CN111096348B - Livestock carcass clamping device - Google Patents
Livestock carcass clamping device Download PDFInfo
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- CN111096348B CN111096348B CN201911379033.0A CN201911379033A CN111096348B CN 111096348 B CN111096348 B CN 111096348B CN 201911379033 A CN201911379033 A CN 201911379033A CN 111096348 B CN111096348 B CN 111096348B
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22B—SLAUGHTERING
- A22B5/00—Accessories for use during or after slaughtering
Abstract
The invention relates to a livestock carcass clamping device, comprising: the device comprises a grappling device, a rack I, a linear module II, a linear module III, a rack II, a rotating motor, a mounting rack body, a base, a vacuum adsorption device, a guide fork device, a servo motor III, a servo motor I, a servo motor II, a driver IV, a driver I, a driver II, a driver III, a longitudinal CCD camera, a horizontal CCD camera, a camera support and a main controller; the livestock carcass clamping device can automatically hang sheep carcasses on a production line to a proper position, liberates manpower, and is time-saving and labor-saving. The livestock carcass clamping device can fix the sheep carcass by using the guide fork device and the vacuum generating device, so that the sheep carcass can be kept stable in the subsequent treatment process.
Description
Technical Field
The invention belongs to the technical field of slaughtering and cutting, and relates to a livestock carcass clamping device.
Background
The division of carcass mutton limbs is an indispensable technical link for mutton processing, and domestic enterprises generally cut the limbs from the carcass according to the following steps: hanging the carcass mutton from the rear leg of the carcass on a conveying line and conveying the carcass mutton to a cutting station, manually cutting the rear leg, manually lifting the carcass and hanging the carcass back to the conveying line, and manually cutting the front leg. When the worker cuts the four limbs, the worker cuts the sheep leg by using the other hand-held knife while pulling and separating the sheep leg by one hand. The method has the following problems: first, the carcass is not completely stable, so the speed and quality of manual leg removal is affected. Secondly, the weight of the sheep carcass is generally 20 kg-40 kg, the whole carcass is lifted from the hind legs and hung to the ischial obturator foramen by manpower, and the process consumes physical energy of workers extremely. Above-mentioned problem makes the whole efficiency and the production quality of mutton slaughtering production difficult to further promote.
Therefore, people are always dedicated to inventing a carcass clamping device and a power assisting device for the process of transferring and dividing sheep carcasses. For example, the sheep carcass is transferred by the grapple device under the guidance of the machine vision, and the sheep carcass is clamped and fixed by the vacuum adsorption device and the guide fork device, so as to ensure the stability of the sheep carcass during transferring and cutting.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a livestock carcass clamping device which is used for lifting and transferring a sheep carcass to an ischial closed hole and keeping the sheep carcass stable.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
a livestock carcass gripping apparatus comprising: the device comprises a grappling hook device, a rack I017, a linear module I018, a linear module II 011, a linear module III 015, a rack II 014, a rotating motor 013, a mounting rack body 031, a base 010, a vacuum adsorption device, a guide fork device, a servo motor III, a servo motor I, a servo motor II, a driver IV, a driver I, a driver II, a driver III, a longitudinal CCD camera 024, a horizontal CCD camera 025, a camera support 026 and a main controller;
the linear module II 011 is mounted on the base 010 through bolts, a sliding table II 012 is arranged on the linear module II 011, the sliding table II 012 is connected with a servo motor II, the servo motor II is connected with a driver II, the driver II drives the servo motor II to move, the sliding table II 012 is driven by the servo motor II to do reciprocating linear motion relative to the linear module II 011, the sliding table II 012 is connected with the lower part of a rotary motor 013 through bolts, the upper part of the rotary motor 013 is connected with a rack II 014 through bolts, the rotary motor 013 is connected with a driver IV, and the rotary motor 013 is driven by the driver IV to do rotary motion;
