CN113276099A - Full-automatic meat strip sorting robot system - Google Patents
Full-automatic meat strip sorting robot system Download PDFInfo
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- CN113276099A CN113276099A CN202110630318.8A CN202110630318A CN113276099A CN 113276099 A CN113276099 A CN 113276099A CN 202110630318 A CN202110630318 A CN 202110630318A CN 113276099 A CN113276099 A CN 113276099A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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Abstract
The invention relates to a full-automatic meat strip sorting robot system capable of realizing automatic sorting, identification and grabbing, which comprises a base, a meat strip gathering mechanism, a rack, a turntable, a meat combing mechanism, a meat strip sorting mechanism, a mechanical arm and an image acquisition unit, wherein the rack is arranged on the base; along the rotating direction of the turntable, the meat combing mechanism, the meat strip gathering mechanism, the image acquisition unit and the meat strip sorting mechanism are fixedly connected to the horizontal mounting beam of the rack in sequence at intervals; the arm sets up in base one side, and is located between image acquisition unit and the meat strip letter sorting mechanism. The meat strip sorting machine is compact in structure and high in sorting reliability, and can reduce damage to the thickness of pulp on meat strips in the meat strip processing process; and low in manufacturing cost, degree of automation is high, can effectively reduce artifical intensity of labour, and the meat strip letter sorting conveying efficiency is high, can handle the meat strip of different sizes, extensive applicability.
Description
Technical Field
The invention belongs to the field of agricultural product processing, and particularly relates to a full-automatic meat strip sorting robot system capable of realizing automatic sorting, identification and grabbing.
Background
The crisp meat is a meat processed food which is popular with consumers, and is fried by a strip of well-pickled meat in the processing and manufacturing process. The cured meat strips are often adhered together in a cross mode, and the meat strips are prevented from being adhered to each other or to each other when the meat strips are fried. Therefore, during frying, a single meat strip is picked up from a stack of meat and fried so as to ensure that no adhesion occurs after frying. In addition, the thickness of the pulp on the meat strips is ensured when the meat strips are picked up, so that the quality and the taste of finished products are ensured. At present, most frying procedures in the crisp meat making process still depend on manual operation. The manual operation is close to the fryer for a long time, the environment is dangerous, the harm to the human body is serious, and the meat strips are easily polluted by bacteria on the human body.
Disclosure of Invention
In view of the above technical problems, the present invention aims to provide a full-automatic meat strip sorting robot system, which has a compact structure and high sorting reliability, and can reduce the damage to the thickness of the pulp on the meat strips in the meat strip processing process; and low in manufacturing cost, degree of automation is high, can effectively reduce artifical intensity of labour, and the meat strip letter sorting conveying efficiency is high, can handle the meat strip of different sizes, extensive applicability.
In order to achieve the purpose, the invention provides the following technical scheme:
a full-automatic meat strip sorting robot system comprises a base 1, a meat strip gathering mechanism 2, a rack 3, a turntable 4, a meat combing mechanism 5, a meat strip sorting mechanism 6, a mechanical arm 7 and an image acquisition unit 10; wherein the content of the first and second substances,
the rack 3 is fixed on the base 1, and the rack 3 comprises a plurality of horizontal mounting beams 301 which are positioned on the same horizontal plane; the turntable 4 is arranged below the horizontal mounting beam 301 of the frame 3, and the circle center of the turntable 4 is fixedly connected with the power output shaft of the turntable driving motor 401 fixedly connected on the horizontal mounting beam 301.
The upper surface of the rotary table 4 is provided with a circle of inner circumference bulges at a certain distance from the circle center of the rotary table 4 along the circumferential direction, the circumferential edge of the rotary table 4 is provided with a circle of outer circumference bulges, and the area between the inner circumference bulges and the outer circumference bulges forms a circular ring-shaped operation area for conveying the pulp-coated meat strips 11.
Above the circular operation area, along the rotation direction of the turntable 4, the meat combing mechanism 5, the meat strip gathering mechanism 2, the image acquisition unit 10 and the meat strip sorting mechanism 6 are fixedly connected to the horizontal mounting beam 301 of the rack 3 in sequence at a certain distance; the mechanical arm 7 is arranged on one side of the base 1 and is positioned between the image acquisition unit 10 and the meat strip sorting mechanism 6.
The meat combing mechanism 5 comprises a meat combing mechanism support 501, meat combing claws 502, a sliding block 503, a meat combing claw support 504, a meat combing claw driving motor 505, a cylindrical gear 506 and a rack 507.
