CN111958659A - Machine vision automatic bone sawing machine based on multi-degree-of-freedom clamping - Google Patents
Machine vision automatic bone sawing machine based on multi-degree-of-freedom clamping Download PDFInfo
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- CN111958659A CN111958659A CN202010702771.0A CN202010702771A CN111958659A CN 111958659 A CN111958659 A CN 111958659A CN 202010702771 A CN202010702771 A CN 202010702771A CN 111958659 A CN111958659 A CN 111958659A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
- B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
- B26D1/12—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis
- B26D1/14—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis with a circular cutting member, e.g. disc cutter
- B26D1/143—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis with a circular cutting member, e.g. disc cutter rotating about a stationary axis
- B26D1/15—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis with a circular cutting member, e.g. disc cutter rotating about a stationary axis with vertical cutting member
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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
- A22B5/20—Splitting instruments
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D11/00—Combinations of several similar cutting apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/01—Means for holding or positioning work
- B26D7/02—Means for holding or positioning work with clamping means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/27—Means for performing other operations combined with cutting
- B26D7/32—Means for performing other operations combined with cutting for conveying or stacking cut product
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D2210/00—Machines or methods used for cutting special materials
- B26D2210/02—Machines or methods used for cutting special materials for cutting food products, e.g. food slicers
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Forests & Forestry (AREA)
- Mechanical Engineering (AREA)
- Food Science & Technology (AREA)
- Details Of Cutting Devices (AREA)
Abstract
The invention relates to a machine vision automatic bone sawing machine based on multi-degree-of-freedom clamping, which comprises a rack, a gantry type sliding table assembly, a vision sensor, a multi-degree-of-freedom clamp, a feeding device, an X axial sawing table, a Y axial sawing table, a controller, a discharging device and the like. Through machine vision and multi freedom anchor clamps, realized that the relative position after freezing the steak material loading discerns and corrects, reduced the standard of material loading and realized intelligent clamping function. And the bidirectional no-residue cutting operation of the frozen pork chops is realized through the bidirectional cutting mode and the comb tooth structure of the clamping element. Compared with the traditional single-saw-blade type cutting scheme, the invention has the advantages of time saving, labor saving and high working efficiency.
Description
Technical Field
The invention relates to the technical field of saw cutting devices, in particular to a machine vision automatic bone sawing machine based on multi-degree-of-freedom clamping.
Background
The existing automatic bone sawing machine is based on a traditional saw blade structure, repeated reciprocating saw cutting is needed in frozen pork chop slicing operation, and the saw cutting efficiency is lower. And in order to guarantee the stability of the cutter relative to the position of the meat block in the sawing process, the clamp needs to be clamped at the rear end of the frozen meat row (such as Chinese patents 201520539475.8 and 201520259895.0), so that a part of tailings needs to be manually sliced subsequently, and full-automatic processing cannot be realized.
Disclosure of Invention
Aiming at the defects of the prior art, the inventor provides a machine vision automatic bone sawing machine based on multi-degree-of-freedom clamping, which is characterized in that: the machine vision automatic bone sawing machine comprises a frame, a gantry sliding table, a vision sensor, a multi-degree-of-freedom clamp, a feeding device, an X-axis saw table, a Y-axis saw table, a controller, a discharging device and the like; the frame is used for installing other component parts such as a gantry type sliding table. The machine vision automatic bone sawing machine based on multi-degree-of-freedom clamping can realize the identification and correction of the relative position of the frozen steak after feeding, and realize the bidirectional no-residual material full-automatic saw cutting operation of the frozen steak.
As a preferable structure of the invention, the multi-degree-of-freedom clamp comprises an X-axis clamping actuating mechanism, a Y-axis clamping actuating mechanism, a clamp base body, a gear rotating shaft, a cross bearing, a pressure source module, a rotating motor, a position encoder of the rotating motor and the like. The tail end of the X-axis clamping actuating mechanism is of a comb-tooth structure, a plurality of cutting saw blades on the X-axis saw table can be avoided, and the X-axis clamping of the frozen pork steaks is achieved by the X-axis clamping actuating mechanism under the acting force provided by the pressure source module. The tail end of the Y-axis clamping actuating mechanism adopts a comb-tooth-shaped clamping element, so that a plurality of cutting saw blades on the Y-axis saw table can be avoided, and the Y-axis clamping of the frozen pork steaks is realized by the Y-axis actuating mechanism under the acting force provided by the pressure source module. The alternate reversing clamping of the frozen pork steaks can be realized through the X-axis actuating mechanism and the Y-axis actuating mechanism, and the rotary motor drives the gear rotating shaft to realize that the whole clamp and the clamped materials rotate around the Z axis together.
