CN113575650B - Livestock carcass air suction fixing and cutting device and method - Google Patents

Abstract

A device and a method for sucking, fixing and cutting livestock carcasses mainly comprise a device, wherein the device comprises a feeding device, a forking device, a hub conveying device, a cutting mechanism, a sucking and tightly sucking device and a sorting and conveying device; the feeding device and the sorting and conveying device are belt conveyors; the hub transportation device comprises a shell, wherein a rotatable hub is arranged on the shell and is driven by a chain transmission mechanism; the fork conveying device comprises a rectangular coordinate manipulator, and a fork is mounted at the output end of the rectangular coordinate manipulator; the cutting mechanism comprises a rectangular coordinate mechanical arm, and a cutter is mounted at the output end of the rectangular coordinate mechanical arm; the air suction tight-suction device comprises a cutting support, a cutting support plate is arranged above the cutting support, the cutting support plate is lifted and turned over through an air cylinder, and a sucker freely penetrates through the cutting support plate and keeps fixed. The air suction fixing and cutting device for the livestock carcass can ensure that different parts of the livestock carcass can be accurately cut according to requirements.

Description

Livestock carcass air suction fixing and cutting device and method

Technical Field

The invention relates to the field of slaughtering and cutting machinery, in particular to a livestock carcass air suction fixing and cutting device and method.

Background

The livestock meat is one of the main sources of meat food of people, and provides rich high-quality protein, vitamin B, iron, zinc and other elements for people. Due to the large eating demand of livestock meat, livestock in the present stage has become one of the fastest growing industries in animal husbandry. The livestock and poultry slaughtering processing is a typical labor-intensive processing industry at the present stage of China, particularly a livestock and poultry meat cutting production line generally adopts a manual auxiliary assembly line operation mode, and further has the problems of more people, high labor intensity, poorer working environment (low temperature and high humidity), difficult management and the like. Domestic slaughtering enterprises generally adopt manual and semi-automatic equipment, the intelligent level is lower, mainly is carcass splitting machine and artifical supplementary segmentation. Domestic enterprises engaged in livestock slaughtering and segmentation at present mainly include Shandonghua machinery equipment Limited company, Qingdao Jianhua food machinery manufacturing Limited company and the like. Generally speaking, domestic enterprises are relatively backward in livestock carcass intelligent segmentation technology, still rely on a large amount of manual work to realize the processing of livestock carcasses, rarely use robots to segment and remove bones. With the rapid development of the livestock meat processing industry, the demand of the livestock slaughtering automatic equipment is increased, and the automatic slaughtering equipment has great market potential.

In the process flow of livestock carcass processing, livestock carcass segmentation is a very important link. At present, the livestock carcass segmentation operation mainly has two modes, one mode is full-automatic combined operation, and the other mode is manual auxiliary assembly line operation. In developed countries, large livestock slaughtering and processing enterprises generally use full-automatic slaughtering devices, most domestic enterprises still adopt manual auxiliary assembly line operation, manual segmentation and semi-automatic equipment are low in production efficiency, poor in sanitation, backward in production mode and high in labor intensity. Domestic livestock slaughtering automation equipment is large in demand, and a large amount of imported equipment is expensive and high in cost. Therefore, the automatic livestock carcass dividing device is designed and researched aiming at the problems that livestock slaughtering equipment is lagged behind and the automatic dividing equipment is lacked, so that the technical upgrading of livestock slaughtering industry is realized, and the automation of livestock carcass dividing is realized.

The automatic livestock slaughtering equipment can improve the production efficiency of livestock meat processing and reduce the processing cost of enterprises. The livestock carcass intelligent cutting device can improve the integral level of domestic livestock processing automation on one hand, brings economic benefits to enterprises on the other hand, is suitable for national conditions of China, and has very important significance.

Disclosure of Invention

The invention aims to solve the technical problem of providing a livestock carcass air-suction fixing and cutting device and a method, which have the advantages of simple structure, strong practicability and high production efficiency, can effectively reduce the processing cost of related enterprises, realize the intelligent cutting of split livestock carcasses, and can ensure that different parts of the livestock carcasses are accurately cut according to requirements.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows:

a livestock carcass air suction fixing and cutting device comprises a feeding device, a forking device, a hub conveying device, a cutting mechanism, an air suction tight-suction device and a sorting conveying device;

the feeding device is a first belt conveyor, and a hub transmission device is installed on one side of the first belt conveyor;