The rack 507 arranged along the radial direction of the turntable 4 is fixedly connected below the horizontal mounting beam 301 of the rack 3 through a meat combing mechanism bracket 501; the sliding block 503 is freely slidably arranged in a sliding groove parallel to the rack 507; the meat combing claws 502 are fixedly connected to the sliding blocks 503 through the meat combing claw supports 504, the meat combing claws 502 comprise two meat combing teeth which are vertically arranged in parallel and are arranged at intervals of 4-6 cm, and the bottom ends of the two meat combing teeth are close to but do not contact with the upper surface of the rotating disc 4; the meat combing claw driving motor 505 is fixedly connected to the meat combing claw support 504; the cylindrical gear 506 is fixedly connected to a power output shaft of the combing claw driving motor 505 and is meshed with the rack 507.
The meat strip gathering mechanism 2 comprises a meat strip gathering flat plate 201, a meat strip gathering inner side plate 202 and a meat strip gathering outer side plate 203.
The meat strip gathering flat plate 201 is an arc-shaped plate corresponding to the annular operation area of the 1/4 turntable 4, and the meat strip gathering flat plate 201 parallel to the turntable 4 is fixedly connected below the horizontal mounting beam 301 of the rack 3 through a fixedly connecting frame; the meat strip gathering inner side plate 202 and the meat strip gathering outer side plate 203 are vertically and fixedly connected to the lower surface of the meat strip gathering flat plate 201, and the bottom ends of the meat strip gathering inner side plate 202 and the meat strip gathering outer side plate 203 are close to but not in contact with the upper surface of the turntable 4; along the rotating direction of the turntable 4, the distance between the meat strip gathering inner side plate 202 and the meat strip gathering outer side plate 203 decreases gradually from large to small, so that the meat strips 11 are gathered in the middle of the circular operation area of the turntable 4 after passing through the meat strip gathering mechanism 2.
The meat strip sorting mechanism 6 comprises an arched supporting plate 601, a meat strip sorting mechanism support 602, a pin driving motor 603, a blocking pin 604, a fixed frame 605, a pin 606, a pin mounting plate 607, a connecting frame 608 and a second-order elliptic gear planetary gear train mechanism.
The arched supporting plate 601 is fixedly connected below the horizontal mounting beam 301 of the rack 3 through a meat strip sorting mechanism bracket 602; along the rotation direction of the turntable 4, the arched supporting plate 601 sequentially comprises a front supporting plate 618 and a rear supporting plate 619; the top ends of the front supporting plate 618 and the rear supporting plate 619 are connected with each other, and the front supporting plate 618 and the rear supporting plate 619 are inclined at a certain angle with the turntable 4; the bottom ends of the front supporting plate 618 and the rear supporting plate 619 are spaced from the upper surface of the rotary table 4, so that the meat strips 11 can smoothly pass through.
A plurality of needle baffles 604 above the front supporting plate 618 are horizontally and equidistantly fixedly connected on the meat strip sorting mechanism bracket 602 to form a needle baffle row; the fixed frame 605 is fixedly connected to the meat strip sorting mechanism support 602 and is positioned above the rear supporting plate 619; the pin driving motor 603 and the second-order elliptic gear planetary gear train mechanism are arranged on a fixed frame 605; a plurality of pins 606 are fixedly connected to the pin mounting plate 607 at equal intervals to form a pin row corresponding to the pin blocking row in a staggered manner; the pin mounting plate 607 is connected with a second-order elliptic gear planetary gear train mechanism through a connecting frame 608; the pin driving motor 603 drives the second-order elliptic gear planetary gear train mechanism to move, so that the pin row swings back and forth along with the second-order elliptic gear planetary gear train mechanism to form a closed meat-pricking track; in a swing period of the second-order elliptic gear planetary gear train mechanism, the spiles are arranged from the farthest end of the rear supporting plate 619, downwards and do curvilinear motion towards the proximal direction of the rear supporting plate 619 at the same time, and the meat strips 11 on the rotary table 4 are pricked; then, the contact pin row moves upwards and makes a curve motion towards the direction of the contact pin row at the same time, the meat strips are picked to be above the highest point of the arched supporting plate 601, then the contact pin row continues to move upwards and makes a curve motion towards the direction far away from the rear supporting plate 619 to reach the highest point, in the process of far away from the arched supporting plate 601, the contact pins 606 on the contact pin row penetrate through the gaps of the contact pin row, and the meat strips 11 are placed on the front supporting plate 618; the pin header then continues to curve away from the rear support plate 619 and also curves downward to the furthest end from the rear support plate 619.
The image acquisition direction of the image acquisition unit 10 faces to the front supporting plate 608, and is used for identifying and positioning the meat strips 11 on the front supporting plate 608.
The executing end of the mechanical arm 7 is provided with a pneumatic claw 8, the meat strips 11 on the front supporting plate 608 are accurately clamped according to the image data collected by the image collecting unit 10, and the meat strips 11 are conveyed to the oil pan 9.
The interval between the two comb teeth of the comb claw 502 is 5 cm.
The spacing between adjacent pins 606 is 3 cm.
The included angle alpha between the front supporting plate 618 and the rear supporting plate 619 is 90 degrees.
