CN113057203B - Sheep trunk clamping device - Google Patents
Sheep trunk clamping device Download PDFInfo
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- CN113057203B CN113057203B CN202110323143.6A CN202110323143A CN113057203B CN 113057203 B CN113057203 B CN 113057203B CN 202110323143 A CN202110323143 A CN 202110323143A CN 113057203 B CN113057203 B CN 113057203B
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- carcass
- sheep
- profiling
- clamping
- slide rail
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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
- A22B5/0017—Apparatus for cutting, dividing or deboning carcasses
- A22B5/0029—Cutting through or detaching portions of a carcass
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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
- A22B5/0017—Apparatus for cutting, dividing or deboning carcasses
- A22B5/0041—Electronic, robotic or computer assisted cutting, dividing or deboning carcasses
Abstract
The invention discloses a sheep carcass clamping device, which comprises four parts: the first part is a sucker mechanism for adsorbing and fixing the lamb trunk vertebra; the second part is a cross slide rail module and a ball screw with a motor, a support platform is fixedly arranged on a slide block of a Y-axis module, and a cylinder, a top post for pushing the back of the sheep and a clamping arm mechanism for fixing the side and the front of the sheep carcass are arranged on the support platform; the ball screw with the motor provides power for the whole device, and a ball screw nut is fixed with the supporting platform; the third part is a curve copying slide rail mechanism designed according to the physiological structure of the back of the sheep carcass; the three parts are all installed and fixed on a fourth part aluminum profile rack. According to the invention, through the clamping design and the profiling design, the problem that the sheep carcass is difficult to clamp in the cutting process is solved, and automatic clamping can be realized; by combining an industrial robot and a visual system carrying a three-dimensional scanning function, accurate segmentation can be realized.
Description
Technical Field
The invention belongs to the technical field of livestock processing, relates to sheep carcass segmentation, and particularly relates to a sheep carcass clamping device.
Background
China is a big country for mutton production, and the mutton yield is the top of the world. The method is characterized in that the mutton carcass is a main raw material in the production and processing process of mutton products, and the sheep carcass cutting is also an indispensable important link in the process from slaughtering to market flow of mutton sheep. However, at the present stage, the sheep carcass cutting industry in China still depends on a large amount of manual labor force to complete, the automation degree is low, the labor efficiency is low, the danger coefficient is high, the sanitary condition is poor, and the working environment is relatively severe. With the continuous rise of mutton product requirements and labor cost, the profits of slaughtering enterprises in China, particularly enterprises relating to a sheep carcass segmentation link, are gradually compressed, and the healthy and benign development of the whole industry is restricted.
According to the mutton division technical specification released by the Ministry of agriculture of the people's republic of China, a complete sheep carcass is divided into several parts, such as sheep anterior tendon, anterior quarter carcass, sheep rib row, loin, hip loin with hip, hind leg tendon, and the like. The three-dimensional model of the sheep carcass to be divided is shown in figure 1.
The main problems in the prior art include:
at present, most slaughtering enterprises adopt a manual sheep carcass cutting mode, and the whole sheep carcass is manually cut into multiple parts according to a cutting standard. The whole process completely depends on manual operation, the labor intensity of workers is high, and the operation process is time-consuming and labor-consuming.
The difficulty in solving the technical problems is as follows:
firstly, the sheep carcass segmentation scheme is complex, and how to realize automatic segmentation of a complete sheep carcass according to standard specifications; secondly, the surface of the lamb carcass is not a smooth plane, so that the clamp can be constantly clamped and tightly attached to the lamb carcass in the cutting process, and meanwhile, automatic clamping is realized; thirdly, in the actual segmentation process, the parameters of the carcass ruler of each sheep are different, and how to realize individual differential segmentation is realized.
Therefore, the development and design of an automatic clamping device for sheep carcass splitting are urgent and have great practical significance.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the clamping device for cutting the lamb carcass, which solves the problem that the lamb carcass is difficult to clamp in the cutting process through the clamping design and the profiling design and can realize automatic clamping; by combining an industrial robot and a visual system carrying a three-dimensional scanning function, accurate segmentation can be realized.