the hub transmission device comprises a shell, wherein a rotatable hub is arranged on the shell and synchronously transmitted through a chain transmission mechanism; one side of the shell is provided with a slot, and the slot is used for the forking device to move up and down and extend into the interval formed between the hubs;

the fork conveying device is arranged above one side of the hub conveying device and comprises a first rectangular coordinate manipulator, forks are arranged at the output end of the first rectangular coordinate manipulator, and the forks correspond to the hubs one by one at intervals;

the cutting mechanism is positioned on one side of the hub conveying device and comprises a fourth support, a second rectangular coordinate mechanical arm is mounted on the fourth support, and a cutter is mounted at the output end of the second rectangular coordinate mechanical arm;

the air suction device is positioned below the cutting mechanism and is arranged in parallel with the hub conveying device; the air suction tight-suction device comprises a cutting support, wherein a first air cylinder and a second air cylinder are fixed on the cutting support, piston rods of the first air cylinder and the second air cylinder are hinged with the frame, and a plurality of cutting support plates are fixed on the frame and form a forking groove and a cutter-moving groove; the main sucker freely extends out through a hole in the cutting support plate, the lower end of the main sucker is installed on the sucker installation flat plate, and the sucker installation flat plate is fixed on the cutting support;

sorting and conveying device includes second belt conveyor, and second belt conveyor top is fixed with spacing frame, installs limit baffle in the spacing frame, and limit baffle drives the discharge opening size of adjusting spacing frame through rotating the motor.

The first rectangular coordinate manipulator and the second rectangular coordinate manipulator have the same structure, wherein the first rectangular coordinate manipulator consists of a first X-axis manipulator, a first Y-axis manipulator and a first Z-axis manipulator; the second rectangular coordinate mechanical arm consists of a second X-axis mechanical arm, a second Y-axis mechanical arm and a second Z-axis mechanical arm; the first Y-axis mechanical arm, the second Y-axis mechanical arm, the first X-axis mechanical arm and the second X-axis mechanical arm respectively comprise a sliding rail, racks are mounted on the inner sides of the sliding rails, corresponding sliding seats are arranged on the sliding rails in a sliding mode, gears meshed with the racks are arranged on the sliding seats, and the gears are driven by a driving motor; the first Z-axis mechanical arm and the second Z-axis mechanical arm respectively comprise a lifting slide rail, the lifting slide rails are arranged on a slide seat of the first X-axis mechanical arm or the second X-axis mechanical arm in a sliding mode, a lead screw is arranged on each lifting slide rail, and the lead screw is in threaded fit connection with the slide seat; the screw rod is driven by a lifting motor.

The split supporting plate is provided with an auxiliary sucker, the auxiliary sucker and the main sucker are arranged according to the front quarter of the livestock carcass, the rib row, the waist ridge with the bone and the hip and the leg and form an arc-shaped concave surface matched with the outer surface contour of the livestock carcass.

The main sucker and the auxiliary sucker are arranged on the sucker mounting plate through springs.

And the fourth support is provided with a machine vision device, the machine vision device comprises a camera mounting support, the machine mounting support is provided with an industrial camera, and the industrial camera is connected with an upper computer.

A livestock carcass air suction fixing and cutting method comprises the following steps:

step one, livestock carcasses to be segmented are placed on a conveyor belt of a feeding device, the conveyor belt moves along a feeding path T, the conveyor belt is naturally connected with a hub conveying device, the livestock carcasses move to hubs on the hub conveying device along the conveyor belt, the moving direction of the livestock carcasses on the hubs is consistent with the direction of the conveyor belt, when the livestock carcasses trigger a first limiting sensor of the hub conveying device, the livestock carcasses reach the starting position of the hub conveying device, the hubs stop moving for a few seconds, and the livestock carcasses reach the proper position of the hub conveying device;

step two, lifting a fork of the forking and conveying device from the lower part of the hub conveying device, forking the livestock carcasses and moving the livestock carcasses along the L direction, triggering a second limiting sensor when the livestock carcasses are in place, descending the fork of the forking and conveying device 2 to place the livestock carcasses on a cutting supporting plate of the air suction and tight device, and drawing the forks out of a forking and conveying groove to complete forking and conveying of the livestock carcasses;

step three, after the livestock carcasses are in place, the livestock carcasses press the main sucking disc and the auxiliary sucking disc under the action of gravity, and a vacuum pump provides suction required for tightly sucking the livestock carcasses; the machine vision device finishes the industrial and image processing work of the abdominal cavity side of the split livestock carcass; the air suction device tightly sucks the livestock carcasses.

