in view of the above-mentioned problems, providing a kind of Shao La automatic segmentation robot, can replace manually being burnt Cured cutting is promoted and burns cured cutting efficiency, reduces security risk.

A kind of Shao La automatic segmentation robot, including station, and be set on the station and remove neck device, cut Block assembly, slicing device and manipulator, the manipulator are cured and be sequentially delivered to described neck be gone to fill for grabbing burning to be slit It sets, on the stripping and slicing device and the slicing device, it is described that neck device, the stripping and slicing device and the slicing device is gone to use respectively Cured neck, stripping and slicing and sectioning are gone in completing to burn.

Above-mentioned Shao La automatic segmentation robot can successively carry out neck, stripping and slicing and sectioning instead of manually cured to burning, Working efficiency is effectively promoted, security risk is reduced.The specific work process of the Shao La automatic segmentation robot is as follows: firstly, machine Tool hand grabs that burning to be slit is cured to be placed on neck device, will burn cured neck position removal；Then, manipulator crawl warp The burning for going neck to handle is cured and be transferred on stripping and slicing device, will burn and cured is cut into muti-piece；It burns cured and moves finally, manipulator clamping is block-like Send to after being sliced on slicing device can sabot, be so repeated several times sectioning, can by it is whole burn it is cured be cut into it is more The burning of disk equal part cured.Above-mentioned whole process can realize whole-course automation, without human intervention, can effectively be promoted and burn cured cut Component efficiency and cutting precision require to reduce to the knife work of operator, can effectively avoid the cured master worker of burning and produce in operation Raw knife wound, to reduce security risk.Also, it using robot cutting clean hygiene more than artificial cutting, can effectively avoid The hand oil and sweat for burning cured master worker, which drip to, to be burnt on cured.In addition, carry out burning cured cutting by the Shao La automatic segmentation robot, it is great Technology sense and ornamental value can attract more customers for barbecuer and curer's shop, to promote economic benefit.

The manipulator includes mechanical arm, fixture and visual identifying system, the mechanical arm in one of the embodiments, It is rotatably installed on the station, the fixture is set to the free end of the mechanical arm, and the mechanical arm is according to The information of visual identifying system feedback drives the fixture to move in three-dimensional space to realize and burn cured crawl or release.

It is described in one of the embodiments, to go neck device including including the first support, the second support and the first driving machine Structure, first support and second support are arranged at intervals on the station, and first support is equipped with cutter, described Second support is equipped with positioning plate, and first driving mechanism is for driving the cutter close to or far from the positioning plate.

The station is equipped with perforation in one of the embodiments, and the perforation is located at first support and institute It states between the second support, the lower section of the station is equipped with surge drum corresponding with the perforation.

The stripping and slicing device includes cutting disk and cutting assembly in one of the embodiments, and the cutting disk includes bottom Wall, two the first side walls being oppositely arranged and two second sidewalls being oppositely arranged, the bottom wall, the first side wall and The second sidewall, which is enclosed, burns cured cavity for placing, and respectively corresponds on two the first side walls equipped with the first cutting Slot is respectively corresponded equipped with the second cutting slot in two second sidewalls, be can produce between the cutting disk and the cutting assembly Relative motion so that the cutting assembly can respectively along the first cutting slot and the second cutting slot will burn it is cured be cut into it is more Block.

In one of the embodiments, the stripping and slicing device further include the second driving mechanism on the station and The bottom of guide rail, the cutting disk is equipped with sliding block, and the sliding block is slidably connected with the guide rail, and second driving mechanism is used for The sliding block is driven to move along the guide rail, the cutting disk can rotate in the horizontal plane relative to the sliding block, the cutting group Part is located at the side of the guide rail.

The slicing device includes being sliced box, section cutting tool and third driving mechanism in one of the embodiments, described It is sliced box to be set on the station, in open setting, the section cutting tool is located at the slice box at the top of the slice box Top, the section cutting tool includes connecting plate and multiple blades set on the connecting plate bottom surface, multiple blade parallels And interval setting, the third driving mechanism is connect to drive the section cutting tool to move up and down with the connecting plate, described to cut Piece cutter can press in the slice box so that the burning in the slice box cured is cut into multi-disc.