Therefore, the invention adopts the following technical scheme:
a sheep carcass clamping device, comprising four parts: the first part is a sucker mechanism for adsorbing and fixing the lamb trunk vertebra; the second part is a cross slide rail module and a ball screw with a motor, a support platform is arranged on a slide block of the cross slide rail Y-axis module, a cylinder, a top post used for pushing the back of the sheep tightly and a clamping arm mechanism used for fixing the side face and the front face of the sheep body are arranged on the support platform, and the clamping arm of the mechanism is driven to open and close through the expansion of the cylinder. The ball screw provides power for the clamping device, and meanwhile, a ball screw nut is fixed with the supporting platform; the third part is a curve copying slide rail mechanism designed according to the physiological structure of the back of the sheep carcass, and the third part is connected with the supporting platform of the second part through a push rod; the three parts are all installed and fixed on a fourth part aluminum profile rack.
Preferably, the surface of the sucker is made of food-grade materials. In order to guarantee that every sucking disc homoenergetic firmly adsorbs sheep trunk backbone part, its mounting means is: the sucking disc mechanisms are installed on different vertical planes according to partial curves of the spine of the sheep carcass, namely, the length of each sucking disc extending out of the sucking disc base is different. Meanwhile, each sucker support part is provided with a spring, namely the sucker can swing within a certain range, and each sucker can be guaranteed to be tightly attached to and tightly suck the lamb trunk spine.
Furthermore, the length of the lamb trunk spine is between 600 and 700mm, so that the diameter of the selected sucking discs is 25mm, the distance between every two adjacent sucking discs is 100mm, and the number of the sucking discs is 6.
Furthermore, the suckers are all installed on a stainless steel bottom frame folded into a groove shape, a reserved gap at the groove of the sucker is connected with a hose, and the hose is connected with a vacuum negative pressure machine. The adsorption is carried out by adopting a negative pressure principle.
Furthermore, the sucker bases are all arranged on a stainless steel plate.
Preferably, the cylinder stroke is 150mm, and the cylinder is arranged on the supporting platform by adopting a double-foot type base.
Preferably, the shape of the clamping arm mechanism is similar to an L shape, and the difference is that the corner of the clamping arm adopts an arc imitating the curve of the surface of the sheep carcass; one end of the clamping arm is connected with the tail end of the cylinder through a connecting piece, and the arc of the other end of the clamping arm is tightly adhered and pressed with the surface of the sheep carcass; a small hole is formed in the clamping arm, and a bolt penetrates through the small hole and is fixed on the supporting platform together with the flange, so that the telescopic motion of the cylinder piston can be converted into the opening and closing motion of the clamping arm.
Preferably, the curve slide rail mechanism is a profiling mechanism designed according to the curve of the back of the sheep carcass, the profiling curved surface of the curve slide rail mechanism is located on an XZ plane, and the profiling guide rail roller is embedded into the profiling slide rail. When the profiling guide rail roller moves along the curved surface of the profiling slide rail, the push rod is matched with the Y-axis slide rail, so that the supporting platform can move along the Z direction, and meanwhile, fine displacement can also occur along the Y axis, and further, the fact that the front end ejection column is attached to the back of the sheep carcass at any time is guaranteed, and the mechanism is used for achieving the clamping function and automatic clamping.
Preferably, the power mechanism of the sheep carcass clamping device is a ball screw with a motor, and the stepping motor is mounted at the lowermost end of the ball screw.
Preferably, after the three-dimensional scanner acquires the three-dimensional point cloud of the sheep carcass, the three-dimensional coordinate information of each split is recognized, the displacement required by the Z-axis module is transmitted to the stepping motor through the vision system, and meanwhile, the segmentation information is transmitted to the industrial robot.
The working process of the sheep carcass clamping device is as follows:
1. the initial working state of the whole device is as follows: the cylinder driving the clamping arm to open and close is in a contraction state; and the slide block, the ball screw nut and the whole supporting platform on the Z-axis slide rail are positioned at the lowest end.