the linear module III 015 is installed on a rack II 014, a sliding table III 016 is arranged on the linear module III 015 and is connected with a servo motor III, the servo motor III is connected with a driver III, the driver III drives the servo motor III to move, the sliding table III 016 is driven by the servo motor III to do reciprocating linear motion relative to the linear module III 015, the sliding table III 016 is connected with a mounting rack body 031 through bolts, the sliding table III 016 drives the mounting rack body 031 to do vertical motion,
the linear module I018 is installed on the rack I017, the rack I017 is connected with the upper portion of the installation rack body 031 through bolts, a sliding table I019 is arranged on the linear module I018 and connected with a servo motor I, the servo motor I is connected with a driver I, the driver I drives the servo motor I to move, the sliding table I019 is driven by the servo motor I to do reciprocating linear motion relative to the linear module I018, the sliding table I019 is connected with the grappling device and used for driving the grappling device to do transverse linear motion,
the vacuum adsorption device and the guide fork device are both arranged on the mounting frame body 031;
the longitudinal CCD camera 024 is arranged on the grappling device and used for collecting the position of the grappling device in the horizontal direction and the position of the pubis of the livestock carcass, and the horizontal CCD camera 025 is arranged on the camera bracket 026 and used for collecting the position of the grappling device in the vertical direction and the position of the livestock carcass in the vertical direction;
and the driver IV, the driver I, the driver II, the driver III, the longitudinal CCD camera 024 and the horizontal CCD camera 025 are connected with the main controller.
On the basis of the above scheme, the grapple device includes: a grapple 023, a rotary motor 022, a rotary motor driver and a grapple mounting flange 021; grapple 023 acts on the pubic bone forward position of domestic animal carcass, mentions the carcass, and the restriction carcass reciprocates, and grapple 023's upper end is equipped with the mounting hole, and the bolt passes the mounting hole and installs grapple 023 on rotary motor 022, and rotary motor 022 drives grapple 023 rotation, rotary motor 022's casing is connected with grapple mounting flange 021's lower extreme, grapple mounting flange 021's upper end and slip table I019 are connected, and grapple 021 makes horizontal linear motion under the drive of slip table I019, rotary motor 022 is connected with the rotary motor driver, and the rotary motor driver passes through MODBUS communication bus and is connected with main control unit.
On the basis of the above scheme, the mounting bracket body 031 is the frame construction that the section bar was built, the base 010 is the frame that the section bar was made, and the lower extreme of base 010 passes through rag bolt to be fixed on ground.
On the basis of the scheme, the longitudinal CCD camera 024 is installed on the grapple mounting flange 021; the camera bracket 026 is a frame made of a section bar.
On the basis of the above scheme, the vacuum adsorption device comprises: a back plate 032, a group of suckers 033, a vacuum generating device and a vacuum generating device driving gas circuit;
the input end of the vacuum generating device is connected with the output of the vacuum generating device driving gas circuit; the input of a driving gas circuit of the vacuum generating device is connected with the air pump, an electromagnetic valve in the driving gas circuit of the vacuum generating device is connected with the main controller, and the output end of the vacuum generating device is connected with the sucker 033; the back plate 032 is mounted at the lower part of the mounting frame body 031 through bolts, a hole site is formed in the back plate 032, and the sucker 033 is mounted in the hole site through threads; under the action of the driving gas circuit of the vacuum generating device, the sucker 033 adsorbs the waist and back muscles of the livestock carcass, so that the carcass is stable.
On the basis of the scheme, the number of the suckers 033 is three, the diameters of the suckers 033 are 65 mm-70 mm, the distance between every two suckers 033 is 80 mm-100 mm, the inclination angle of the back plate 032 is 15-20 degrees, the vertical distance between the horizontal plane where the suckers 033 are located and the bottom end of the grapple 023 is 150 mm-200 mm, and the suckers 033 are made of food silica gel.