The width of the front supporting plate 618 and the rear supporting plate 619 is equal to the ring width of the circular ring-shaped operation area of the rotating disc 4.
The front support plate 618 and the rear support plate 619 have upward protrusions on both sides.
The second-order elliptic gear planetary gear train mechanism includes a second-order planetary elliptic gear 609, a planetary shaft 610, a carrier 611, an intermediate shaft 612, a second-order intermediate elliptic gear 613, a second-order central elliptic gear 614, a central shaft 615, and a driven gear 616.
The planet carrier 611 comprises two planet plates which are arranged in parallel, the planet shaft 610, the intermediate shaft 612 and the central shaft 615 are sequentially arranged between the two planet plates of the planet carrier 611, wherein the planet shaft 610 and the intermediate shaft 612 are rotationally connected with the planet carrier 611 through bearings, the central shaft 615 is fixedly connected with the two planet plates of the planet carrier 611, and two ends of the central shaft 615 respectively penetrate through the two planet plates and are rotationally connected to the fixed frame 605 through bearings; the second-order planetary elliptic gear 609 is fixedly connected on the planetary shaft 610, the second-order intermediate elliptic gear 613 is fixedly connected on the intermediate shaft 612, and the second-order central elliptic gear 614 is sleeved on the central shaft 615 through a bearing and is fixedly connected with the fixed frame 605; the second-order intermediate elliptic gear 613 is meshed with a second-order planetary elliptic gear 609 and a second-order central elliptic gear 614 respectively; the driven gear 616 is fixedly connected to one end of the central shaft 615 and is fixedly connected with a planetary plate of the planetary carrier 611; a power output shaft of the pin driving motor 603 is provided with a driving gear 617 which is engaged with the driven gear 616; the connecting frame 608 is fixed to a second-order planetary elliptic gear 609.
The pitch curve parameters of the second-order planetary elliptic gear 609, the second-order intermediate elliptic gear 613 and the second-order central elliptic gear 614 are the same.
The full-automatic meat strip sorting robot system further comprises a controller, and the controller is respectively connected with the turntable driving motor 401, the combing claw driving motor 505, the contact pin driving motor 603, the image acquisition unit 10, the mechanical arm 7 and the pneumatic claw 8.
Compared with the prior art, the invention has the beneficial effects that:
the meat strips are transported by using the rotary table, and the meat strips which are not successfully identified and grabbed can be still subjected to related treatment again through circulating transportation, so that the number of the identified and grabbed meat strips is increased to the maximum extent.
The invention utilizes the gear rack mechanism to drive the meat combing claw to do linear motion, thereby flattening the meat strips on the disk, and the designed motion track can improve the probability that the meat strips are parallel to the turntable.
The invention utilizes the special track of the planet carrier of the second-order elliptic gear planetary gear train to complete the actions of pricking and pulling meat strips by the contact pin and is matched with the blocking pin, so that the meat strips smoothly fall off at the highest position of the arched supporting plate, the meat strips are flatly laid on the arched supporting plate, and the difficulty of extracting single position information by processing meat strip images is reduced.
The invention utilizes the cooperation of machine vision and the mechanical arm, and the mechanical arm and the pneumatic claw are matched together to complete the actions of positioning, clamping, transporting and throwing single meat strips, and the positioning is accurate and the mechanical structure is stable.
The meat strip sorting machine is compact in structure and high in sorting reliability, and can reduce damage to the thickness of pulp on meat strips in the meat strip processing process; and low in manufacturing cost, degree of automation is high, can effectively reduce artifical intensity of labour, and the meat strip letter sorting conveying efficiency is high, can handle the meat strip of different sizes, extensive applicability.
Drawings
FIG. 1 is a schematic structural diagram of a fully automatic meat strip sorting robot system of the present invention;
FIG. 2 is a schematic top view of the fully automatic meat strip sorting robot system of the present invention;
FIG. 3 is a schematic view of the structure of the meat combing mechanism 5 of the present invention;
FIG. 4 is a schematic structural view of the meat strip gathering mechanism 2 of the present invention;
FIG. 5 is a schematic view of the meat strip sorting mechanism 6 of the present invention; FIG. 6 is a schematic top view of the second order oval planetary gear train mechanism of the present invention;
FIG. 7 is a schematic side view of the second-order oval planetary gear train mechanism of the present invention;
FIG. 8 is a schematic view of the meat strip sorting mechanism 6 of the present invention in a meat-piercing state;
FIG. 9 is a schematic view of the meat picking position of the meat strip sorting mechanism 6 of the present invention;
fig. 10 is a schematic view of the meat grasping state of the robot arm 7 of the present invention.
