CN115399357B

CN115399357B - Full-automatic livestock and poultry splitting robot

Info

Publication number: CN115399357B
Application number: CN202211003970.8A
Authority: CN
Inventors: 毛凯旸
Original assignee: Nanjing Hongwei Slaughtering Machinery Manufacture Co ltd
Current assignee: Nanjing Hongwei Slaughtering Machinery Manufacture Co ltd
Priority date: 2022-08-19
Filing date: 2022-08-19
Publication date: 2023-04-25
Anticipated expiration: 2042-08-19
Also published as: CN115399357A

Abstract

The invention relates to the technical field of automatic splitting of livestock and poultry, in particular to a full-automatic livestock and poultry splitting robot which comprises a robot steel foundation, a power cutting mechanism, a clamping mechanism, a cooling and cleaning mechanism and a polishing mechanism, wherein the top end of the robot steel foundation is provided with a robot main body, one end of the robot main body is provided with a splitting tool bit, one side of the splitting tool bit is provided with a conveying track, and one end of a second extension plate is symmetrically and fixedly connected with a fixing rod. This device degree of automation is higher, need not the workman and advance long-time operation to reduce workman's work load, improve workman's security that works simultaneously, and can cool down and wash cutter and beasts and birds when splitting, after long time, this device can polish automatically and need not to dismantle the cutter and polish, thereby practice thrift operating time greatly, improve work efficiency, this device can work steadily for a long time simultaneously, vibration and noise are not had, and the meat consumption rate is low.

Description

Full-automatic livestock and poultry splitting robot

Technical Field

The invention relates to the technical field of automatic livestock and poultry splitting, in particular to a full-automatic livestock and poultry splitting robot.

Background

In the field of meat slaughtering processing, slaughtering production lines are increasingly scaled and automated, but most slaughter houses are very backward due to the fund problem of degree of automation, the electric saw commonly used is a reciprocating split saw or a bridge split saw, the reciprocating split saw has low split efficiency, large vibration, large noise, thick saw blade and large meat loss, a cooling cleaning system is not used, the quality of meat can be influenced in the split process, the saw blade replacement is more complicated, the labor intensity of workers is relatively high, the bridge split saw has high degree of automation, the meat is greatly lost, the energy consumption is high, the noise is high, the danger degree of operators is high, the cooling cleaning system is not used, the quality of meat can be influenced in the split process, the saw blade replacement is relatively complicated, the labor intensity of the workers is relatively high, the efficiency of the belt split saw is relatively high, but the meat has influence due to the fact that the saw blade is a high-speed saw blade, meanwhile, the hazard degree of operators is relatively high, and the labor intensity of workers is relatively high;

most of existing livestock and poultry splitting machines are manually handheld to split, so that not only is the working intensity of workers high, but also the dangers of the workers are high during operation, and after long-time use, the saw blade is required to be detached for polishing, so that the time is wasted.

Disclosure of Invention

The invention aims to provide a full-automatic livestock splitting robot, so as to solve the problems that the part of livestock splitting robot provided in the background art is mostly manually operated for splitting, so that the working intensity of workers is high, the danger degree of the workers is high during operation, and the saw blade is required to be detached for polishing after long-time use.

In order to achieve the above purpose, the present invention provides the following technical solutions: full-automatic beasts and birds split robot, including robot steel foundation, power cutting mechanism, clamping mechanism, cooling wiper mechanism and grinding machanism, the top of robot steel foundation is provided with the robot main part, the one end of robot main part is provided with split tool bit, split tool bit one side is provided with the transportation track, split tool bit includes the transmission piece, the top of transmission piece is connected with the one end of robot main part through the motor, the one end fixedly connected with first extension board of transmission piece, the bottom fixedly connected with bottom plate of transmission piece, the one end fixedly connected with second extension board of bottom plate, the one end of second extension board is provided with first regulating part, the one end symmetry fixedly connected with dead lever of second extension board, and the both ends of dead lever all with first regulating part sliding connection, the one end of first regulating part is connected with first gyro wheel through the bearing, the other end of first regulating part is connected with the second gyro wheel through the bearing, the one end of first regulating part evenly fixedly connected with spring, and the one end of spring all with the one end of second extension board.

Preferably, the control ends of the robot main body and the conveying rail are electrically connected with an external power supply through a control cabinet, so that a user can conveniently control the device to work through the control cabinet.