On the basis of the above-described aspect, the guide fork device includes: two tines 034, a hinge 035, a set of springs 036, and a hinge connector 037; prong 034's middle part is straight line guide section, the front portion is for having outside radian section, be used for going into the livestock carcass, the rear portion is the installation section, be equipped with through-hole and hinge axle on the hinge 035, the bolt passes the through-hole and installs hinge 035 in the lower part of mounting bracket body 031, make it rotate along the hinge axle, two prong 034 install on hinge 035 through hinge connecting piece 037, a set of spring 036 installs on hinge 035, under the effect of spring force, hinge 035 tightens up automatically, hinge 035 and spring 036's junction has spacing dog, position when can restricting hinge 035 and tighten up automatically.
On the basis of the above scheme, the horizontal distance between the two fork teeth 034 when the hinge 035 is fully tightened is greater than 250mm and less than 350 mm.
On the basis of the scheme, the longitudinal CCD camera 024 and the horizontal CCD camera 025 are used for transmitting the acquired RGB image information to the main controller; the main controller is an industrial control computer; the main controller is used for receiving signals transmitted by each driver and the CCD camera, performing algorithm processing on the signals, and finally outputting control signals to each driver to control the action of each driver.
On the basis of above-mentioned scheme, driver IV installs in the inside of rotating electrical machines 013, and the inside at servo motor I is installed to driver I, and servo motor I inlays in the inside of sharp module I018, and the inside at servo motor II is installed to driver II, and servo motor II inlays in the inside of sharp module II 011, and driver III installs in servo motor III's inside, and servo motor III inlays in the inside of sharp module III 015.
The livestock carcass clamping device has the following beneficial effects:
the livestock carcass clamping device can automatically hang the sheep carcass on the assembly line to a proper position, liberates manpower, and saves time and labor.
Secondly, the livestock carcass clamping device can fix the sheep carcass by using the guide fork device and the vacuum generating device, so that the sheep carcass can be kept stable in the subsequent treatment process.
Drawings
The invention has the following drawings:
FIG. 1 is a schematic view of a livestock carcass holding apparatus;
FIG. 2 is a schematic view showing a part of the structure of the livestock carcass holding apparatus;
FIG. 3 is a schematic view of the construction of the grapple attachment and the vision device;
FIG. 4 is a schematic view of a vacuum adsorption apparatus;
FIG. 5 is a schematic view of the guide fork arrangement;
in the figure: 4-livestock transport line; 010-a base; 011-linear module II; 012-sliding table II; 013-rotating electrical machines; 014-frame II; 015-line module iii; 016-slipway III; 017-frame I; 018-straight line module I; 019-slipway I; 021-grapple mounting flange; 022-rotating electrical machines; 023-grapple; 024-longitudinal CCD camera; 025-horizontal CCD camera; 026-camera stand; 031-a mount body; 032-back panel; 033-suction cup; 034-tines; 035-hinge; 036-spring; 037-hinge connection; 041-livestock transport line limit switch; 042-hook.
Detailed Description
The present invention is described in further detail below with reference to figures 1-5.