And fourthly, driving a tail end cutter of a second rectangular coordinate manipulator of the cutting mechanism to perform cutting action according to a cutting path obtained by image processing, stopping sucking air by the main sucking disc and the auxiliary sucking disc after the cutting action of the half-split livestock carcass is completed, and loosening the livestock carcass.

Step five, the segmented livestock carcasses are lifted by the segmentation supporting plate through the first air cylinder and the second air cylinder of the air suction tight suction device, the strokes of the first air cylinder and the second air cylinder are different, so that the segmentation supporting plate generates an inclination angle, and the segmented livestock carcasses fall into the sorting and conveying device and are sent out by the sorting and conveying device.

The invention relates to a device and a method for sucking, fixing and dividing livestock carcasses, which have the following technical effects:

1) the livestock carcasses are conveyed to the hub conveying mechanism through the feeding device, the forking device rises from the lower part of the hub conveying device, and the carcasses are lifted and then horizontally and stably conveyed to the air suction and tight suction device. The main sucker and the auxiliary sucker penetrate through the through hole in the cutting support plate and are tightly sucked and fixed on the carcass through suction force matched with gravity. The machine vision device is installed in the air suction tight device top, and when the trunk reachs the segmentation backup pad, the domestic animal trunk image of cutting apart can be gathered to the industry camera, confirms the cutting orbit according to the image of domestic animal trunk to upper computer control cutting mechanism action. The intelligent livestock carcass cutting device is suitable for slaughtering and cutting livestock carcasses, and has wide application prospect. The invention has the characteristics of simple structure, flexible action, reliable operation, low manufacturing cost and convenient maintenance.

2) The cutting mechanism is designed in the way that the cutting support plate moves in parallel above the cutting table and moves in a telescopic mode perpendicular to the feed cutting groove, and the feed cutting groove is arranged on the cutting support plate to allow the cutting mechanism to penetrate through the cutting support plate so as to avoid the cutter from touching the cutting support plate during cutting. The three-degree-of-freedom rectangular coordinate manipulator can realize real-time adhering carcass surface cutting according to carcass visual information.

3) The automatic livestock carcass feeding device is characterized in that the carcass is conveyed to the hub conveying device by the feeding conveying belt, so that automatic feeding is realized, the enterprise cost is reduced, and the labor intensity of labor personnel is reduced.

4) The rotational speed of material loading conveyer belt keeps unanimous with wheel hub conveyer's rotational speed among the wheel hub conveyer, makes the steady conveying of carcass on the wheel hub conveyer, triggers spacing sensor and shows that the carcass targets in place, and forking device is automatic with the carcass fork-lift, steadily transports to the gas absorption fixing device, and can avoid the carcass to take place the extrusion and pile up. After the carcasses are in place, the gas suction fixing device firmly sucks the carcasses tightly to avoid the carcasses to move, and the machine vision assists the singlechip to control the mechanical arm to drive the tail end cutter to cut the carcasses, so that the cutting precision is ensured. The combined machine vision can cut carcasses with different shapes and sizes, and has stronger adaptability.

5) The suckers of the air suction fixing device are distributed in an array mode, the groove design of the cutting support plate and the sucker distribution are mainly combined with the optimal selection after the three-dimensional scanning processing of the livestock carcass, the carcass can be firmly sucked tightly, and the phenomenon that the carcass cannot shake or move when being cut is avoided. Livestock carcass loading attachment can with slaughter the complete butt joint of half carcass production line of splitting of processing enterprise, and it is strong to use the laminating nature.

6) The forking device is characterized in that the forking device can be completely attached to the livestock carcasses, ensures that the carcasses are kept stable during transportation and cannot slide and fall off, and can be stably and accurately conveyed to the air suction fixing device. Fork send device 2 and 3 steady transportation that realize the trunk of wheel hub conveyer, and the motion can not the mutual interference, and both movements are all controlled by the host computer, have realized the transportation of beasts and birds trunk and have linked up smoothly naturally, improve conveying efficiency.

7) The livestock carcass limiting device in the blanking sorting device controls the opening and closing threshold value through the upper computer, so that the split individual bodies of the split livestock carcasses are prevented from being accumulated when the split livestock carcasses are dumped in a production line, and convenience is brought to sorting of the subsequent carcass split bodies.