As a preferred structure of the invention, the recognition and correction of the relative position after the frozen steak is fed are realized by adopting a vision sensor, a controller and a multi-degree-of-freedom clamp; the vision sensor can feed back the length direction of the frozen steak and the angle between the direction and the absolute X-axis coordinate to the controller, the controller then controls the rotating motor in the multi-degree-of-freedom clamp to act, the whole clamp body is driven to deflect by the same angle and then clamps the frozen steak in the X direction in real time, and then the rotating motor is controlled to drive the clamp body to return to the initial position according to the signal of the position encoder, so that the identification and correction of the initial feeding position of the frozen steak are realized.
As a preferred structure of the invention, the multi-degree-of-freedom clamp is fixed on a Z-axis sliding table of a gantry type sliding table through a crossed bearing, and the two can rotate relatively through the driving of a rotating motor; the rotating motor has a braking function when the power is off, namely whether the multi-degree-of-freedom clamp rotates around the Z axis or not is controlled by the working of the driving motor.
As a preferred structure of the invention, the gantry type sliding table assembly is provided with a travel switch in the Y axial direction, so that a comb-tooth-shaped structure at the tail end of the X axial clamping actuating mechanism can be ensured to just form avoidance with a saw blade on the X axial sawing table during X axial sawing operation; the gantry type sliding table assembly is provided with a travel switch in the X axial direction, so that when Y axial sawing operation is guaranteed, the tail end of a Y-axis clamping actuating mechanism just forms avoidance with a saw blade on a Y-axis saw table by adopting a comb-tooth-shaped clamping element.
In a preferred embodiment of the present invention, the cutter of the automatic bone sawing machine is configured as a table saw having a plurality of circular saw blades, and the frozen steak can be subjected to a plurality of sawing operations at one time.
Different from the prior art, the technical scheme has the following advantages: the machine vision automatic bone sawing machine comprises a frame, a gantry type sliding table assembly, a vision sensor, a multi-degree-of-freedom clamp, a feeding device, an X axial sawing table, a Y axial sawing table, a controller, a discharging device and the like. Through machine vision and multi freedom anchor clamps, realized that the relative position after freezing the steak material loading discerns and corrects, reduced the standard of material loading and realized intelligent clamping function. Moreover, the bidirectional sawing operation without residual materials of the frozen pork chops is realized through the bidirectional sawing mode and the comb tooth structure of the clamping element. Compared with the traditional saw blade type scheme, the invention has the advantages of time saving, labor saving and high working efficiency.
Drawings
FIG. 1 is a schematic diagram showing the relative positions of main components of a machine vision automatic bone sawing machine based on multi-degree-of-freedom clamping;
FIG. 2 is a schematic view of a multi-robot gripper configuration;
description of reference numerals:
1. a frame;
2. a gantry type sliding table assembly;
3. a vision sensor;
4. a multi-degree-of-freedom clamp;
401. a rotating electric machine;
402. a Z-axis sliding table connecting plate;
403. an encoder;
404. a fixture base;
405. an X-axis cylinder;
406. a Y-axis comb tooth clamping jaw;
407. a Y-axis cylinder;
408. an X-axis comb baffle;
5. a feeding device;
6. an X-axis saw table;
7. a Y-axis saw table;
8. a controller;
9. a blanking device.
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 1 to 2, the present embodiment provides a machine vision automatic bone sawing machine based on multi-degree-of-freedom clamping, which mainly includes a frame 1, a gantry type sliding table 2, a vision sensor 3, a multi-degree-of-freedom clamp 4, a feeding device 5, an X axial sawing table 6, a Y axial sawing table 7, a controller 8, a blanking device 9, and other components; the multi-degree-of-freedom clamp 4 comprises an X-axis cylinder 405, a Y-axis clamping executing mechanism, a clamp base 404, a gear rotating shaft, a cross bearing, a pressure source module, a rotating motor 401, a position encoder 403 and other components;
in the embodiment of the invention, the full-automatic tailing-free sawing and slicing operation of frozen steak is mainly realized, and the specific realization principle is as follows:
(1) recognizing and correcting the relative position of the feeding frozen steak: as shown in fig. 1 and 2, when the feeding device 5 conveys the frozen steak placed thereon into the rack 1, the vision sensor 3 mounted on the rack 1 collects and calculates the relative position information of the frozen steak, which mainly comprises the included angle between the length direction of the frozen steak and the X axis, the central position of the length direction of the frozen steak, the geometric central position of the frozen steak, and the like. The vision sensor 3 conveys the relative position information of the frozen meat row that discerns to the controller, and the controller and then controls planer-type slip table 2 to carry multi freedom anchor clamps 4 to frozen meat row top: on one hand, the multi-degree-of-freedom clamp 4 is controlled by the rotating motor 401 to rotate a certain angle (if XX ℃) relative to the X axial direction, so that the longest edge of the frozen meat row is flush with the tail end faces of the plurality of X axial cylinders 405; on the other hand, the controller 8 controls the X-axis and Y-axis movements of the gantry type sliding table 2, so that the rotation center of the multi-degree-of-freedom clamp 4 is positioned at the geometric center of the frozen steak. And then the controller 8 controls the gantry type sliding table 2 to move downwards along the Z-axis direction to the table surface of the feeding device 5, and an X-axis cylinder is implemented on the frozen pork chop to clamp the table surface 405. Subsequently, the controller 8 controls the multi-degree-of-freedom clamp 4 to rotate at an angle of minus XX degrees relative to the X axis through the rotating motor 401, so that the identification and correction of the relative position of the feeding frozen steak are realized. The control of the amount of rotation angle of the rotary electric machine 401 can be achieved with the accuracy of the feedback signal of the encoder 403.