The slicing device further includes the pedestal being fixed on the station in one of the embodiments, described to cut Film magazine is separably set on the pedestal, two opposite movable plates is additionally provided on the pedestal, two movable plates can Relative motion in the horizontal direction, two movable plates cooperate to clamp or discharge the slice box.

Shao La automatic segmentation robot further includes burning cured incubator in one of the embodiments, described to burn cured guarantor Incubator includes burning cured rack, cabinet and shot-light, and described to burn cured rack on the station, the cabinet covers at institute The periphery for burning cured rack is stated, the side of the cabinet is equipped with the window for burning cured pick-and-place, and the shot-light is set in the cabinet, The shot-light is for carrying out heat preservation irradiation to the burning burnt on cured rack is cured.

It is described in one of the embodiments, that burn cured rack include pedestal, rotating disk and in the rotating disk Multiple rotation struts, the rotating disk are rotatably installed on the pedestal, and the rotation strut is cured for placing burning, described Rotation strut can carry out rotation around own axes with while the rotating disk rotates.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of Shao La automatic segmentation robot described in one embodiment of the invention；

Fig. 2 is the structural schematic diagram for removing neck device of the Shao La automatic segmentation robot in Fig. 1；

Fig. 3 is the structural schematic diagram of the stripping and slicing device of the Shao La automatic segmentation robot in Fig. 1；

Fig. 4 is the structural schematic diagram of the slicing device of the Shao La automatic segmentation robot in Fig. 1；

Fig. 5 is the partially exploded diagram of the cured incubator of burning of the Shao La automatic segmentation robot in Fig. 1.

10, station, 11, perforation, 20, remove neck device, the 21, first support, the 22, second support, 23, cutter, 24, positioning Plate, 241, locating slot, 242, cutter groove, 30, stripping and slicing device, 31, cutting disk, the 311, first cutting slot, the 312, second cutting slot, 32, cutting assembly, 321, bracket, 322, cutting member, 33, guide rail, 34, sliding block, 40, slicing device, 41, pedestal, 411, activity Plate, 42, slice box, 43, section cutting tool, 431, connecting plate, 432, blade, 44, buffer, 50, manipulator, 60, the cured heat preservation of burning Case, 61, the cured rack of burning, 611, rotating disk, 612, rotation strut, 62, cabinet.

Specific embodiment

To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing Give better embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure Add thorough and comprehensive.

It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to To another element or it may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element "upper", There is no intermediary elements.Heretofore described " first ", " second ", " third " do not represent specific quantity and sequence, only Differentiation for title.

Fig. 1 is please referred to, a kind of Shao La automatic segmentation robot includes station 10, and is set on station 10 and goes Neck device 20, stripping and slicing device 30, slicing device 40 and manipulator 50, manipulator 50 are cured and successively pass for grabbing burning to be slit It send to going on neck device 20, stripping and slicing device 30 and slicing device 40, neck device 20, stripping and slicing device 30 and slicing device 40 is gone to distinguish Cured neck, stripping and slicing and sectioning are gone for completing to burn.

The Shao La automatic segmentation robot is particularly applicable to the cutting that roasted goose, Roast duck etc. burn cured product.It is cured by the burning Automatic segmentation robot can successively carry out neck, stripping and slicing and sectioning instead of manually cured to burning, to effectively promote work effect Rate reduces security risk.It is illustrated by taking the cutting of roasted goose as an example, the specific work process of the Shao La automatic segmentation robot is such as Under: it is placed on neck device 20 firstly, manipulator 50 grabs roasted goose to be slit, the goose neck of roasted goose is removed；Then, machine Roasted goose of the crawl of tool hand 50 through going neck to handle simultaneously is transferred on stripping and slicing device 30, and roasted goose is cut into muti-piece；Finally, manipulator 50 presss from both sides Take block-like roasted goose and be transferred to be sliced on slicing device 40 after can sabot, be so repeated several times sectioning, Whole roasted goose is cut into the roasted goose piece of polydisc equal part.