A livestock carcass gripping apparatus comprising: the device comprises a grappling hook device, a rack I017, a linear module I018, a linear module II 011, a linear module III 015, a rack II 014, a rotating motor 013, a mounting rack body 031, a base 010, a vacuum adsorption device, a guide fork device, a servo motor III, a servo motor I, a servo motor II, a driver IV, a driver I, a driver II, a driver III, a longitudinal CCD camera 024, a horizontal CCD camera 025, a camera support 026 and a main controller;
the linear module II 011 is mounted on the base 010 through bolts, a sliding table II 012 is arranged on the linear module II 011, the sliding table II 012 is connected with a servo motor II, the servo motor II is connected with a driver II, the driver II drives the servo motor II to move, the sliding table II 012 is driven by the servo motor II to do reciprocating linear motion relative to the linear module II 011, the sliding table II 012 is connected with the lower part of a rotary motor 013 through bolts, the upper part of the rotary motor 013 is connected with a rack II 014 through bolts, the rotary motor 013 is connected with a driver IV, and the rotary motor 013 is driven by the driver IV to do rotary motion;
the linear module III 015 is installed on a rack II 014, a sliding table III 016 is arranged on the linear module III 015 and is connected with a servo motor III, the servo motor III is connected with a driver III, the driver III drives the servo motor III to move, the sliding table III 016 is driven by the servo motor III to do reciprocating linear motion relative to the linear module III 015, the sliding table III 016 is connected with a mounting rack body 031 through bolts, the sliding table III 016 drives the mounting rack body 031 to do vertical motion,
the linear module I018 is installed on the rack I017, the rack I017 is connected with the upper portion of the installation rack body 031 through bolts, a sliding table I019 is arranged on the linear module I018 and connected with a servo motor I, the servo motor I is connected with a driver I, the driver I drives the servo motor I to move, the sliding table I019 is driven by the servo motor I to do reciprocating linear motion relative to the linear module I018, the sliding table I019 is connected with the grappling device and used for driving the grappling device to do transverse linear motion,
the vacuum adsorption device and the guide fork device are both arranged on the mounting frame body 031;
the longitudinal CCD camera 024 is arranged on the grappling device and used for collecting the position of the grappling device in the horizontal direction and the position of the pubis of the livestock carcass, and the horizontal CCD camera 025 is arranged on the camera bracket 026 and used for collecting the position of the grappling device in the vertical direction and the position of the livestock carcass in the vertical direction;
and the driver IV, the driver I, the driver II, the driver III, the longitudinal CCD camera 024 and the horizontal CCD camera 025 are connected with the main controller.
On the basis of the above scheme, the grapple device includes: a grapple 023, a rotary motor 022, a rotary motor driver and a grapple mounting flange 021; grapple 023 acts on the pubic bone forward position of domestic animal carcass, mentions the carcass, and the restriction carcass reciprocates, and grapple 023's upper end is equipped with the mounting hole, and the bolt passes the mounting hole and installs grapple 023 on rotary motor 022, and rotary motor 022 drives grapple 023 rotation, rotary motor 022's casing is connected with grapple mounting flange 021's lower extreme, grapple mounting flange 021's upper end and slip table I019 are connected, and grapple 021 makes horizontal linear motion under the drive of slip table I019, rotary motor 022 is connected with the rotary motor driver, and the rotary motor driver passes through MODBUS communication bus and is connected with main control unit.
On the basis of the above scheme, the mounting bracket body 031 is the frame construction that the section bar was built, the base 010 is the frame that the section bar was made, and the lower extreme of base 010 passes through rag bolt to be fixed on ground.
On the basis of the scheme, the longitudinal CCD camera 024 is installed on the grapple mounting flange 021; the camera bracket 026 is a frame made of a section bar.
On the basis of the above scheme, the vacuum adsorption device comprises: a back plate 032, a group of suckers 033, a vacuum generating device and a vacuum generating device driving gas circuit;
the input end of the vacuum generating device is connected with the output of the vacuum generating device driving gas circuit; the input of a driving gas circuit of the vacuum generating device is connected with the air pump, an electromagnetic valve in the driving gas circuit of the vacuum generating device is connected with the main controller, and the output end of the vacuum generating device is connected with the sucker 033; the back plate 032 is mounted at the lower part of the mounting frame body 031 through bolts, a hole site is formed in the back plate 032, and the sucker 033 is mounted in the hole site through threads; under the action of the driving gas circuit of the vacuum generating device, the sucker 033 adsorbs the waist and back muscles of the livestock carcass, so that the carcass is stable.
On the basis of the scheme, the number of the suckers 033 is three, the diameters of the suckers 033 are 65 mm-70 mm, the distance between every two suckers 033 is 80 mm-100 mm, the inclination angle of the back plate 032 is 15-20 degrees, the vertical distance between the horizontal plane where the suckers 033 are located and the bottom end of the grapple 023 is 150 mm-200 mm, and the suckers 033 are made of food silica gel.