8) The ' 201811585214.4 patent ' a livestock carcass multi-point clamping and splitting device ' is a patent previously applied by the team, and has the following advantages relative to the above patent:

(1) the feeding device of the multi-point clamping and dividing device utilizes the push plate to apply a transverse force to the livestock carcass to push the carcass into the multi-point clamping device, and the extrusion of the livestock carcass is accumulated due to the action of the transverse force when the carcass is pushed in, so that the carcass is bent and the cutting is influenced. The device adopts a fork conveying method to convey the trunk to the air suction fixing device, so that the trunk is not subjected to transverse force, flat placement of the trunk can be ensured, and extrusion bending cannot be generated.

(2) The cylinder is adopted by the body fixing device of the multipoint clamping and cutting device to extrude upwards, the upper cover plate is limited, the body is clamped in the middle, the gravity of the body is ignored, the clamping force is upward, and the gravity of the body interfere with each other. The device adopts the air suction principle to fix the livestock carcass, fully utilizes the gravity of the carcass and increases the fixing effect of the carcass. The cover plate above the multi-point clamping and cutting device can influence the machine vision, the fault tolerance rate of the cutting body is reduced due to the existence of the cover plate, danger can be caused if a cutter does not cut correctly, and the adaptability is not strong. The cover plate is removed, the shooting visual angle of machine vision is optimized, the cutting fault-tolerant rate is increased, and the adaptability of the cutting mechanism to different types of carcasses is improved. The cutting of the multipoint clamping and cutting device adopts a reciprocating saw, and the trunk vibrates when the trunk is in a suspended clamping state and leads to cutting, so that the service life of the cutting device is also influenced. This device adopts pneumatic circular saw, and the vibrations that produce when can effectual reduction cutting have prolonged cutting device's life.

(3) The blanking device and the feeding device of the multipoint clamping and dividing device adopt the same device, the divided carcasses are pushed to the blanking device, and when the divided carcasses are pushed, different parts after division can be extruded and pushed together, so that the multipoint clamping and dividing device is not beneficial to sorting. The device adopts a dumping type method for blanking, and the blanking device is also provided with the limiting devices arranged aiming at different parts of the split carcass, so that the split parts with different sizes can fall into the blanking device backwards, the extrusion and the stacking of each part are avoided, and the convenience is provided for the subsequent sorting of different parts.

Drawings

The invention is further illustrated by the following examples in conjunction with the accompanying drawings:

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural diagram of the feeding device of the present invention.

Fig. 3 is a schematic structural diagram of the hub transmission device of the present invention.

Fig. 4 is a schematic structural view of the forking device of the present invention.

FIG. 5 is a schematic view of the structure of the air sucking and fastening device of the present invention.

FIG. 6 is a schematic structural diagram of a dividing mechanism according to the present invention.

Fig. 7 is a schematic view of the second X-axis robot of the present invention.

Fig. 8 is a schematic view of the second Z-axis robot of the present invention.

Fig. 9 is a schematic view of the structure of the sorting conveyor of the present invention.

In the figure: a feeding device 1, a driven sprocket 11, a front roller 12, a driving shaft 13, a conveyor belt 14, a conveying chain 15, a rear roller 16, a driven shaft 17, a tension bearing 18, a support 19, a first motor 110, a driving sprocket 111, a forking device 2, a second support 21, a first X-axis mechanical arm 22, a first Y-axis mechanical arm 23, a first Z-axis mechanical arm 24, a fork 25, a second limit sensor 26, a hub conveying device 3, a first limit sensor 31, a connecting side plate 32, a first supporting side plate 33, a hub 34, a first chain 35, a second chain 36, a second supporting side plate 37, a second motor 38, a bottom plate 39, a slot 310, a dividing mechanism 4, a fourth support 41, a second X-axis mechanical arm 42, a second Y-axis mechanical arm 43, a second Z-axis mechanical arm 44, a cutter 45, an air suction tight device 5, a dividing supporting plate 51, a frame 52, a limit baffle 53, an auxiliary suction cup 54, the automatic cutting machine comprises a main suction cup 55, a suction cup mounting plate 56, a first air cylinder 57, a second air cylinder 58, a forking groove 59, a cutter feeding groove 510, a cutting support 511, a sorting and conveying device 6, a second belt conveyor 61, a limiting frame 62, a limiting baffle 63, a rotating motor 64, a machine vision device 7, a machine mounting support 71, an industrial camera 72, a slide rail 8, a rack 9, a slide seat 10, a gear 11, a driving motor 12, a lifting slide rail 13, a screw rod 14, a lifting motor 15 and a cutting motor 16.