Above-mentioned whole process can realize whole-course automation, without human intervention, can effectively be promoted and burn cured cutting efficiency With cutting precision, the knife work of operator is required to reduce, can effectively avoid the cured master worker of burning and generate knife wound in operation, To reduce security risk.Also, using robot cutting clean hygiene more than artificial cutting, it can effectively avoid and burn cured master worker Hand oil and sweat drip to burn it is cured on.In addition, burn cured cutting by the Shao La automatic segmentation robot, great technology sense and Ornamental value can attract more customers for barbecuer and curer's shop, to promote economic benefit.

Further, manipulator 50 includes mechanical arm, fixture and visual identifying system, and mechanical arm is rotatably installed on behaviour Make on platform, fixture is set to the free end of mechanical arm, and the information that mechanical arm is fed back according to visual identifying system drives fixture in three-dimensional It is moved in space to realize and burn cured crawl or release.Facilitate the accurately control folder of manipulator 50 by the way that visual identifying system is arranged Cured transmission efficiency is burnt to effectively be promoted in the crawl of tool and releasing position.

In one embodiment, referring to figure 2., go neck device 20 include including the first support 21, the second support 22 and First driving mechanism, the first support 21 and the second support 22 are arranged at intervals on station 10, and the top of the first support 21 is equipped with The top of cutter 23, the second support 22 is equipped with positioning plate 24, and the first driving mechanism is fixed on the first support 21 or station 10 On, the first driving mechanism is for driving cutter 23 by way of rotating or translating close to or far from positioning plate 24.

Specifically, by taking roasted goose as an example, the process for carrying out neck operation using the Shao La automatic segmentation robot is as follows: mechanical Hand 50 grabs roasted goose and makes the goose neck of roasted goose goose shoulder portion is navigated to neck and filled by manipulator 50 through visual identifying system downward It sets on 20, subsequent manipulator 50 is transplanted on roasted goose on neck device 20, and roasted goose vertically toward moving down, is cut until goose neck is all put into In gap between knife 23 and positioning plate 24, when goose shoulder encounters neck device 20, the first driving mechanism on neck device 20 is gone It drives cutter 23 to move towards positioning plate 24, the neck head of roasted goose is cut until being kept completely separate with roasted goose body with gooseneck, is grasped After the completion of work, first driving device drives 23 counter motion of cutter to reset.Whole process is simple, convenient, can effectively be promoted Working efficiency.

Preferably, positioning plate 24 is equipped with locating slot 241 up and down close to the side of cutter 23.By the way that locating slot is arranged 241, it can be positioned to cured neck position is burnt, to guarantee the accuracy of cutting.Wherein, locating slot 241 can be semicircular arc Slot or V-shaped groove etc..

Preferably, positioning plate 24 is equipped with close to the side of cutter 23 for the horizontal cutter groove 242 planted of cutter 23.Pass through cutter 23 with the cooperation of cutter groove 242, it is disconnected can be further ensured that cutter 23 can impose uniformity without examining individual cases goose neck, to promote go neck to operate accurate Property.

Further, station 10 is equipped with perforation 11, and perforation 11 is between the first support 21 and the second support 22, behaviour The lower section for making platform 10 is equipped with and 11 corresponding surge drums of perforation.In this way, the goose neck of cutting can during carrying out neck operation It falls into surge drum and is collected from the perforation 11 on station 10, alleviate and burn the work that cured master worker is collected cleaning to goose neck It measures, further promotes working efficiency.

In one embodiment, referring to figure 3., stripping and slicing device 30 includes cutting disk 31 and cutting assembly 32, cutting disk 31 include bottom wall, two the first side walls being oppositely arranged and two second sidewalls being oppositely arranged, bottom wall, the first side wall and Second sidewall, which is enclosed, burns cured cavity for placing, and is respectively corresponded on two the first side walls equipped with the first cutting slot 311, and two the It is respectively corresponded on two side walls equipped with the second cutting slot 312, can produce relative motion between cutting disk 31 and cutting assembly 32, so that Cutting assembly 32 will can be burnt along the first cutting slot 311 and the second cutting slot 312 respectively cured is cut into muti-piece.