(2) X-axis sawing operation of the frozen steak: after the frozen steak is corrected in relative position, the controller 8 controls the gantry type sliding table 2 to drive the multi-degree-of-freedom clamp 4 and the frozen steak thereon to move along the X axial direction together, so that the frozen steak moves from the feeding device to the X axial direction saw table 6. At this time, the frozen steak is subjected to an X-axis block cutting motion by the saw blade rotating at a high speed on the X-axis table 6. The tail end of the X-axis clamping actuating mechanism adopts a comb-tooth structure, so that a plurality of cutting saw blades on the X-axis saw table can be avoided. In the X-axis cutting process of the frozen pork chops, the gantry sliding table is provided with the travel switch in the Y-axis direction, so that the comb-tooth-shaped structure at the tail end of the X-axis clamping actuating mechanism can be ensured to just form avoidance with a saw blade on the X-axis sawing table during X-axis sawing operation.
(3) Y-axis sawing operation of the frozen steak: after the frozen steak is cut in the X axial direction in a blocking mode, the controller 8 controls the multi-freedom-degree clamp 4 to release the X axial cylinder 405 and admit air to the Y axial cylinder 407, and therefore the frozen steak completes switching from X axial clamping to Y axial clamping. Subsequently, the gantry type sliding table 2 drives the multi-degree-of-freedom clamp 4 and the frozen pork chops on the multi-degree-of-freedom clamp to move along the Y axial direction together, so that the frozen pork chops move from the X axial direction saw table 6 to the Y axial direction saw table 7. At this time, the plurality of saw blades rotating at a high speed on the Y-axis table 7 perform a Y-axis slicing motion on the frozen steak. The tail end of the Y-axis cylinder 407 adopts a comb plate structure, so that a plurality of cutting saw blades on the Y-axis saw table can be avoided. In the Y-axis cutting process of the frozen pork chops, the gantry sliding table is provided with the travel switch in the X-axis direction, so that the comb-tooth-shaped structure at the tail end of the Y-axis clamping actuating mechanism can be ensured to just form avoidance with a saw blade on the Y-axis saw table during the Y-axis saw cutting operation. Because the cutter of the automatic bone sawing machine adopts a table saw structure with a plurality of circular saw blades, the frozen steak can be synchronously sawed at a plurality of positions at one time.
(4) Blanking of the frozen steak: the frozen steak after slicing operation is directly transferred to the upper surface of the blanking device 9. At this time, the Y-axis cylinder 407 on the multi-degree-of-freedom fixture 4 is loosened to complete the blanking operation of the frozen meat slices driven by the blanking conveyor 9.
The technical scheme in the embodiment has the following advantages by distinguishing the prior art: the machine vision automatic bone sawing machine comprises a frame, a gantry type sliding table assembly, a vision sensor, a multi-degree-of-freedom clamp, a feeding device, an X axial sawing table, a Y axial sawing table, a controller, a discharging device and the like. Through machine vision and multi freedom anchor clamps, realized that the relative position after freezing the steak material loading discerns and corrects, reduced the standard of material loading and realized intelligent clamping function. And the bidirectional no-residue cutting operation of the frozen pork chops is realized through the bidirectional cutting mode and the comb tooth structure of the clamping element. Compared with the traditional saw blade type scheme, the invention has the advantages of time saving, labor saving and high working efficiency.
It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.
Claims (6)
1. The utility model provides an automatic bone sawing machine of machine vision based on multi freedom centre gripping which characterized in that: the bone sawing machine comprises a rack, a gantry type sliding table assembly, a vision sensor, a multi-degree-of-freedom clamp, a feeding device, an X-axis saw table, a Y-axis saw table, a controller, a discharging device and the like;
the frame is used for installing other component parts such as planer-type slip table subassembly.