Detailed Description

As shown in fig. 1, the livestock carcass air-suction fixing and dividing device comprises a feeding device 1, a forking device 2, a hub conveying device 3, a dividing mechanism 4, an air-suction tight-suction device 5 and a blanking sorting device 6.

As shown in fig. 2, the feeding device 1 is a first belt conveyor, which includes a conveyor belt 14 mounted on a front roller 12 and a rear roller 16, the front roller 11 is fixedly mounted on a driving shaft 13, and the rear roller 16 is fixedly mounted on a driven shaft 17. The driving shaft 13 and the driven shaft 17 are respectively mounted on a tension bearing 18, and the tension bearing 18 is mounted on a first bracket 19 through a bearing seat. The first motor 110 is mounted on the first bracket 19, and the first motor 110 drives the driving shaft 13 to rotate synchronously via the driving sprocket 111, the driven sprocket 11, and the transmission chain 15.

As shown in fig. 3, the hub transmission device 3 includes a housing, which is composed of a bottom plate 39, a front and rear first support side plate 33, a second support side plate 37, and a left connection side plate 32. The first supporting side plate 33 or the second supporting side plate 37 is provided with a slot 310, so that interference is avoided when the fork 25 forks the trunk. The hubs 34 are rotatably mounted on the first and second support side plates 33, 37 by means of bearing assemblies, each hub 34 is provided with a sprocket on one side, all sprockets are driven by a first chain 35, and the hub transportation means are powered by a second motor 38. And transmits power through the second chain 36.

The livestock carcasses are conveyed to the hub 34 from the feeding device 1, the rotating speed of the hub 34 is consistent with the speed of the conveyor belt 14 of the feeding device 1, when the livestock carcasses reach a specified position, the position sensor 31 is triggered to send a signal to the machine loading position, the hub conveying device 3 is controlled to stop acting, and the action of the forking device 2 is waited.

As shown in fig. 4, the forking device 2 includes a second bracket 21, and the first rectangular robot is mounted on the second bracket 21. The first rectangular manipulator includes a first X-axis robot 22, a first Y-axis robot 23, and a first Z-axis robot 24, and a fork 25 is mounted at an output end of the first Z-axis robot 24. The fork 25 moves up and down, left and right and back and forth along with the rectangular coordinate manipulator, and finally accurate positioning is realized.

Preferentially, fork 25 is designed to have the radian on carcass surface, better laminating carcass surface, and surface distribution has its friction of bump array increase, improves the stability of carcass transportation in-process, avoids the carcass to drop.

As shown in fig. 5, the air suction tight-suction device 5 comprises a dividing bracket 511, a first air cylinder 57 and a second air cylinder 58 are fixed on the dividing bracket 511, piston rods of the first air cylinder 57 and the second air cylinder 58 are hinged with the frame 52, and a dividing support plate 51 is installed on the frame 52 and driven by the first air cylinder 57 and the second air cylinder 58 to move up and down and turn over. Through holes are formed in appropriate positions of the divided support plate 51, the main suction cup 55 and the sub suction cup 54 are freely extended through the through holes on the surface of the divided support plate 51, the lower ends of the main suction cup 55 and the sub suction cup 54 are mounted on a suction cup mounting plate 56, and the suction cup mounting plate 56 is fixed on the divided support 511.

Preferably, a limit stopper 53 is fixed to the outside of the division bracket 511, and the limit stopper 53 limits the positions of the division support plate 51 and the frame 52.

Preferably, the divided support plates 51 are arranged at a plurality of intervals and form the lateral feed grooves 510 and the longitudinal forking grooves 59. The feed groove 510 prevents the cutter from cutting the divided support plate 51, and a part of the fork feed groove 59 communicates with the feed groove 510, the fork feed groove 59 being for the fork 25 to feed the livestock carcass onto the divided support plate 51, the fork 25 being drawn out by the fork feed groove 59.

Preferably, the main suction cup 55 and the sub suction cup 54 are installed at heights adapted to the contour of the surface of the livestock carcass, the main suction cup 55 and the sub suction cup 54 are different in height, the sub suction cup is about 4cm higher than the main suction cup, and whether the main suction cup 55 and the sub suction cup 54 suck air or not is controlled by an upper computer.