Specifically, the process for carrying out dicing operation using the Shao La automatic segmentation robot is as follows: manipulator 50 going The roasted goose of head neck rotates 90 °, and until goose tripe is towards ground, the fixture on subsequent manipulator 50 is put into roasted goose on cutting disk 31, In dicing process, make to generate relative motion between cutting disk 31 and cutting assembly 32, so that cutting assembly 32 be enable to distinguish The roasted goose in cutting disk 31 is cut into four pieces along the first cutting slot 311 and the second cutting slot 312.Entire dicing process operation letter It is single, and the precision and stripping and slicing efficiency for burning cured stripping and slicing can be increased.In dicing process, it is motionless to can be cutting disk 31, cutting Component 32 is moved towards cutting disk 31；It is motionless to be also possible to cutting assembly 32, cutting disk 31 moves, as long as can make cutting assembly 32 carry out cutting along the first cutting slot 311 and the second cutting slot 312.

Further, stripping and slicing device 30 further includes the second driving mechanism and guide rail 33 on station 10, cutting disk 31 bottom is equipped with sliding block 34, and sliding block 34 is slidably connected with guide rail 33, and the second driving mechanism is for driving sliding block 34 along guide rail 33 Movement, cutting disk 31 can opposing slider 34 rotate in the horizontal plane, cutting assembly 32 is located at the side of guide rail 33.

In the present embodiment, cutting assembly 32 is fixedly installed with respect to station 10, and cutting disk 31 can be done on station 10 Linear motion, while cutting disk 31 can also rotate in the horizontal plane.Specifically, cutting assembly 32 includes bracket 321, cutting member 322 and actuator, bracket 321 is set to the side of guide rail 33, and cutting member 322 and actuator are set on bracket 321, cutting member 322 periphery is equipped with several sawtooth, and actuator driving cutting member 322 rotates in perpendicular.When carrying out stripping and slicing to roasted goose, First by the first cutting slot 311 and the cutting member 322 on cutting disk 31 along same aligned, the second driving mechanism drives cutting disk 31 move along guide rail 33, and when cutting disk 31 moves to 322 lower section of cutting member, cutting member 322 can will be burnt along the first cutting slot 311 Cutting is into two along longitudinal direction from up to down for goose；Then cutting disk 31 is rotated by 90 °, so that the second cutting slot 312 and cutting member 322 Along same aligned, when cutting disk 31 moves to 322 lower section of cutting member, cutting member 322 can will be burnt along the second cutting slot 312 From goose loin, transversely roasted goose into two, is finally cut into approximate four pieces of size to goose by cutting, simple, convenient.

Further, rotary drive mechanism is equipped between cutting disk 31 and sliding block 34, rotary drive mechanism is cut for driving Disk 31 is divided to rotate.The automatic rotation of cutting disk 31 can be realized by the way that rotary drive mechanism is arranged, it can be to the rotation angle of cutting disk 31 Degree is accurately controlled, to guarantee that cutting assembly 32 can be smoothly inserted into the first cutting slot 311 and the second cutting slot 312, Guarantee cutting precision.Wherein, rotary drive mechanism concretely rotary cylinder or motor etc..

In one embodiment, referring to figure 4., slicing device 40 includes that slice box 42, section cutting tool 43 and third are driven Motivation structure, slice box 42 are set on station 10, and in open setting, section cutting tool 43 is located at slice box 42 at the top of slice box 42 Top, section cutting tool 43 includes connecting plate 431 and multiple blades 432 set on 431 bottom surface of connecting plate, and multiple blades 432 are flat Row and interval setting, third driving mechanism are connect to drive the up and down motion of section cutting tool 43 with connecting plate 431, and section cutting tool 43 can It presses in slice box 42 so that the burning being sliced in box 42 cured is cut into multi-disc.

Specifically, using the Shao La automatic segmentation robot carry out sectioning process it is as follows: manipulator 50 respectively Big goose block in cutting disk 31 grabs in the slice box 42 of slicing device 40, drives section cutting tool by third driving mechanism 43 move downward, and the blade 432 on connecting plate 431 can be cut into sheet of uniform size for the burning being sliced in box 42 is cured, weight Three times, one roasted goose can be divided into the gosling piece of four disk equal parts to multiple above step during this.