On the basis of the above-described aspect, the guide fork device includes: two tines 034, a hinge 035, a set of springs 036, and a hinge connector 037; prong 034's middle part is straight line guide section, the front portion is for having outside radian section, be used for going into the livestock carcass, the rear portion is the installation section, be equipped with through-hole and hinge axle on the hinge 035, the bolt passes the through-hole and installs hinge 035 in the lower part of mounting bracket body 031, make it rotate along the hinge axle, two prong 034 install on hinge 035 through hinge connecting piece 037, a set of spring 036 installs on hinge 035, under the effect of spring force, hinge 035 tightens up automatically, hinge 035 and spring 036's junction has spacing dog, position when can restricting hinge 035 and tighten up automatically.
On the basis of the above scheme, the horizontal distance between the two fork teeth 034 when the hinge 035 is fully tightened is greater than 250mm and less than 350 mm.
On the basis of the scheme, the longitudinal CCD camera 024 and the horizontal CCD camera 025 are used for transmitting the acquired RGB image information to the main controller; the main controller is an industrial control computer; the main controller is used for receiving signals transmitted by each driver and the CCD camera, performing algorithm processing on the signals, and finally outputting control signals to each driver to control the action of each driver.
On the basis of above-mentioned scheme, driver IV installs in the inside of rotating electrical machines 013, and the inside at servo motor I is installed to driver I, and servo motor I inlays in the inside of sharp module I018, and the inside at servo motor II is installed to driver II, and servo motor II inlays in the inside of sharp module II 011, and driver III installs in servo motor III's inside, and servo motor III inlays in the inside of sharp module III 015.
The livestock carcass clamping device is adopted to clamp the livestock carcass: the method comprises the following steps:
s11: two rear legs of the sheep carcass are hung on the hook 042 and are transported by the livestock transportation line 4, and when the hook 042 for hanging the sheep carcass touches the livestock transportation line limit switch 041, the main controller sends a stop signal to the livestock transportation line driving motor after receiving a signal of the livestock transportation line limit switch 041, so that the livestock transportation line 4 stops. Simultaneously main control unit sends the motion signal to driver II, and the motion of slip table II 012 on the drive sharp module II 011 to drive rotating electrical machines 013 and carry out horizontal transverse motion, reach the target position, driver II sends sharp module II 011 signal of taking one's place to the controller.
S12: horizontal CCD camera 025 gathers the position of sheep trunk pubic bone and grapple 023 in the position of vertical direction to give main control unit with information transmission, calculate the back through main control unit, to the III motion signals of sending of driver, the III 16 motions of slip table on the drive sharp module III 015, thereby drive mounting bracket body 031 and be vertical motion, reach the assigned position, the bottom of couple 023 is the fixed value to the vertical distance of sheep trunk this moment, driver III sends sharp module III 015 signal of taking one's place to main control unit.
S13: the longitudinal CCD camera 024 collects positions of a pubic bone and a fork tooth 034 of a sheep carcass in the horizontal direction, sends information to the main controller, the main controller calculates the positions of the pubic bone and the fork tooth 034 of the sheep carcass and sends motion signals to the driver IV, the driver IV drives the rotating motor 013 to do rotary motion so as to drive the linear module III 015 to do rotary motion, the main controller sends motion signals to the rotary motor driver, the rotary motor driver drives the rotary motor 022 to do rotary motion so as to drive the grapple 023 to do rotary motion, and the rotary motion stops when the two fork teeth 034 are opposite to the sheep carcass;
s14: the position of sheep trunk pubis and grapple 023 at the horizontal direction is gathered to vertical CCD camera 024 to give main control unit with information transmission, calculate behind the position information of the two by main control unit, send the motion signal for driver I, I drive slip table I019 motion on the straight line module I018 of driver, thereby drive the grapple device and make horizontal rectilinear motion, the motion stops when the grapple device moves to assigned position department, grapple 023 bottom is in the assigned position department at sheep trunk back rear this moment.