2. When the whole sheep carcass to be cut which is hung upside down on the hanging rack enters a preset cutting position, the air cylinder piston is pushed out to drive the clamping arm to clamp tightly, and the sheep carcass is fastened on the sucking disc.
3. After fastening, the negative pressure machine starts to work, and the lamb trunk spine is adsorbed on the surface of the sucking disc by utilizing the negative pressure principle; meanwhile, the front end top column positioned on the supporting platform also compresses the back of the sheep carcass. At the moment, the front, the back and the two sides of the sheep carcass are fixed and clamped.
4. After the clamping is fixed, the position information of the tendon before sheep to be cut in the first step is obtained through three-dimensional scanning and algorithm identification of a vision system, the coordinate information is transmitted to an industrial robot, and the industrial robot controls an end execution tool to complete the first step of segmentation.
5. After the sheep anterior tendon is cut, the air cylinder is changed from a push-out state to a contraction state, the clamping arm is opened, the negative pressure machine stops working, and the sucking disc is loosened; at the moment, the stepping motor is started, and the transmission mechanism roller screw drives the supporting platform to move upwards along the Z axis.
6. After the sheep body moves upwards for a preset distance, the air cylinder is pushed out again, the clamping arm is fastened again to clamp the sheep body, and then the spine part of the sheep body is attached to the surface of the sucking disc again.
7. The negative pressure machine works again, and then the sucking disc adsorbs the sheep trunk backbone firmly again.
8. The vision system again passes the coordinate information of the second knife to be cut to the industrial robot, and the industrial robot controls the end tool to complete the segmentation of the front quarter carcass.
9. And (5) repeating the steps 5-8, and respectively completing the segmentation of the parts such as hind leg tendons, hip flesh, hip loin, lamb spine rows and the like. After the steps are completed, a complete sheep carcass is divided into all the split bodies according to the national technical standard, and all the divided split bodies fall into the lower conveying belt to enter a next working area.
10. After the division is completed, each mechanism is reset. Wherein: and the negative pressure machine stops working, the air cylinder is in a contraction state, and the sliding block, the ball screw nut and the supporting platform on the Z-axis sliding rail return to the initial lowest position.
Compared with the prior art, the invention has the beneficial effects that:
(1) the sheep carcass clamping device solves the problem that sheep carcasses are difficult to clamp in the cutting process through the profiling design and the clamping device design, and realizes automatic clamping; through introducing visual system and cooperation industrial robot, realized accurate cutting apart, can be according to the national execution standard with a whole sheep carcass cut apart into each components of a whole that can function independently.
(2) Adopt this sheep trunk clamping device, can save a hand labor power, increase substantially simultaneously slaughter the enterprise, especially relate to the production efficiency that the enterprise was cut apart to the sheep trunk, be favorable to animal husbandry's healthy development.
(3) The working and production environment of front-line staff is improved, and the manual labor is liberated from the original high-risk and high-strength working environment.
Drawings
Figure 1 is a three-dimensional model of a sheep carcass to be split.
Fig. 2 is a schematic view of the overall structure of the sheep carcass clamping device provided by the invention.
Fig. 3 is a schematic structural diagram of a sucking disc mechanism and a frame in the sheep carcass clamping device provided by the invention.
Fig. 4 is a schematic structural view of a ball screw in the sheep carcass clamping device provided by the invention.
Fig. 5 is a schematic structural view of a front end support pillar in the sheep carcass clamping device provided by the invention.
Fig. 6 is a schematic structural view of a clamping arm mechanism in the lamb carcass clamping device provided by the invention.
Fig. 7 is a schematic structural diagram of a copying guide rail mechanism in the sheep carcass clamping device provided by the invention.
Description of reference numerals: 1. a ball screw; 2. a Z-axis slide rail; 3. a suction cup base; 4. a suction cup; 5. clamping arms; 6. a front end roller; 7. a stainless steel plate; 8. a flange; 9. a Y-axis slide rail; 10. a frame; 11. a cylinder; 12. a support platform; 13. profiling slide rail bases; 14. a push rod; 15. profiling the slide rail; 16. a clamp arm cylinder connector; 17. a cylinder fixing base; 18. a front end shore; 19. a stepping motor; 20. a coupling; 21. a ball screw nut; 22. profiling guide rail rollers; 23. a cross member.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments, which are provided for illustration only and are not to be construed as limiting the invention.