Preferably, the main suction cup 55 and the sub suction cup 54 are spring-mounted on the suction cup mounting plate 56, the main suction cup 55 is provided with 14 suction cups in an array, the sub suction cup 54 is provided with 13 suction cups in an array, and the suction cups are divided into a rib row suction cup, a bone-carrying lumbar suction cup and a hip-carrying leg-removing suction cup according to functions. The main suction cups are mainly concentrated on the central line part according to the gravity distribution of the split carcasses, the auxiliary suction cups are distributed according to the size and the actual outline of the carcasses, the optimal selection is selected after the three-dimensional scanning processing of the livestock carcasses is combined, and the livestock carcasses are guaranteed not to move when the carcasses are cut.

Preferably, the first and second cylinders 57 and 58 have different strokes to lift the supporting plate 51 and the frame 52 and form an inclination angle, so as to tilt the divided livestock carcasses. Specifically, the first cylinder 57 and the second cylinder 58 lift the split support plate 51 at the same time at the beginning of operation, which can prevent damage to the chuck. When the second cylinder 58 reaches the operating stroke, the first cylinder 57 continues to extend, so that the division support plate 51 forms an angle to tilt the divided livestock carcass.

Preferentially, cut apart backup pad 51 and be recessed arc, can avoid the body vibrations, and better laminating mutually with the body surface.

As shown in fig. 6, the dividing mechanism 4 includes a fourth support 41 and a second rectangular robot attached to the fourth support 41. The second rectangular coordinate robot includes a second X-axis robot arm 42, a second Y-axis robot arm 43, and a second Z-axis robot arm 44, and a tool 45 is mounted on an output end of the second Z-axis robot arm 44. The tool 45 moves up and down, left and right, and back and forth along with the second rectangular coordinate manipulator, and finally, accurate positioning is achieved.

The second rectangular robot and the first rectangular robot have the same structure and are different only in size.

The first Y-axis mechanical arm 23 and the second Y-axis mechanical arm 43 are arranged in parallel in pairs from left to right, two ends of the first X-axis mechanical arm 22 are mounted on the first Y-axis mechanical arm 23, and two ends of the second X-axis mechanical arm 42 are mounted on the second Y-axis mechanical arm 43.

As shown in fig. 7, the first X-axis robot 22 and the second X-axis robot 42 both move back and forth in the Y direction. First Y axle arm 23, second Y axle arm 43, first X axle arm 22, second X axle arm 42 all include slide rail 8, and rack 9 is installed to slide rail 8 inboard, and the corresponding slide 10 slides and sets up on slide rail 8, is equipped with the gear 11 with rack 9 meshing on the slide 10, and gear 11 passes through driving motor 12 drive. The robot arm thus mounted on the counter slide 10 can perform a corresponding movement.

As shown in fig. 8, the first Z-axis robot 24 is slidably disposed on the carriage 10 of the first X-axis robot 22 through the elevation slide 13, and the second Z-axis robot 44 is slidably disposed on the carriage 10 of the second X-axis robot 42 through the elevation slide 13. A screw rod 14 is arranged on the lifting slide rail 13, the screw rod 14 is in threaded fit with the slide seat 10, and the screw rod 14 is driven by a lifting motor 15.

The cutter 45 is fixedly mounted on the lifting slide 13 and is driven by the cutting motor 16.

As shown in fig. 6, the machine vision device 7 is mounted on the fourth bracket 41, the machine vision device 7 includes a camera mounting bracket 71, and an industrial camera 72 is mounted on the camera mounting bracket 71. The industrial camera 72 is an industrial camera which is in communication connection with an upper computer and is used for collecting the picture of the half-split livestock carcass on the split supporting plate. The cutting mechanism 4, the air suction device 5 and the forking device 2 are connected with an upper computer and controlled to act through the upper computer.

As shown in fig. 9, the sorting conveyor 6 includes a second belt conveyor 61, and the second belt conveyor 61 has the same structure as the loading device 1. In addition, a limit frame 62 is fixed above the second belt conveyor 61, a limit baffle 63 is rotatably mounted in the limit frame 62, and the limit baffle 63 is driven to rotate by a rotating motor 64. Combine the livestock carcass to cut apart the thickness of back each part different, adjust spacing (adjusting blanking opening size promptly) between spacing baffle 63 and the spacing 62 front side curb plate, can restrict not the carcass timesharing of equidimension and fall on the conveyer belt, prevent to cut apart the piling up of back livestock carcass, the letter sorting of being convenient for.