S15: horizontal CCD camera 025 gathers sheep carcass pubis and grapple 023 in the position of vertical direction to give main control unit with information transmission, calculate the back through main control unit, to the motion signal of III sending of driver, the motion of slip table III 016 on the drive straight line module III 015, thereby drive mounting bracket body 031 and be vertical motion to target location, the bottom of grapple 023 this moment is in sheep carcass pubis below.
S16: the position of sheep carcass pubis and grapple 023 in the horizontal direction is gathered to vertical CCD camera 024 to give main control unit with information transmission, calculate the position information of the two by main control unit after, send the motion signal for driver I, I drive slip table I019 motion on the straight line module I018 of driver, thereby stop when driving the grapple device and making horizontally rectilinear motion to the target location, the bottom of grapple 023 is under the sheep carcass pubis forward position this moment.
S17: the vertical upward movement is done to slip table III 016 on the main control unit control straight line module III 015, and horizontal CCD camera 025 gathers the positional information in the vertical direction of sheep carcass, when the sheep carcass moves in the vertical direction, explains that grapple 023 has hooked sheep carcass pubic bone forward position this moment, slip table III 016 stop motion.
S21: the operator takes the sheep carcass back leg off of hook 042, and the whole weight of sheep carcass is all born by grapple 023 at this moment.
The main controller drives the sliding table III 016 on the linear module III 015 to move so as to drive the whole sheep carcass to vertically move upwards. The position information of the sheep trunk in the vertical direction is collected by the horizontal CCD camera 025, the sliding table III 016 is controlled to move, and finally the mounting frame body 031 is driven to move to the designated position.
S22: the main control unit sends the motion instruction to driver I, and I018 of drive of driver drives the straight line module and drives the grappling device and make horizontal rectilinear motion, and grappling 023 drives the sheep trunk and move backward, and the sheep trunk makes a set of sucking disc 033 in sheep trunk back, waist muscle and the vacuum adsorption device laminate completely under the guide of prong 034. Prong 034 is under the spring force effect of spring 036, and the sheep trunk of clamp makes the sheep trunk keep stable. After the sucking disc 033 in the sheep carcass back, waist muscle and vacuum suction device was gathered to vertical CCD camera 024 and was laminated completely, to main control signaling, I stop motion of main control unit control driver.
S23: the main controller sends a switching signal to a vacuum generating device driving air circuit, the vacuum generating device driving air circuit driving suction cups 033 adsorb the muscles of the back and the waist of the sheep carcass, and the sheep carcass is kept stable under the action of the suction force.
S31: the operator removes operations such as leg to the sheep trunk, and the back is accomplished in the operation, and main control unit sends drive signal to driver III, and the III 016 downstream of slip table on the drive sharp module III 015 reaches the target location, and main control unit sends switching signal to vacuum generator drive gas circuit simultaneously, and vacuum generator drive sucking disc 033 releases sheep trunk back, waist muscle. The target position of the sliding table III 016 is that the sheep carcass hooked by the hook 023 is in a position suitable for being taken down by an operator.
S32; the operator takes off the sheep carcass after removing the leg, and main control unit control sends drive signal to driver I, driver II, driver III and driver III, and drive sharp module I018, sharp module II 011, sharp module III 015, rotating electrical machines 013 move to the initial position before step S11, and the action is accomplished.
Those not described in detail in this specification are within the skill of the art.