Wherein the reference numerals are:
1. base 2, meat strip gathering mechanism
201. Meat strip gathering flat plate 202 and meat strip gathering inner side plate
203. Outer side plate 3 for gathering meat strips and frame
301. Horizontal mounting beam
4. Turntable 401 and turntable driving motor
5. Meat combing mechanism
501. Meat combing mechanism bracket 502 and meat combing claw
503. Slider 504, meat combing claw support
505. Combing claw driving motor 506 and cylindrical gear
507. Rack 6 and meat strip sorting mechanism
601. Arched supporting plate 602 and meat strip sorting mechanism support
603. Pin driving motor 604 and stop pin
605. Fixing frame 606 and inserting pin
607. Pin mounting plate 608 and connecting frame
609. Second-order planetary elliptic gear 610 and planetary shaft
611. Planet carrier 612, intermediate shaft
613. Second-order intermediate elliptic gear 614 and second-order central elliptic gear
615. Center shaft 616, driven gear
617. Driving gear 618, front support plate
619. Rear support plate
7. Mechanical arm 8 and pneumatic claw
9. Oil pan 10 and image acquisition unit
11. Meat strip
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1, the full-automatic meat strip sorting robot system of the present invention includes a base 1, a meat strip gathering mechanism 2, a rack 3, a turntable 4, a meat combing mechanism 5, a meat strip sorting mechanism 6, a mechanical arm 7, and an image acquisition unit 10. Wherein the content of the first and second substances,
the rack 3 is fixed on the base 1, and the rack 3 comprises a plurality of horizontal mounting beams 301 which are positioned on the same horizontal plane; the turntable 4 is arranged below the horizontal mounting beam 301 of the frame 3, the circle center of the turntable 4 is fixedly connected with a power output shaft of a turntable driving motor 401 fixedly connected to the horizontal mounting beam 301, and the turntable driving motor 401 drives the turntable 4 to rotate.
The upper surface of the rotary table 4 is provided with a circle of inner circumference bulges at a certain distance from the circle center of the rotary table 4 along the circumferential direction, the circumferential edge of the rotary table 4 is provided with a circle of outer circumference bulges, and the area between the inner circumference bulges and the outer circumference bulges forms a circular ring-shaped operation area for conveying the pulp-coated meat strips 11.
As shown in fig. 2, above the circular operation area, along the rotation direction of the turntable 4, the meat combing mechanism 5, the meat strip gathering mechanism 2, the image collecting unit 10 and the meat strip sorting mechanism 6 are sequentially and fixedly connected to a horizontal mounting beam 301 of the rack 3 at a certain distance from each other. The mechanical arm 7 is arranged on one side of the base 1 and is positioned between the image acquisition unit 10 and the meat strip sorting mechanism 6.
As shown in fig. 3, the meat combing mechanism 5 comprises a meat combing mechanism bracket 501, a meat combing claw 502, a sliding block 503, a meat combing claw bracket 504, a meat combing claw driving motor 505, a cylindrical gear 506 and a rack 507.
The rack 507 arranged along the radial direction of the turntable 4 is fixedly connected below the horizontal mounting beam 301 of the rack 3 through a meat combing mechanism bracket 501; the sliding block 503 is freely slidably arranged in a sliding groove parallel to the rack 507; the meat combing claws 502 are fixedly connected to the sliding blocks 503 through the meat combing claw supports 504, the meat combing claws 502 comprise two meat combing teeth which are vertically arranged in parallel and are arranged at intervals of 4-6 cm, and the bottom ends of the two meat combing teeth are close to but do not contact with the upper surface of the rotating disc 4; the meat combing claw driving motor 505 is fixedly connected to the meat combing claw support 504; the cylindrical gear 506 is fixedly connected to a power output shaft of the combing claw driving motor 505 and is meshed with the rack 507. Preferably, the spacing between the two comb teeth of the comb claw 502 is 5 cm.
As shown in fig. 4, the meat strip gathering mechanism 2 includes a meat strip gathering flat plate 201, a meat strip gathering inner side plate 202 and a meat strip gathering outer side plate 203.
The meat strip gathering flat plate 201 is an arc-shaped plate corresponding to the annular operation area of the 1/4 turntable 4, and the meat strip gathering flat plate 201 parallel to the turntable 4 is fixedly connected below the horizontal mounting beam 301 of the rack 3 through a fixedly connecting frame; the meat strip gathering inner side plate 202 and the meat strip gathering outer side plate 203 are vertically and fixedly connected to the lower surface of the meat strip gathering flat plate 201, and the bottom ends of the meat strip gathering inner side plate 202 and the meat strip gathering outer side plate 203 are close to but not in contact with the upper surface of the turntable 4; along the rotating direction of the turntable 4, the distance between the meat strip gathering inner side plate 202 and the meat strip gathering outer side plate 203 decreases gradually from large to small, so that the meat strips 11 are gathered in the middle of the circular operation area of the turntable 4 after passing through the meat strip gathering mechanism 2.