A livestock carcass air suction fixing and dividing device comprises the following steps:

firstly, placing the livestock carcasses to be segmented on a conveyor belt 14 of a feeding device 1, enabling the conveyor belt 14 to move along a feeding path T, enabling the conveyor belt 14 to be naturally connected with a hub conveying device 3, enabling the livestock carcasses to move to a hub 34 on the hub conveying device 3 along the conveyor belt 14, enabling the moving direction of the livestock carcasses on the hub 34 to be consistent with the direction of the conveyor belt 14, marking that the livestock carcasses reach the starting position of the hub conveying device 3 when the livestock carcasses trigger a first limiting sensor 31 of the hub conveying device 3, enabling the hub 34 to stop moving for several seconds in a delayed mode, and enabling the livestock carcasses to reach the proper position of the hub conveying device 3;

step two, at the moment, the fork 25 of the forking device 2 rises from the lower part of the hub conveying device 3, the livestock carcass is forked by the fork 25 and moves along the L direction, when the livestock carcass is in place, the second limit sensor 26 is triggered, the fork 25 of the forking device 2 descends to place the livestock carcass on the cutting support plate 51 of the air suction tight-suction device, the fork 25 is drawn out by the forking groove 59, and the forking of the livestock carcass is completed;

step three, after the livestock carcasses are in place, the livestock carcasses press the main suction cup 55 and the auxiliary suction cup 54 under the action of gravity, and a vacuum pump provides suction required for tightly sucking the livestock carcasses; the machine vision device 7 finishes the industrial and image processing work on one side of the abdominal cavity of the split livestock carcass; the air suction tight-suction device 5 tightly sucks the livestock carcass.

And step four, the second rectangular coordinate manipulator of the splitting mechanism 4 drives the tail end cutter 45 to perform splitting action according to the splitting path obtained by image processing, and after the splitting action of the half-split livestock carcass is completed, the main suction cup 55 and the auxiliary suction cup 54 stop sucking air and loosen the livestock carcass.

And step five, lifting the split supporting plate 51 by the first air cylinder 57 and the second air cylinder 58 of the air suction tight-suction device 5, wherein the strokes of the first air cylinder 57 and the second air cylinder 58 are different, so that the split supporting plate 51 generates an inclination angle, and the split livestock carcasses fall into the sorting and conveying device 6 and are sent out by the sorting and conveying device 6.

Claims (6)

1. The utility model provides a fixed segmenting device of livestock carcass breathing in which characterized in that: comprises a feeding device (1), a forking device (2), a hub conveying device (3), a dividing mechanism (4), an air suction and tight suction device (5) and a sorting and conveying device (6);

the feeding device (1) is a first belt conveyor, and a hub transmission device (3) is mounted on one side of the first belt conveyor;

the hub transmission device (3) comprises a shell, wherein a rotatable hub (34) is arranged on the shell, and the hub (34) is synchronously transmitted through a chain transmission mechanism; one side of the shell is provided with a slot (310), and the slot (310) is used for the fork-lift device (2) to move up and down and extend into the interval formed between the hubs (34);

the fork conveying device (2) is installed above one side of the hub conveying device (3), the fork conveying device (2) comprises a first right-angle coordinate manipulator, forks (25) are installed at the output end of the first right-angle coordinate manipulator, and the forks (25) correspond to the hubs (34) one by one at intervals;

the cutting mechanism (4) is positioned on one side of the hub conveying device (3), the cutting mechanism (4) comprises a fourth support (41), a second rectangular coordinate mechanical arm is mounted on the fourth support (41), and a cutter (45) is mounted at the output end of the second rectangular coordinate mechanical arm;

the air suction tight-suction device (5) is positioned below the dividing mechanism (4) and is parallel to the hub transmission device (3); the air suction tight-suction device (5) comprises a dividing support (511), wherein a first air cylinder (57) and a second air cylinder (58) are fixed on the dividing support (511), piston rods of the first air cylinder (57) and the second air cylinder (58) are hinged with a frame (52), and a plurality of dividing support plates (51) are fixed on the frame (52) and form a forking groove (59) and a cutter feeding groove (510); the main sucker (55) freely extends out through a hole on the dividing support plate (51), the lower end of the main sucker is arranged on a sucker mounting flat plate (56), and the sucker mounting flat plate (56) is fixed on the dividing support (511);

sorting and conveying device (6) comprises a second belt conveyor (61), a limiting frame (62) is fixed above second belt conveyor (61), a limiting baffle (63) is installed in limiting frame (62), and a discharge opening of limiting baffle (63) is driven by a rotating motor (64) to adjust limiting frame (62) is large.