Claims (7)
1. A livestock carcass clamping device, comprising: the device comprises a grappling hook device, a rack I (017), a linear module I (018), a linear module II (011), a linear module III (015), a rack II (014), a rotating motor (013), a mounting rack body (031), a base (010), a vacuum adsorption device, a guide fork device, a servo motor III, a servo motor I, a servo motor II, a driver IV, a driver I, a driver II, a driver III, a longitudinal CCD camera (024), a horizontal CCD camera (025), a camera support (026) and a main controller;
the linear module II (011) is installed on the base (010) through bolts, a sliding table II (012) is arranged on the linear module II (011), the sliding table II (012) is connected with a servo motor II, the servo motor II is connected with a driver II, the driver II drives the servo motor II to move, the sliding table II (012) is driven by the servo motor II to reciprocate relative to the linear module II (011), the sliding table II (012) is connected with the lower part of a rotating motor (013) through bolts, the upper part of the rotating motor (013) is connected with a rack II (014) through bolts, the rotating motor (013) is connected with a driver IV, and the rotating motor (013) rotates under the driving of the driver IV;
the sharp module III (015) is installed in frame II (014), be equipped with slip table III (016) on sharp module III (015), slip table III (016) is connected with servo motor III, servo motor III is connected with driver III, III drive servo motor III movements of driver, slip table III (016) is under servo motor III's drive, reciprocal linear motion is made to relative sharp module III (015), slip table III (016) is connected with mounting bracket body (031) through the bolt, slip table III (016) drive mounting bracket body (031) do vertical motion,
the linear module I (018) is installed on the rack I (017), the rack I (017) is connected with the upper portion of the installation rack body (031) through bolts, a sliding table I (019) is arranged on the linear module I (018), the sliding table I (019) is connected with the servo motor I, the servo motor I is connected with the driver I, the driver I drives the servo motor I to move, the sliding table I (019) is driven by the servo motor I to do reciprocating linear motion relative to the linear module I (018), the sliding table I (019) is connected with the grappling device and used for driving the grappling device to do transverse linear motion,
the vacuum adsorption device and the guide fork device are both arranged on the mounting rack body (031);
the longitudinal CCD camera (024) is arranged on the grappling device and is used for acquiring the position of the grappling device in the horizontal direction and the position of the pubis of the livestock carcass, and the horizontal CCD camera (025) is arranged on the camera bracket (026) and is used for acquiring the position of the grappling device in the vertical direction and the position of the livestock carcass in the vertical direction;
the driver IV, the driver I, the driver II, the driver III, the longitudinal CCD camera (024) and the horizontal CCD camera (025) are all connected with a main controller;
the grapple device includes: a grapple (023), a rotary motor (022), a rotary motor driver, and a grapple mounting flange (021); the utility model discloses a domestic animal body, including grapple (023), rotary motor mounting flange (021), slip table I (019), grapple mounting flange (021), grapple (023) and rotary motor (023), the upper end of grapple (023) is equipped with the mounting hole, and the bolt passes the mounting hole and installs grapple (023) on rotary motor (022), and rotary motor (022) drives grapple (023) rotatory, rotary motor (022)'s casing is connected with the lower extreme of grapple mounting flange (021), the upper end and the slip table I (019) of grapple mounting flange (021) are connected, and grapple mounting flange (021) makes horizontal linear motion under the drive of slip table I (019), rotary motor (022) are connected with the rotary motor driver, and the rotary motor driver passes through MODBUS communication bus and is connected with main control unit;
the guide fork device includes: two fork teeth (034), a hinge (035), a set of springs (036), and a hinge connector (037); the middle parts of the fork teeth (034) are straight line guide sections, the front parts of the fork teeth are arc sections with outward directions and used for being clamped into livestock carcasses, the rear parts of the fork teeth are installation sections, through holes and hinge shafts are arranged on the hinges (035), bolts penetrate through the through holes to install the hinges (035) on the lower parts of the installation rack bodies (031) and enable the installation rack bodies to rotate along the hinge shafts, the two fork teeth (034) are installed on the hinges (035) through hinge connectors (037), a group of springs (036) are installed on the hinges (035), the hinges (035) automatically tighten under the action of spring force, a limiting stop block is arranged at the connection part of the hinges (035) and the springs (036), and the position of the hinges (035) during automatic tightening can be limited;
the horizontal distance of the two fork teeth (034) is more than 250mm and less than 350mm when the hinge (035) is fully tightened.
2. The livestock carcass clamping device according to claim 1, wherein said longitudinal CCD camera (024) is mounted on a grapple mounting flange (021); the camera bracket (026) is a frame made of a section bar.