As shown in fig. 5 to 9, the meat strip sorting mechanism 6 includes an arched supporting plate 601, a meat strip sorting mechanism bracket 602, a pin driving motor 603, a stopper pin 604, a fixed frame 605, a pin 606, a pin mounting plate 607, a connecting frame 608 and a second-order elliptic gear planetary gear train mechanism;
the arched supporting plate 601 is fixedly connected below the horizontal mounting beam 301 of the rack 3 through a meat strip sorting mechanism bracket 602; along the rotation direction of the turntable 4, the arched supporting plate 601 sequentially comprises a front supporting plate 618 and a rear supporting plate 619; the top ends of the front supporting plate 618 and the rear supporting plate 619 are connected with each other, and the front supporting plate 618 and the rear supporting plate 619 are inclined at a certain angle with the turntable 4; the angle α between the front fascia 618 and the rear fascia 619 is 90 °, as shown in fig. 8; the bottom ends of the front supporting plate 618 and the rear supporting plate 619 and the upper surface of the turntable 4 are provided with a space through which the meat strips 11 can pass smoothly; the widths of the front supporting plate 618 and the rear supporting plate 619 are equal to the ring width of the circular operation area of the turntable 4; both sides of the front support plate 618 and the rear support plate 619 have upward protrusions.
A plurality of needle baffles 604 above the front supporting plate 618 are horizontally and equidistantly fixedly connected on the meat strip sorting mechanism bracket 602 to form a needle baffle row; the fixed frame 605 is fixedly connected to the meat strip sorting mechanism support 602 and is positioned above the rear supporting plate 619; the pin driving motor 603 and the second-order elliptic gear planetary gear train mechanism are arranged on a fixed frame 605; a plurality of pins 606 are fixedly connected to the pin mounting plate 607 at equal intervals to form a pin row corresponding to the pin blocking row in a staggered manner; the pin mounting plate 607 is connected with a second-order elliptic gear planetary gear train mechanism through a connecting frame 608; the pin driving motor 603 drives the second-order elliptic gear planetary gear train mechanism to move, so that the pin row swings back and forth along with the second-order elliptic gear planetary gear train mechanism to form a closed meat-pricking track, as shown by a dotted line in fig. 7; in a swing period of the second-order elliptic gear planetary gear train mechanism, the spiles are arranged from the farthest end of the rear supporting plate 619, downwards and do curvilinear motion towards the proximal direction of the rear supporting plate 619 at the same time, and the meat strips 11 on the rotary table 4 are pricked; then, the contact pin row moves upwards and makes a curve motion towards the direction of the contact pin row at the same time, the meat strips are picked to be above the highest point of the arched supporting plate 601, then the contact pin row continues to move upwards and makes a curve motion towards the direction far away from the rear supporting plate 619 to reach the highest point, in the process of far away from the arched supporting plate 601, the contact pins 606 on the contact pin row penetrate through the gaps of the contact pin row, and the meat strips 11 are placed on the front supporting plate 618; the pin header then continues to curve away from the rear support plate 619 and also curves downward to the furthest end from the rear support plate 619.
Preferably, the spacing between adjacent pins 606 is 3 cm.
The second-order elliptic gear planetary gear train mechanism includes a second-order planetary elliptic gear 609, a planetary shaft 610, a carrier 611, an intermediate shaft 612, a second-order intermediate elliptic gear 613, a second-order central elliptic gear 614, a central shaft 615, and a driven gear 616.
The planet carrier 611 comprises two planet plates which are arranged in parallel, the planet shaft 610, the intermediate shaft 612 and the central shaft 615 are sequentially arranged between the two planet plates of the planet carrier 611, wherein the planet shaft 610 and the intermediate shaft 612 are rotationally connected with the planet carrier 611 through bearings, the central shaft 615 is fixedly connected with the two planet plates of the planet carrier 611, and two ends of the central shaft 615 respectively penetrate through the two planet plates and are rotationally connected to the fixed frame 605 through bearings; the second-order planetary elliptic gear 609 is fixedly connected on the planetary shaft 610, the second-order intermediate elliptic gear 613 is fixedly connected on the intermediate shaft 612, and the second-order central elliptic gear 614 is sleeved on the central shaft 615 through a bearing and is fixedly connected with the fixed frame 605; the second-order intermediate elliptic gear 613 is meshed with a second-order planetary elliptic gear 609 and a second-order central elliptic gear 614 respectively; the driven gear 616 is fixedly connected to one end of the central shaft 615 and is fixedly connected with a planetary plate of the planetary carrier 611; a driving gear 617 meshed with the driven gear 616 is arranged on the power output shaft of the pin driving motor 603. The connecting frame 608 is fixed to a second-order planetary elliptic gear 609.
The pin driving motor 603 drives the central shaft 615 to rotate through the driving gear 617 and the driven gear 616, so as to drive the planet carrier 611 to rotate by taking the central shaft 615 as a rotating shaft, and the second-order central elliptic gear 614 is fixedly connected with the motor fixing support 605 and is still; the planet carrier 611 rotates for a circle, the second-order intermediate elliptic gear 613 and the second-order planetary elliptic gear 609 perform a complete circular motion relative to the planet carrier 611, and the connecting frame 608 swings back and forth along with the second-order planetary elliptic gear 609, so that the pin row swings back and forth to form a closed meat-pricking track.