The machine vision automatic bone sawing machine based on multi-degree-of-freedom clamping can realize the identification and correction of the relative position of the frozen steak after feeding, and realize the bidirectional no-residual material full-automatic saw cutting operation of the frozen steak.
2. The machine vision automatic bone sawing machine based on multi-degree of freedom clamping according to claim 1, characterized in that: the multi-degree-of-freedom clamp comprises an X axial clamping executing mechanism, a Y axial clamping executing mechanism, a clamp base body, a gear rotating shaft, a cross bearing, a pressure source module, a rotating motor, a position encoder of the rotating motor and other components;
the tail end of the X-axis clamping actuating mechanism adopts a comb-tooth structure, so that a plurality of cutting saw blades on the X-axis saw table can be avoided; the X-axis actuating mechanism realizes X-axis clamping of the frozen steak under the acting force provided by the pressure source module; the tail end of the Y-axis clamping actuating mechanism adopts a comb-tooth-shaped clamping element, so that a plurality of cutting saw blades on the Y-axis saw table can be avoided; the Y-axis actuating mechanism realizes Y-axis clamping of the frozen steak under the acting force provided by the pressure source module; the frozen steak can be alternately reversed and clamped through the X-axis actuating mechanism and the Y-axis actuating mechanism; the rotary motor drives the gear rotating shaft to realize that the whole clamp and the clamped material rotate around the Z axis together.
3. The machine vision automatic bone sawing machine based on multi-degree of freedom clamping according to claim 1, characterized in that: the multi-degree-of-freedom clamp can realize the identification and correction of the relative position of the frozen steak after feeding based on machine vision;
the vision sensor can feed back the length direction of the frozen steak and the angle between the direction and the absolute X-axis coordinate to the controller, the controller then controls the rotating motor in the multi-degree-of-freedom clamp to act, the whole clamp body is driven to deflect by the same angle and then clamps the frozen steak in the X direction in real time, and then the rotating motor is controlled to drive the clamp body to return to the initial position according to the signal of the position encoder, so that the identification and correction of the initial feeding position of the frozen steak are realized.
4. The machine vision automatic bone sawing machine based on multi-degree of freedom clamping according to claim 1, characterized in that: the multi-degree-of-freedom clamp is fixed on a Z-axis sliding table of the gantry type sliding table through a crossed bearing, and the two can rotate relatively through the driving of a rotating motor; the rotating motor has a braking function when the power is off, namely whether the multi-degree-of-freedom clamp rotates around the Z axis or not is controlled by the working of the driving motor.
5. The machine vision automatic bone sawing machine based on multi-degree of freedom clamping according to claim 1, characterized in that: the Y-axis direction of the gantry sliding table is provided with a travel switch, so that a comb-tooth-shaped structure at the tail end of the X-axis clamping actuating mechanism can be ensured to be just avoided with a saw blade on the X-axis saw table during X-axis saw cutting operation; the gantry sliding table is provided with a travel switch in the X axial direction, so that the tail end of the Y-axis clamping actuating mechanism is just prevented from forming with a saw blade on the Y-axis saw table by adopting a comb-tooth-shaped clamping element when the Y-axis saw cutting operation is carried out.
6. The machine vision automatic bone sawing machine based on multi-degree of freedom clamping according to claim 1, characterized in that: the cutter of the automatic bone sawing machine adopts a table saw structure with a plurality of circular saw blades, and can perform multi-position sawing operation on frozen steaks at one time.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010702771.0A CN111958659A (en) | 2020-07-21 | 2020-07-21 | Machine vision automatic bone sawing machine based on multi-degree-of-freedom clamping |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010702771.0A CN111958659A (en) | 2020-07-21 | 2020-07-21 | Machine vision automatic bone sawing machine based on multi-degree-of-freedom clamping |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112544671A (en) * | 2020-12-22 | 2021-03-26 | 福建工程学院 | Full-automatic safe bone sawing machine adopting double-cutter and multi-cutter to cut sequentially and control method thereof |
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| CN102421297A (en) * | 2009-04-03 | 2012-04-18 | 机器人技术有限公司 | Carcass cutting methods and apparatus |
| CN105269615A (en) * | 2015-08-24 | 2016-01-27 | 中航（宁夏）生物有限责任公司 | Automatic block cutting machine for umbilical cord Wharton jelly |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112544671A (en) * | 2020-12-22 | 2021-03-26 | 福建工程学院 | Full-automatic safe bone sawing machine adopting double-cutter and multi-cutter to cut sequentially and control method thereof |
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