As shown in fig. 2, the invention discloses a sheep carcass clamping device, which comprises a sucker mechanism, a cross slide rail module, a ball screw with a motor, a curve profiling slide rail mechanism and a frame 10; the sucking disc mechanism is used for adsorbing and fixing the lamb trunk vertebra; the cross slide rail module is provided with a supporting platform 12, the supporting platform 12 is provided with an air cylinder 11, a jacking column for pushing the back of the sheep tightly and a clamping arm mechanism for fixing the side and the front of the sheep carcass, and the clamping arm mechanism is driven by the expansion and contraction of the air cylinder to realize the opening and closing actions; the ball screw with the motor is a power mechanism of the sheep carcass clamping device; the curve profiling sliding rail mechanism is designed according to the physiological structure of the back of the sheep carcass, and a roller matched with the curve profiling sliding rail mechanism is connected with the supporting platform 12 through a push rod 14; the sucker mechanism, the cross-shaped sliding rail module, the ball screw and the curve profiling sliding rail mechanism are all fixed on the frame 10.
Specifically, as shown in fig. 3, the suction cup mechanism includes a stainless steel plate 7, the stainless steel plate 7 is provided with a plurality of groups of holes for mounting the suction cup base 3 folded into a groove shape, the suction cup 4 is mounted on a convex surface of the suction cup base 3, and a vacuum negative pressure machine is externally connected to a reserved gap of the suction cup base 3 by a hose; the stainless steel plate 7 is fixed with the frame through angle iron.
The stainless steel plate 7 is provided with 6 groups of holes, the surface of each sucker 4 is made of food-grade materials, the diameter of each sucker 4 is 25mm, the distance between every two adjacent suckers is 100mm, and the number of the suckers 4 is 6.
The length of each sucker 4 extending out of the sucker base 3 is different, and each sucker support part is provided with a spring.
Specifically, as shown in fig. 4, the stroke of the ball screw is 644 mm. The upper end of the nut 21 is fixed with the back of the support platform 12, and the purpose is as follows: when the stepping motor 19 works, the nut of the ball screw can drive the supporting platform 12 to move along the Z-axis direction.
Specifically, as shown in fig. 5, the front end post 18 is a rod with the front end roller 6, and the post and the clamping arm mechanism are respectively installed on both sides of the support platform 12. When the ball screw drives the supporting platform 12 to move upwards, the front-end roller 6 can be kept attached to the back of the sheep carcass constantly, so that the purpose of fixing is achieved.
Specifically, as shown in fig. 6, the clamping arm mechanism includes a clamping arm 5, a flange 8, a cylinder 11, a clamping arm cylinder connector 16, and a cylinder fixing base 17; a round hole is formed near the tail end of the clamping arm 5, the clamping arm 5 and the flange 8 are penetrated together by a bolt, and the clamping arm 5 can do circular arc motion around the bolt and is used for clamping the side face of the sheep carcass; one end of the clamping arm cylinder connecting piece 16 is of a hinged structure and is used for connecting the tail end of the clamping arm 5, and the other end of the clamping arm cylinder connecting piece is fixed with the cylinder 11 through two nuts.
The shape of the clamping arm mechanism is similar to an L shape, and the corners of the clamping arm adopt arcs imitating the curve of the surface of the lamb carcass.
Specifically, the cross slide rail module comprises a Z-axis slide rail 2 and a Y-axis slide rail 9, and the Z-axis slide rail 2 and the Y-axis slide rail 9 are respectively provided with two slide blocks; the power mechanism of the sheep carcass clamping device is a stepping motor 19 positioned at the lowermost end of the ball screw 1, and the whole supporting platform 12 is driven to move upwards by a ball screw nut 21 when the stepping motor 19 works.