The pitch curve parameters of the second-order planetary elliptic gear 609, the second-order intermediate elliptic gear 613 and the second-order central elliptic gear 614 are the same.
The image acquisition direction of the image acquisition unit 10 faces to the front supporting plate 608, and is used for identifying and positioning the meat strips 11 on the front supporting plate 608.
The executing end of the mechanical arm 7 is provided with a pneumatic claw 8, the meat strips 11 on the front supporting plate 608 are accurately clamped according to the image data collected by the image collecting unit 10, and the meat strips 11 are conveyed to the oil pan 9.
The full-automatic meat strip sorting robot system further comprises a controller, and the controller is respectively connected with the turntable driving motor 401, the combing claw driving motor 505, the contact pin driving motor 603, the image acquisition unit 10, the mechanical arm 7 and the pneumatic claw 8.
The working process of the invention is as follows:
a stack of cured meat strips 11 with pulp is placed on a circular ring-shaped operation area of the rotary table 4 between the meat combing mechanism 5 and the meat strip sorting mechanism 6, and the meat strips 11 are transported to the meat combing mechanism 5 under the rotation of the rotary table 4.
The cylindrical gear 506 of the meat combing mechanism 5 rotates to drive the sliding block 503 fixedly connected with the meat combing claw support 504 to complete linear translation motion on the sliding groove parallel to the rack 507, and further drive the meat combing claws 502 to move along the radial direction of the turntable 4, so that meat piles are combed flatly, and the meat strips 11 are parallel to the rotating direction of the turntable 4 as much as possible.
The rotating disc 4 conveys the meat strips 11 processed by the meat combing mechanism 5 to the meat strip gathering mechanism 2, and due to the gathering action of the meat strip gathering inner side plate 202 and the meat strip gathering outer side plate 203, the meat strips 11 are gathered in the middle of the circular operation area of the rotating disc 4 after passing through the meat strip gathering mechanism 2.
The rotating disc 4 conveys the meat strips 11 processed by the meat strip gathering mechanism 2 to the meat strip sorting mechanism 6, and the meat strips 11 pass through the lower part of the arched supporting plate 601; the contact pin driving motor 603 drives the central shaft 615 to rotate, a driving shaft of the contact pin driving motor 603 transmits power to the driven gear 616 through the meshing transmission of the driving gear 617 and the driven gear 616, a planet carrier 611 fixedly connected with the driven gear 616 rotates around the central shaft 615 at a constant speed, and a second-order central elliptic gear 614 is fixedly connected with the fixed frame 605 and is still. The second-order central elliptic gear 614 is meshed with a second-order intermediate elliptic gear 613, the second-order intermediate elliptic gear 613 is meshed with a second-order planetary elliptic gear 609, the transmission ratio is changed by the meshing of the three same second-order elliptic gears, so that the second-order planetary elliptic gear 609 swings in a reciprocating manner, and the connecting frame 608 fixed on the second-order planetary elliptic gear 609 swings in a reciprocating manner along with the second-order planetary elliptic gear 609, so that the pin bank forms a closed meat pricking track. In the meat-binding track, the pins are arranged at the farthest end from the rear supporting plate 619, and make a curve motion downwards and towards the proximal direction of the rear supporting plate 619 at the same time, so as to bind the meat strips 11 on the turntable 4, as shown in fig. 8; then, the contact pin row moves upwards and curves towards the direction of the contact pin row at the same time, the meat strips are picked to be above the highest point of the arched supporting plate 601, as shown in fig. 9, then the contact pin row continues to move upwards and curves towards the direction far away from the rear supporting plate 619 to reach the highest point, in the process of far away from the arched supporting plate 601, the contact pins 606 on the contact pin row penetrate through the gaps of the contact pin row, and the meat strips 11 are placed on the front supporting plate 618, as shown in fig. 10; the pin row then continues to curve downward in a direction away from the rear support plate 619 and at the same time to the furthest end from the rear support plate 619, repeating the meat pricking trajectory.
The image acquisition unit 10 carries out image acquisition to the meat strips 11 that are handled through meat strip letter sorting mechanism 6 and tile on the preceding layer board 618 of arch layer board 601, and transmit the image for the controller, through operations such as image processing, after accomplishing visual identification, the terminal position information that the controller will tile the meat strips 11 on preceding layer board 618 sends for arm 7, arm 7 moves to the assigned position, pneumatic claw 8 presss from both sides the tail end of meat strips 11, arm 7 moves out the meat strips 11 who presss from both sides and send to the fryer 9 top, pneumatic claw 8 opens, the meat strips are sorted smoothly and are transported to the fryer 9 in.