Further, be equipped in the middle part of the bottom surface of connecting plate 431 and separate slice, separate slice opposite sides be symmetrically arranged with it is more A blade 432.Specifically, the bottom for separating slice and blade 432 is each formed with sharp cutting edge, separate slice and multiple knives Piece 432 combination form mesh grille structure, wherein separate slice with the setting direction of multiple blades 432 can for tilt or it is vertical Intersection, can will so burn it is cured be cut into sheet smaller, more evenly, further promote slice efficiency.

Further, buffer 44 is additionally provided on connecting plate 431.By the way that buffer 44 is arranged, pushed in section cutting tool 43 During can play certain buffer function, to prevent section cutting tool 43 from damaging because impact force is excessive, can effectively be promoted and be cut The service life of piece cutter 43.

Further, slicing device further includes the pedestal 41 being fixed on station 10, and slice box 42 is separably arranged In on pedestal 41, being additionally provided with two opposite movable plates 411 on pedestal 41, two movable plates 411 can relative motion in the horizontal direction, Two movable plates 411 cooperate will be sliced the clamping of box 42 or release.Slice box 42 can be pressed from both sides by the cooperation of two movable plates 411 It fastens, to guarantee in slicing processes, slice box 42 will not shift, and guarantee the accuracy of slice.After the completion of slice, Two movable plates 411 will be away from each other will be sliced release, so that being convenient to the goose piece that will be sliced in box 42 takes out sabot.

In one of the embodiments, referring to figure 5., Shao La automatic segmentation robot further includes burning cured incubator 60, is burnt Cured incubator 60 includes burning cured rack 61, cabinet 62 and shot-light, burns cured rack 61 on station 10, cabinet 62 is provide with In the periphery for burning cured rack 61, the side of cabinet 62 is equipped with the window for burning cured pick-and-place, and shot-light is set in cabinet 62, specifically may be used Shot-light is set to the top of cabinet 62, shot-light is for carrying out heat preservation irradiation to the burning burnt on cured rack 61 is cured.It is burnt by setting Cured incubator 60 can prevent the oil for burning cured surface from solidifying, simultaneously also with cured for storing burning to be slit by the irradiation of shot-light The cured color of burning can be allowed to become more bright, attract customer.

Further, burning cured rack 61 includes pedestal, rotating disk 611 and multiple rotations support in rotating disk 611 Bar 612, rotating disk 611 are rotatably installed on pedestal, and rotation strut 612 burns cured for placing, and rotation strut 612 can be with Rotation is carried out around own axes while rotating disk 611 rotates.

Specifically, rotating disk 611 is rotatably installed on pedestal and can rotate 360 ° in the horizontal plane, rotating disk 611 are equipped with multiple rotation struts 612, and rotation strut 612 on the one hand can be with the rotation of rotating disk 611 and around rotating disk 611 center line revolution, another aspect rotation strut 612 can carry out rotation around the axis of itself.Wherein, rotation strut 612 from The power resources turned may be from the drive of rotating disk 611, or can also be by the way that driving mechanism in addition is arranged so that rotation strut 612 Rotation.The quantity of rotation strut 612 can be configured according to actual needs, generally may be configured as 6~8.Shot-light is installed on case Heat can be covered effectively with cured rotation is burnt and burn cured whole body by the top of body 62, so that it is heated to burn cured each position Degree is more uniform, to effectively promote the uniformity for burning cured heat preservation.When needing cutting to burn cured (such as roasted goose), manipulator 50 is logical It crosses window to protrude into cabinet 62 and position to goose loin, the fixture on manipulator 50 can clamp roasted goose, and manipulator 50 drives Roasted goose is move upwardly until that roasted goose is removed from rotation strut 612, can successively carry out it is subsequent go neck, stripping and slicing and slice behaviour Make.

Preferably, cabinet 62 is transparent cabinet made of transparent material.In this way, a person sponging on an aristocrat can be facilitated to see color in cabinet 62 The burning of golden red is cured, to attract more customers to enter barbecuer and curer's shop.

Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited In contradiction, all should be considered as described in this specification.

The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.