Specifically, as shown in fig. 7, the curvilinear contoured slide rail mechanism includes a contoured slide rail base 13, a contoured slide rail 15, a push rod 14, and a contoured guide rail roller 22; the profiling sliding rail 15 is made according to the curve of the back surface of the sheep carcass, the profiling guide rail roller 22 is embedded into the profiling sliding rail 15, and the push rod 14 is connected with the supporting platform 12;
the frame 10 is made of aluminum profiles.
Example one
A sheep carcass clamping device is shown in figure 2, and mainly comprises a sucker mechanism, a clamping arm mechanism, a ball screw 1, a front end top column 18, a cross slide rail module, a supporting platform 12, a curve profiling slide rail mechanism and a rack 10.
As shown in fig. 3, six groups of holes are formed in the stainless steel plate 7 for installing the suction cup base 3 folded into a groove shape, the suction cup 4 is installed on the convex surface of the suction cup base 3, and a hose is externally connected with a vacuum negative pressure machine in a reserved gap of the suction cup base 3. The stainless steel plate 7 is fixed to the frame 10 by angle iron.
As shown in fig. 4, the stroke of the ball screw 1 is 644 mm. The upper end of the nut 21 is fixed with the back of the support platform 12, and the purpose is as follows: when the stepping motor 19 works, the ball screw can drive the supporting platform 12 to move along the Z-axis direction.
As shown in fig. 5, the front end post 18 is a rod with front end rollers 6, and the post and the clamping arm mechanism are respectively installed on both sides of the support platform 12. When the ball screw drives the supporting platform 12 to move upwards, the front-end roller 6 can be kept attached to the back of the sheep carcass constantly, so that the purpose of fixing is achieved.
As shown in fig. 6, the clamping arm mechanism includes a clamping arm 5 body, a flange 8, a cylinder 11, a clamping arm cylinder connector 16, and a cylinder fixing base 17. A round hole is formed near the tail end of the clamping arm 5, the clamping arm 5 and the flange 8 are penetrated together by a bolt, and the clamping arm 5 can do circular arc motion around the bolt, so that the aim of clamping the side surface of the lamb body is fulfilled; one end of the clamping arm cylinder connecting piece 16 is of a hinged structure and is used for connecting the tail end of the clamping arm 5.
As shown in fig. 7, the curved copying rail mechanism is mainly composed of a copying rail base 13, a copying rail 15, a push rod 14, and a copying rail roller 22. The profiling slide rail 15 is made according to the curve of the back of the sheep carcass, the profiling guide rail roller 22 is embedded into the profiling slide rail 15, the push rod 14 is connected with the supporting platform 12, and the ball screw 1 drives the supporting platform 12 to move along the Z-axis direction. The front-end jacking column mechanism and the clamping arm mechanism can be guaranteed to be attached to the surface of the sheep carcass to the maximum extent, and therefore the clamping function and automatic clamping are achieved.
After the three-dimensional scanner acquires the three-dimensional point cloud of the sheep carcass, the three-dimensional coordinate information of each split is recognized, the displacement required by the Z-axis module is transmitted to the stepping motor 19 through the vision system, and meanwhile, the segmentation information is transmitted to the industrial robot.
The working process of the sheep carcass clamping device comprises the following steps:
1. the initial working state of the whole device is as follows: the cylinder 11 which drives the clamping arm 5 to realize opening and closing actions is in a contraction state; the Z-axis slide block, the ball screw nut 21 and the whole supporting platform 12 on the Z-axis slide rail 2 in the cross slide rail module are positioned at the lowest end.
2. When the whole sheep carcass to be cut hung upside down on the hanging rack enters a preset cutting position, the air cylinder 11 is pushed out to drive the clamping arm 5 to clamp tightly, and the sheep carcass is fastened on the sucking disc 4.
3. After fastening, the negative pressure machine starts to work, and the lamb trunk spine is adsorbed on the surface of the sucking disc 4 by using the negative pressure principle; at the same time, the front end post 18 on the support platform 12 also compresses the back of the carcass. At the moment, the front, the back and the two sides of the sheep carcass are fixed and clamped.
4. After fixation and clamping, the position information of the tendon before sheep to be cut in the first step is obtained through three-dimensional scanning and algorithm identification of a vision system, the coordinate information is transmitted to an industrial robot, and the industrial robot controls the end execution tool to complete the first step of segmentation.