Claims (10)
1. A full-automatic meat strip sorting robot system is characterized by comprising a base (1), a meat strip gathering mechanism (2), a rack (3), a turntable (4), a meat combing mechanism (5), a meat strip sorting mechanism (6), a mechanical arm (7) and an image acquisition unit (10); wherein the content of the first and second substances,
the rack (3) is fixed on the base (1), and the rack (3) comprises a plurality of horizontal mounting beams (301) which are positioned on the same horizontal plane; the turntable (4) is arranged below the horizontal mounting beam (301) of the rack (3), and the circle center of the turntable (4) is fixedly connected with a power output shaft of a turntable driving motor (401) fixedly connected to the horizontal mounting beam (301);
a circle of inner circumference bulges are arranged on the upper surface of the rotary table (4) at a certain distance from the circle center of the rotary table (4) along the circumferential direction, a circle of outer circumference bulges are arranged on the circumferential edge of the rotary table (4), and a circular operation area for conveying the meat strips (11) coated with pulp is formed in the area between the inner circumference bulges and the outer circumference bulges;
above the circular operation area, along the rotating direction of the turntable (4), the meat combing mechanism (5), the meat strip gathering mechanism (2), the image acquisition unit (10) and the meat strip sorting mechanism (6) are fixedly connected to a horizontal mounting beam (301) of the rack (3) in sequence at intervals; the mechanical arm (7) is arranged on one side of the base (1) and is positioned between the image acquisition unit (10) and the meat strip sorting mechanism (6);
the meat combing mechanism (5) comprises a meat combing mechanism support (501), meat combing claws (502), a sliding block (503), a meat combing claw support (504), a meat combing claw driving motor (505), a cylindrical gear (506) and a rack (507);
the rack (507) arranged along the radial direction of the turntable (4) is fixedly connected below the horizontal mounting beam (301) of the rack (3) through a meat combing mechanism bracket (501); the sliding block (503) can be freely and slidably arranged in a sliding groove parallel to the rack (507); the meat combing claw (502) is fixedly connected to the sliding block (503) through a meat combing claw support (504), the meat combing claw (502) comprises two meat combing teeth which are vertically arranged in parallel and are arranged at intervals of 4-6 cm, and the bottom ends of the two meat combing teeth are close to but do not contact with the upper surface of the rotating disc (4); the meat combing claw driving motor (505) is fixedly connected to the meat combing claw support (504); the cylindrical gear (506) is fixedly connected to a power output shaft of the combing claw driving motor (505) and is meshed with the rack (507);
the meat strip gathering mechanism (2) comprises a meat strip gathering flat plate (201), a meat strip gathering inner side plate (202) and a meat strip gathering outer side plate (203);
the meat strip gathering flat plate (201) is an arc-shaped plate corresponding to the annular operation area of the turntable (4), and the meat strip gathering flat plate (201) parallel to the turntable (4) is fixedly connected below the horizontal mounting beam (301) of the rack (3) through a fixedly connecting frame; the meat strip gathering inner side plate (202) and the meat strip gathering outer side plate (203) are vertically and fixedly connected to the lower surface of the meat strip gathering flat plate (201), and the bottom ends of the meat strip gathering inner side plate (202) and the meat strip gathering outer side plate (203) are close to but not in contact with the upper surface of the turntable (4); the distance between the meat strip gathering inner side plate (202) and the meat strip gathering outer side plate (203) decreases from large to small along the rotating direction of the turntable (4), so that the meat strips (11) are gathered in the middle of the circular operation area of the turntable (4) after passing through the meat strip gathering mechanism (2);
the meat strip sorting mechanism (6) comprises an arched supporting plate (601), a meat strip sorting mechanism support (602), a contact pin driving motor (603), a blocking pin (604), a fixed frame (605), a contact pin (606), a contact pin mounting plate (607), a connecting frame (608) and a second-order elliptic gear planetary gear train mechanism;
the arched supporting plate (601) is fixedly connected below the horizontal mounting beam (301) of the rack (3) through a meat strip sorting mechanism support (602); the arched supporting plate (601) sequentially comprises a front supporting plate (618) and a rear supporting plate (619) along the rotating direction of the turntable (4); the top ends of the front supporting plate (618) and the rear supporting plate (619) are connected with each other, and the front supporting plate (618) and the rear supporting plate (619) are inclined at a certain angle with the turntable (4); intervals which can enable the meat strips (11) to pass through smoothly are arranged between the bottom ends of the front supporting plate (618) and the rear supporting plate (619) and the upper surface of the turntable (4);