2. The livestock carcass air-breathing fixing and splitting device as claimed in claim 1, wherein: the first rectangular coordinate manipulator and the second rectangular coordinate manipulator have the same structure, wherein the first rectangular coordinate manipulator consists of a first X-axis manipulator (22), a first Y-axis manipulator (23) and a first Z-axis manipulator (24); the second rectangular coordinate mechanical arm consists of a second X-axis mechanical arm (42), a second Y-axis mechanical arm (43) and a second Z-axis mechanical arm (44); the first Y-axis mechanical arm (23), the second Y-axis mechanical arm (43), the first X-axis mechanical arm (22) and the second X-axis mechanical arm (42) respectively comprise a sliding rail (8), a rack (9) is installed on the inner side of the sliding rail (8), the corresponding sliding seat (10) is arranged on the sliding rail (8) in a sliding mode, a gear (11) meshed with the rack (9) is arranged on the sliding seat (10), and the gear (11) is driven through a driving motor (12); the first Z-axis mechanical arm (24) and the second Z-axis mechanical arm (44) respectively comprise a lifting slide rail (13), the lifting slide rail (13) is arranged on a slide seat (10) of the first X-axis mechanical arm (22) or the second X-axis mechanical arm (42) in a sliding mode, a lead screw is mounted on the lifting slide rail (13), and the lead screw is in threaded fit connection with the slide seat (10); the screw rod is driven by a lifting motor (15).

3. The livestock carcass air-breathing fixing and splitting device as claimed in claim 1, wherein: the split support plate (51) is provided with an auxiliary suction disc (54), the auxiliary suction disc (54) and the main suction disc (55) are arranged according to the front quarter of the livestock carcass, the rib row, the bone-carrying waist ridge and the hip-carrying leg-removing and form an arc-shaped concave surface matched with the outer surface profile of the livestock carcass.

4. The livestock carcass air-breathing fixing and splitting device as claimed in claim 3, wherein: the main sucker (55) and the auxiliary sucker (54) are arranged on a sucker mounting plate (56) through springs.

5. The livestock carcass air-breathing fixing and splitting device as claimed in claim 1, wherein: the machine vision device (7) is installed on the fourth support (41), the machine vision device (7) comprises a camera installation support (71), an industrial camera (72) is installed on the camera installation support (71), and the industrial camera (72) is connected with an upper computer.

6. The method for livestock carcass splitting by means of the livestock carcass sucking and fixing splitting device as claimed in any one of claims 1 to 5, comprising the steps of:

firstly, placing livestock carcasses to be segmented on a conveyor belt of a feeding device (1), wherein the conveyor belt moves along a feeding path T and is naturally connected with a hub conveying device (3), the livestock carcasses move to a hub (34) on the hub conveying device (3) along the conveyor belt, the moving direction of the livestock carcasses on the hub (34) is consistent with the direction of the conveyor belt, when the livestock carcasses trigger a first limiting sensor (31) of the hub conveying device (3), the livestock carcasses are marked to reach the starting position of the hub conveying device (3), the hub (34) stops moving after a few seconds of delay, and the livestock carcasses reach the proper position of the hub conveying device (3);

step two, lifting a fork (25) of the forking device (2) from the lower part of the hub conveying device (3), forking the livestock carcass by the fork (25) and moving along the L direction, triggering a second limit sensor (26) when the livestock carcass is in place, descending the fork (25) of the forking device (2) to place the livestock carcass on a split supporting plate (51) of the air suction tight device, and drawing out the fork (25) from a forking groove (59) to finish forking of the livestock carcass;

step three, after the livestock carcasses are in place, the livestock carcasses press the main suction cup (55) and the auxiliary suction cup (54) under the action of gravity, and a vacuum pump provides suction required for tightly sucking the livestock carcasses; the machine vision device (7) completes the industrial and image processing work of the abdominal cavity side of the split livestock carcass; the air suction tight-suction device (5) tightly sucks the livestock carcass;

fourthly, a second rectangular coordinate mechanical arm of the splitting mechanism (4) drives a tail end cutter (45) to perform splitting action according to a splitting path obtained by image processing, after the splitting action of the half-split livestock carcass is completed, the main suction disc (55) and the auxiliary suction disc (54) stop sucking air, and the livestock carcass is loosened;

fifthly, the divided and partitioned livestock carcasses are lifted up by the first air cylinder (57) and the second air cylinder (58) of the air suction tight suction device (5), the stroke of the first air cylinder (57) and the stroke of the second air cylinder (58) are different, so that the divided and partitioned supporting plates (51) generate inclination angles, and the divided and partitioned livestock carcasses fall into the sorting and conveying device (6) and are sent out by the sorting and conveying device (6).

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