3. The livestock carcass clamping device according to claim 1, wherein said mounting frame body (031) is a frame structure built of section bars, said base (010) is a frame made of section bars, and the lower end of the base (010) is fixed on the ground by anchor bolts.
4. The livestock carcass gripping apparatus of claim 1, wherein the vacuum suction device comprises: the device comprises a back plate (032), a group of suckers (033), a vacuum generating device and a vacuum generating device driving gas circuit;
the input end of the vacuum generating device is connected with the output of the vacuum generating device driving gas circuit; the input of a driving gas circuit of the vacuum generating device is connected with the air pump, an electromagnetic valve in the driving gas circuit of the vacuum generating device is connected with the main controller, and the output end of the vacuum generating device is connected with a sucker (033); the back plate (032) is mounted at the lower part of the mounting rack body (031) through bolts, hole sites are arranged on the back plate (032), and the suckers (033) are mounted in the hole sites through threads; under the action of a driving air circuit of the vacuum generating device, the suction disc (033) of the vacuum absorbing device absorbs the waist and back muscles of the livestock carcass, so that the carcass is stable.
5. The livestock carcass clamping device according to claim 4, wherein there are three sucking discs (033), the diameter of the sucking discs (033) is 65 mm-70 mm, the distance between each sucking disc (033) is 80 mm-100 mm, the inclination angle of the back plate (032) is 15-20 °, the vertical distance between the horizontal plane of the sucking discs (033) and the bottom end of the grapple (023) is 150 mm-200 mm, and the sucking discs (033) are made of food silica gel.
6. The livestock carcass gripping apparatus of claim 1, wherein the longitudinal CCD camera (024) and the horizontal CCD camera (025) are used to transmit the captured RGB image information to a main controller; the main controller is an industrial control computer; the main controller is used for receiving signals transmitted by each driver and the CCD camera, performing algorithm processing on the signals, and finally outputting control signals to each driver to control the action of each driver.
7. The livestock carcass clamping device according to claim 1, wherein said driver iv is installed inside the rotating motor (013), driver i is installed inside the servo motor i, servo motor i is embedded inside the linear module i (018), driver ii is installed inside the servo motor ii, servo motor ii is embedded inside the linear module ii (011), driver iii is installed inside the servo motor iii, and servo motor iii is embedded inside the linear module iii (015).
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| CN201911379033.0A CN111096348B (en) | 2019-12-27 | 2019-12-27 | Livestock carcass clamping device |
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| CN201911379033.0A CN111096348B (en) | 2019-12-27 | 2019-12-27 | Livestock carcass clamping device |
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| CN111713537B (en) * | 2020-07-02 | 2021-02-09 | 中国农业科学院农产品加工研究所 | A fixing device that is used for sheep trunk intelligence to cut apart |
| CN113057203B (en) * | 2021-03-26 | 2022-01-14 | 华中农业大学 | Sheep trunk clamping device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5421773A (en) * | 1994-06-01 | 1995-06-06 | Jarvis Products Corporation | Automatic hock shear with carcass leg positioner |
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| US4653150A (en) * | 1986-05-27 | 1987-03-31 | Geo. A. Hormel & Co. | Carcass splitting apparatus |
| DE502008000586D1 (en) * | 2007-04-10 | 2010-06-10 | Erowa Ag | handling assembly |
| CN202640354U (en) * | 2012-07-02 | 2013-01-02 | 江苏天宏机械工业有限公司 | Multi-station mechanical arm carrying mechanism |
| CN106629036A (en) * | 2016-11-16 | 2017-05-10 | 上海电机学院 | Rotary carrying manipulator |
| CN206733051U (en) * | 2017-04-06 | 2017-12-12 | 东莞钱工智能科技有限公司 | A kind of ox head machine manipulator |
| CN110235919A (en) * | 2019-07-08 | 2019-09-17 | 浙江浙华智能科技有限公司 | A kind of sheep and goat carcass splitting equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5421773A (en) * | 1994-06-01 | 1995-06-06 | Jarvis Products Corporation | Automatic hock shear with carcass leg positioner |
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