a plurality of needle blocking pins (604) which are positioned above the front supporting plate (618) are horizontally and fixedly connected to the meat strip sorting mechanism bracket (602) at equal intervals to form a needle blocking row; the fixed frame (605) is fixedly connected to the meat strip sorting mechanism support (602) and is positioned above the rear supporting plate (619); the pin driving motor (603) and the second-order elliptic gear planetary gear train mechanism are arranged on a fixed frame (605); a plurality of pins (606) are fixedly connected to the pin mounting plate (607) at equal intervals to form a pin row corresponding to the pin blocking row in a staggered manner; the pin mounting plate (607) is connected with a second-order elliptic gear planetary gear train mechanism through a connecting frame (608); the pin driving motor (603) drives the second-order elliptic gear planetary gear train mechanism to move, so that the pin row swings back and forth along with the second-order elliptic gear planetary gear train mechanism to form a closed meat-pricking track; in a swing period of the second-order elliptic gear planetary gear train mechanism, the spiles are arranged at the farthest end of the rear supporting plate (619) and do curvilinear motion downwards and towards the near end direction of the rear supporting plate (619) at the same time, and the meat strips (11) on the turntable (4) are pricked; then, the contact pin row moves upwards and makes curvilinear motion towards the direction of the pin blocking row at the same time, the meat strips are picked to be above the highest point of the arched supporting plate (601), then the contact pin row continues to move upwards and makes curvilinear motion towards the direction far away from the rear supporting plate (619) to reach the highest point, in the process of keeping away from the arched supporting plate (601), the contact pins (606) on the contact pin row penetrate through the gaps of the pin blocking row, and the meat strips (11) are placed on the front supporting plate (618); then the pin row continues to move towards the direction far away from the rear supporting plate (619) and simultaneously moves downwards in a curve to reach the farthest end from the rear supporting plate (619);
the image acquisition direction of the image acquisition unit (10) faces to the front supporting plate (608) and is used for identifying and positioning the meat strips (11) on the front supporting plate (608);
the tail end of the mechanical arm (7) is provided with a pneumatic claw (8), meat strips (11) on the front supporting plate (608) are accurately clamped according to image data collected by the image collecting unit (10), and the meat strips (11) are conveyed to the oil pan (9).
2. The fully automated meat strip sorting robot system according to claim 1, wherein a spacing between two combing teeth of the combing claw (502) is 5 cm.
3. The fully automatic meat strip sorting robot system according to claim 1, wherein the meat strip gathering plate (201) is 1/4 of the circular ring-shaped working area of the turntable (4).
4. The fully automated meat strip sorting robot system of claim 1 wherein the spacing distance between adjacent pins (606) is 3 cm.
5. The fully automated meat strip sorting robot system according to claim 1, wherein the angle α between the front pallet (618) and the rear pallet (619) is 90 °.
6. The fully automated meat strip sorting robot system according to claim 1, wherein the width of the front and rear pallets (618, 619) is equal to the ring width of the circular ring shaped working area of the turntable (4).
7. The fully automated meat strip sorting robot system of claim 1 wherein both sides of the front pallet (618) and the rear pallet (619) have upward projections.
8. The fully automatic meat strip sorting robot system according to claim 1, wherein the second order elliptical gear planetary gear train mechanism comprises a second order planetary elliptical gear (609), a planetary shaft (610), a planetary carrier (611), an intermediate shaft (612), a second order intermediate elliptical gear (613), a second order central elliptical gear (614), a central shaft (615), and a driven gear (616);
the planet carrier (611) comprises two planet plates which are arranged in parallel, the planet shaft (610), the intermediate shaft (612) and the central shaft (615) are sequentially arranged between the two planet plates of the planet carrier (611), wherein the planet shaft (610) and the intermediate shaft (612) are rotationally connected with the planet carrier (611) through bearings, the central shaft (615) is fixedly connected with the two planet plates of the planet carrier (611), and two ends of the central shaft (615) respectively penetrate through the two planet plates and are rotationally connected to the fixed frame (605) through the bearings; the second-order planetary elliptic gear (609) is fixedly connected on a planetary shaft (610), the second-order intermediate elliptic gear (613) is fixedly connected on an intermediate shaft (612), and the second-order central elliptic gear (614) is sleeved on a central shaft (615) through a bearing and is fixedly connected with a fixed frame (605); the second-order intermediate elliptic gear (613) is meshed with a second-order planetary elliptic gear (609) and a second-order central elliptic gear (614) respectively; the driven gear (616) is fixedly connected to one end of the central shaft (615) and is fixedly connected with a planet plate of the planet carrier (611); a power output shaft of the contact pin driving motor (603) is provided with a driving gear (617) which is meshed with the driven gear (616); the connecting frame (608) is fixedly connected to the second-order planetary elliptic gear (609).
9. The fully automatic meat strip sorting robot system according to claim 8, wherein pitch curve parameters of the second order planetary elliptic gear (609), the second order intermediate elliptic gear (613) and the second order central elliptic gear (614) are the same.
10. The full automatic meat strip sorting robot system according to claim 1, further comprising a controller connected to the turntable driving motor (401), the combing claw driving motor (505), the pin driving motor (603), the image collecting unit (10), the robot arm (7) and the pneumatic claw (8), respectively.
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