5. After the sheep anterior tendon is divided, the air cylinder 11 is changed from a push-out state to a contraction state, the negative pressure machine stops working, and the sucking disc 4 is loosened; at the moment, the stepping motor 19 is started, and the transmission mechanism ball screw 1 drives the Z-axis sliding block and the supporting platform 12 to move upwards together.
6. In the process of moving upwards, the push rod 14 can drive the front end ejection column 18 to slightly displace in the Y-axis direction according to the protrusion and the recess of the profiling slide rail 15, so that the front end ejection column 18 can be ensured to be attached to the back of the sheep carcass constantly.
7. After the sheep body moves upwards for a preset distance, the air cylinder 11 is pushed out again, the clamping arm 5 is fastened again to clamp the sheep body, and then the spine part of the sheep body is attached to the surface of the sucking disc 4 again.
8. The negative pressure machine works again, and then the lamb trunk spine is adsorbed on the surface of the sucking disc 4 again.
9. The vision system again passes the coordinate information of the second knife to be cut to the industrial robot, and the industrial robot controls the end tool to complete the segmentation of the front quarter carcass.
10. And (5) repeating the steps of 5-9, and respectively finishing the segmentation of the parts such as hind leg tendons, hip flesh, hip loin, lamb rib spine rows and the like. After the steps are completed, a complete sheep carcass is divided into the split bodies according to the national technical standard, and the cut split bodies fall into the lower conveying belt to enter a subsequent working area.
11. After the division is completed, each mechanism is reset. Wherein: the negative pressure machine stops working, the air cylinder 11 is in a contraction state, and the sliding block, the ball screw nut 21 and the supporting platform 12 on the Z-axis sliding rail 2 return to the initial lowest position.
The sheep carcass clamping device that this embodiment provided simple structure is high-efficient, can be used to slaughter the trade, especially relates to the enterprise that the sheep carcass was cut apart.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and scope of the present invention are intended to be covered thereby.
Claims (7)
1. The utility model provides a sheep carcass clamping device which characterized in that: comprises a sucker mechanism, a cross-shaped sliding rail module, a ball screw with a motor, a curve profiling sliding rail mechanism and a frame (10); the sucking disc mechanism is used for adsorbing and fixing the lamb trunk vertebra; the cross slide rail module is provided with a supporting platform (12), the supporting platform (12) is provided with an air cylinder (11), a jacking column for pushing the back of the sheep tightly and a clamping arm mechanism for fixing the side and the front of the sheep carcass, and the clamping arm mechanism is driven by the expansion and contraction of the air cylinder to realize opening and closing actions; the ball screw with the motor is a power mechanism of the sheep carcass clamping device; the curve copying sliding rail mechanism is designed according to the physiological structure of the back of the sheep carcass, and a roller matched with the curve copying sliding rail mechanism for use is connected with the supporting platform (12) through a push rod (14); the sucker mechanism, the cross-shaped sliding rail module, the ball screw and the curve profiling sliding rail mechanism are all fixed on the rack (10);
the cross slide rail module comprises a Z-axis slide rail (2) and a Y-axis slide rail (9), and the Z-axis slide rail (2) and the Y-axis slide rail (9) are respectively provided with two slide blocks; the power mechanism of the sheep carcass clamping device is a stepping motor (19) positioned at the lowest end of the ball screw (1), and when the stepping motor (19) works, the ball screw nut (21) drives the whole supporting platform (12) to move upwards;
front end support pillars (18) are arranged on two sides of the supporting platform (12), and each front end support pillar (18) is a rod with a front end roller (6); when the supporting platform (12) moves along the Z axis, the front-end roller (6) constantly keeps close to the back of the sheep carcass;
the curve profiling slide rail mechanism comprises a profiling slide rail base (13), a profiling slide rail (15), a push rod (14) and a profiling guide rail roller (22); the profiling sliding rail (15) is made according to a curve of the back surface of the sheep carcass, the profiling curved surface of the profiling sliding rail is positioned on an XZ plane, a profiling guide rail roller (22) is embedded into the profiling sliding rail (15), and the push rod (14) is connected with the supporting platform (12); when the profiling guide rail roller (22) moves along the curved surface of the profiling slide rail (15), the push rod (14) is matched with the Y-axis slide rail (9) to enable the supporting platform (12) to move along the Z direction and simultaneously to generate small displacement along the Y axis, so that the front end ejection column (18) is ensured to be attached to the back of the sheep carcass at any time, and the mechanism is used for achieving the clamping function and automatic clamping.