Claims (10)

1. a kind of Shao La automatic segmentation robot, which is characterized in that including station, and be set on the station and go Neck device, stripping and slicing device, slicing device and manipulator, the manipulator are cured and be sequentially delivered to institute for grabbing burning to be slit It states on neck device, the stripping and slicing device and the slicing device, it is described to remove neck device, the stripping and slicing device and slice dress It sets to be respectively utilized to complete to burn and cured goes neck, stripping and slicing and sectioning.

2. Shao La automatic segmentation according to claim 1 robot, which is characterized in that the manipulator include mechanical arm, Fixture and visual identifying system, the mechanical arm are rotatably installed on the station, and the fixture is set to the machinery The free end of arm, the information that the mechanical arm is fed back according to the visual identifying system drive the fixture to transport in three-dimensional space It is dynamic to burn cured crawl or release to realize.

3. Shao La automatic segmentation according to claim 1 robot, which is characterized in that it is described go neck device include include the One support, the second support and the first driving mechanism, first support and second support are arranged at intervals at the station On, first support is equipped with cutter, and second support is equipped with positioning plate, and first driving mechanism is for driving described cut Knife is close to or far from the positioning plate.

4. Shao La automatic segmentation according to claim 3 robot, which is characterized in that the station is equipped with perforation, Between first support and second support, the lower section of the station is equipped with corresponding with the perforation for the perforation Surge drum.

5. Shao La automatic segmentation according to claim 1 robot, which is characterized in that the stripping and slicing device includes cutting disk And cutting assembly, the cutting disk include bottom wall, two the first side walls being oppositely arranged and two second side being oppositely arranged Wall, the bottom wall, the first side wall and the second sidewall, which are enclosed, burns cured cavity, two first sides for placing It is respectively corresponded on wall equipped with the first cutting slot, is respectively corresponded in two second sidewalls equipped with the second cutting slot, the cutting disk It can produce relative motion between the cutting assembly, so that the cutting assembly can be respectively along the first cutting slot and described Second cutting slot, which will be burnt, cured is cut into muti-piece.

6. Shao La automatic segmentation according to claim 5 robot, which is characterized in that the stripping and slicing device further includes being set to The bottom of the second driving mechanism and guide rail on the station, the cutting disk is equipped with sliding block, the sliding block and the guide rail It is slidably connected, for second driving mechanism for driving the sliding block to move along the guide rail, the cutting disk can be relatively described Sliding block rotates in the horizontal plane, and the cutting assembly is located at the side of the guide rail.

7. Shao La automatic segmentation according to claim 1 robot, which is characterized in that the slicing device includes slice Box, section cutting tool and third driving mechanism, the slice box are set on the station, and the top of the slice box is set in opening Set, the section cutting tool be located at it is described slice box top, the section cutting tool include connecting plate and be set to the connecting plate bottom Multiple blades in face, multiple blade parallels and interval setting, the third driving mechanism are connect with the connecting plate to drive It moves the section cutting tool to move up and down, the section cutting tool can press in the slice box so that the burning in the slice box is cured It is cut into multi-disc.

8. Shao La automatic segmentation according to claim 7 robot, which is characterized in that the slicing device further includes fixing Pedestal on the station, the slice box are separably set on the pedestal, and two are additionally provided on the pedestal Opposite movable plate, two movable plates can relative motion in the horizontal direction, two movable plates cooperate to cut described Film magazine clamps or release.

9. according to claim 1 to Shao La automatic segmentation robot described in 8 any one, which is characterized in that further include that burning is cured Incubator, described to burn cured incubator including burning cured rack, cabinet and shot-light, the cured rack of burning is set on the station On, the cabinet covers at the periphery for burning cured rack, and the side of the cabinet is equipped with the window for burning cured pick-and-place, described Shot-light is set in the cabinet, and the shot-light is for carrying out heat preservation irradiation to the burning burnt on cured rack is cured.

10. Shao La automatic segmentation according to claim 9 robot, which is characterized in that the cured rack of burning includes seat Body, rotating disk and multiple rotation struts in the rotating disk, the rotating disk are rotatably installed on the pedestal, The rotation strut is cured for placing burning, and the rotation strut can be carried out with while the rotating disk rotates around own axes Rotation.