2. The lamb carcass clamping device according to claim 1, characterized in that: the sucker mechanism comprises a stainless steel plate (7), a plurality of groups of holes are formed in the stainless steel plate (7) and used for mounting a sucker base (3) folded into a groove shape, a sucker (4) is mounted on a convex surface of the sucker base (3), and a hose is externally connected with a vacuum negative pressure machine in a reserved gap of the sucker base (3); the stainless steel plate (7) is fixed with the frame through angle iron.
3. The lamb carcass clamping device according to claim 2, characterized in that: the stainless steel plate (7) is provided with 6 groups of holes, the surface of each sucker (4) is made of food-grade materials, the diameter of each sucker (4) is 25mm, the distance between every two adjacent suckers is 100mm, and the number of the suckers (4) is 6.
4. The lamb carcass clamping device according to claim 2, characterized in that: the length of each sucker (4) extending out of the sucker base (3) is different, and each sucker support part is provided with a spring.
5. The lamb carcass clamping device according to claim 1, characterized in that: the clamping arm mechanism comprises a clamping arm (5), a flange (8), a cylinder (11), a clamping arm cylinder connecting piece (16) and a cylinder fixing base (17); a round hole is formed near the tail end of the clamping arm (5), the clamping arm (5) and the flange (8) are penetrated together by a bolt, and the clamping arm (5) can do circular arc motion around the bolt and is used for clamping the side surface of the sheep carcass; one end of the clamping arm cylinder connecting piece (16) is of a hinged structure and is used for connecting the tail end of the clamping arm (5), and the other end of the clamping arm cylinder connecting piece is fixed with the cylinder (11) through two nuts.
6. The lamb carcass clamping device according to claim 5, wherein: the shape of the clamping arm mechanism is similar to an L shape, and the corners of the clamping arm adopt arcs imitating the curve of the surface of the lamb carcass.
7. The lamb carcass clamping device according to any one of claims 1-6, wherein: the frame (10) is made of aluminum profiles.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110323143.6A CN113057203B (en) | 2021-03-26 | 2021-03-26 | Sheep trunk clamping device |
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| CN202110323143.6A CN113057203B (en) | 2021-03-26 | 2021-03-26 | Sheep trunk clamping device |
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| CN113057203A CN113057203A (en) | 2021-07-02 |
| CN113057203B true CN113057203B (en) | 2022-01-14 |
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Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NO150464C (en) * | 1980-07-11 | 1984-10-24 | Hamjern As | DEVICE FOR FLAWING OF SMAFE, SPECIAL SAUCH SCRAPTS, AT SLAUGHTER |
| JP2002209509A (en) * | 2001-01-19 | 2002-07-30 | Shokuniku Seisan Gijutsu Kenkyu Kumiai | Apparatus for automatically dividing back of slaughtered body and method for automatically dividing back of slaughtered body |
| CN2855635Y (en) * | 2006-01-04 | 2007-01-10 | 天津市天一科技有限公司 | Mechanical automatic profiling apparatus |
| CN101879649B (en) * | 2010-06-23 | 2012-10-10 | 长城汽车股份有限公司 | Automatic profiling welding device for automobile |
| CN105341122B (en) * | 2015-11-30 | 2017-12-29 | 昆山展达智能科技有限公司 | A kind of domestic animal epidermis scraping machine for fur |
| CN210746944U (en) * | 2019-07-08 | 2020-06-16 | 浙江浙华智能科技有限公司 | Sheep trunk fixture |
| 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 |
| CN111096348B (en) * | 2019-12-27 | 2021-02-26 | 中国农业大学 | Livestock carcass clamping device |
| 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 |
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