Preferably, the power cutting mechanism includes rotary tank, main bull stick, first conical gear, side bull stick, connecting rod, second conical gear, first servo motor, universal joint, swing arm, locating lever, balancing weight and cutter, the rotary tank has been seted up at the middle part of transfer block, the both ends of rotary tank all are connected with main bull stick through the bearing, be provided with first conical gear between the main bull stick, and the both ends of first conical gear all respectively with main bull stick fixed connection, the one end that main bull stick kept away from each other all fixedly connected with side bull stick, and the side bull stick is located the upper and lower both sides of main bull stick respectively, the middle part rotation of first conical gear is connected with the connecting rod, the one end fixedly connected with second conical gear of connecting rod, and second conical gear meshes with first conical gear mutually, the one end of drive block is provided with first servo motor, the output fixedly connected with universal joint, and the one end and the connecting rod fixed connection of universal joint, the both sides of drive block all are provided with the swing arm, and the middle part of swing arm all rotates with the side respectively and be connected with main bull stick fixed connection, the side, the one end that all is connected with through the pivot, the side cabinet is convenient for all is connected with the pivot through the side cabinet, all through the pivot, all has the end that is connected with the pivot, the side cabinet and has the end.

Preferably, the clamping mechanism comprises a clamping plate, a first cylinder, an adjusting block, an installation adjusting piece, an adjusting plate, a third roller and a fourth roller, wherein one end of the first extension plate is connected with the clamping plate through a rotating shaft, the middle part of the clamping plate is connected with one end of the first cylinder through the rotating shaft, the other end of the first cylinder is connected with one end of the first extension plate through the rotating shaft, one end of the clamping plate is fixedly connected with the adjusting block, one end of the clamping plate is connected with the installation adjusting piece through the rotating shaft, the middle part of the installation adjusting piece is fixedly connected with the adjusting plate, one end of the adjusting plate is positioned in the adjusting block, one end of the installation adjusting piece is connected with two groups of third rollers through bearings, and the other end user bearing of the installation adjusting piece is connected with two groups of fourth rollers, so that the device can clamp livestock and poultry conveniently.

Preferably, the control end of the first cylinder is electrically connected with an external power supply through a control cabinet, so that a user can conveniently control the device to work through the control cabinet.

Preferably, the cooling and cleaning mechanism comprises a water guide pipe, a spray head and an electromagnetic valve, wherein the top end of the first extension plate is uniformly connected with the water guide pipe, the bottom end of the water guide pipe is connected with the spray head, and the top end of the water guide pipe is provided with the electromagnetic valve, so that the device is convenient to cool and rinse.

Preferably, the control end of the electromagnetic valve is electrically connected with an external power supply through a control cabinet, and the top end of the water guide pipe is externally connected with a water pipe, so that a user can conveniently control the device to work through the control cabinet.

Preferably, the polishing mechanism comprises a side plate, an adjusting groove, an adjusting rod, a second cylinder, a track groove, a moving rod, a first moving block, a second servo motor, a polishing rod, a third cylinder and a fourth cylinder, wherein the side plates are connected with each other through a rotating shaft, the track groove is formed in one side of the side plate, the adjusting groove is formed in each of the two sides of the first extending plate, the adjusting rod is connected with the inside of the adjusting groove through a bearing, two groups of second cylinders are arranged in the inside of the adjusting groove, one end of each of the second cylinders is fixedly connected with the adjusting rod, one end of each of the second cylinders is connected with one side of the side plate through the rotating shaft, the moving rod is connected with one end of each of the track groove in a sliding manner, one end of each of the moving rod is fixedly connected with the first moving block, the other end of each of the moving rod is fixedly connected with the second moving block, the middle part of each of the second moving block is provided with the second servo motor, the output end of each of the second servo motor is fixedly connected with the polishing rod, one end of each of the polishing rod is attached to the cutter, the cutter is connected with one end of the first cylinder through the bearing, and the cutter is connected with one end of the fourth cylinder through the rotating shaft, and the cutter is connected with one end of the fourth cylinder through the bearing.

Preferably, the control ends of the second cylinder, the second servo motor, the third cylinder and the fourth cylinder are electrically connected with an external power supply through a control cabinet, so that a user can conveniently control the device to work through the control cabinet.

Compared with the prior art, the invention has the beneficial effects that:

when the device does not work, the clamping plate is in an unfolding state, the clamping plate is in a horizontal state by controlling the extension of the first air cylinder, the side plate is slightly unfolded by controlling the extension of the second air cylinder, so that the polishing rod does not influence the work of a cutter, when the device is used by a user, the user controls the device to work automatically through the control cabinet, the user hangs livestock and poultry on a conveying track, the livestock and poultry are moved to a splitting cutter head position through the conveying track, meanwhile, the output end of the first servo motor drives a connecting rod and a second bevel gear to rotate slowly through a universal joint, the second bevel gear drives the first bevel gear and a main rotating rod to rotate, the main rotating rod drives the middle parts of two groups of swing arms to perform circular motion through two groups of side rotating rods, and because one end of the swing arms is limited by a positioning rod, the positions of the swing arms and the positioning rod are connected to perform small-range back-and-forth motion, the middle part of the locating rod is limited by the bottom plate, the locating rod moves around by taking the middle part as a central shaft, the bottom end of the locating rod drives the balancing weight to move forwards and backwards, when the side rotating rod moves circularly, one end of the swinging arm moves up and down and forwards and backwards, the swinging arm which moves up and down and forwards and backwards drives the cutters to move, so that two groups of cutters which are close to each other are continuously and alternately pulled and cut, when the splitting cutter head is positioned at the central position of livestock and poultry, the robot main body drives the splitting cutter head to move towards the livestock and poultry rapidly, when the first roller and the second roller at one end of the second extension plate are tightly attached to the livestock and poultry, the first adjusting piece rotates at one end of the second extension plate, the first roller and the second roller can be attached to the livestock and poultry through the spring, then the first cylinder works, one end of the first cylinder extends, so that the clamping plate moves circularly, the clamping plate in a horizontal state moves to a vertical state through the first air cylinder, when the third roller or the fourth roller is attached to livestock, the adjusting piece is installed to rotate, the third roller and the fourth roller are adjusted to be attached to the livestock through the installing adjusting piece, the adjusting piece is installed to drive the adjusting plate to move in the adjusting block, the adjusting block and the adjusting plate control the adjusting range of the installing adjusting piece, after the livestock is clamped through the first air cylinder and the clamping plate, the output end of the first servo motor drives the universal joint, the first roller, the first conical gear, the main rotating rod, the side rotating rod, the swing arm and the cutter to rapidly move, the whole split cutter head horizontally moves downwards through the robot main body, and when the split cutter head moves downwards, the first roller, the second roller, the third roller and the fourth roller roll on the surface of the livestock, so that friction force is reduced, the horizontal downward movement of the splitting tool bit is convenient, the two groups of cutters are used for carrying out alternate broaching and cutting on livestock and poultry, thereby the livestock and poultry are divided into two parts from the middle part, the electromagnetic valve is opened when the output end of the first servo motor is rotated fast, clean water is sprayed to the cutters and livestock and poultry through the water guide pipe and the spray head, the cutters and the livestock and poultry are cooled through the clean water, meanwhile, the clean water can wash away the blood water generated by the livestock and poultry, the splitting part is ensured to be in a clean state, then the robot main body drives the splitting tool bit to reset, at the moment, the output end of the first servo motor is rotated slowly, the electromagnetic valve is closed, thereby saving water sources, meanwhile, the first adjusting piece and the installation adjusting piece are reset, the output end of the first cylinder is shortened, thereby the clamping plate is subjected to circular motion again, the clamping plate is in a horizontal state, the next clamping work is convenient, the degree of automation is high, long-time control of workers is not needed, the working intensity of workers is reduced, when the cutters need to be polished, after the user control clamp plate is unfolded, the output end of the first servo motor is controlled to rotate, so that one group of cutters are at the lowest end, at the moment, the user controls the second cylinder at one side of the cutter at the lowest end to work, the output end of the second cylinder is shortened, the side plate rotates, the side plate drives the moving rod, the second moving block and the polishing rod to move, the polishing rod is attached to one group of cutters, at the moment, the user controls the second servo motor to work, the output end of the second servo motor drives the polishing rod to rotate, the cutters are polished through the rotating polishing rod, at the same time, the user controls the fourth cylinder to extend, controls the third cylinder to shorten, drives the moving rod to move through the first moving block, at the moment, the moving track of the moving rod is limited through the track groove, at the moment, the moving rod can only move in the track groove, the third cylinder and the fourth cylinder are also at the position of the adjustment, thereby being convenient for the movement of the first movable block and the movable rod, the movable rod drives the second movable block to move, the second movable block drives the second servo motor and the polishing rod to move, the shape of the track groove is the same as that of the knife blade, the knife blade of the knife can be continuously polished through the polishing rod which rotates, after one group of knives is polished, the other group of knives is lifted to the lowest position, and then polished again, the electromagnetic valve is opened in the polishing process, the knives are continuously washed and cooled through clear water, thereby being convenient for the polishing work of users, the device has higher automation degree, no need of long-time operation of workers, thereby reducing the workload of workers, improving the working safety of workers, and being capable of cooling and cleaning the knives and livestock and poultry while splitting half, after a long time, the device can automatically polish without disassembling the cutter, thereby greatly saving working time and improving working efficiency, and simultaneously, the device can stably work for a long time, has no vibration and noise and has low meat consumption rate.

Drawings

FIG. 1 is a front view of the present invention;

FIG. 2 is a side view of the present invention;

FIG. 3 is a top view of the present invention;

FIG. 4 is a schematic perspective view of a split blade according to the present invention;

FIG. 5 is a schematic perspective view of a split blade in accordance with the present invention;

FIG. 6 is a schematic perspective view of a transmission block and swing arm in accordance with the present invention;

FIG. 7 is a schematic perspective view of a polishing mechanism according to the present invention;

FIG. 8 is a schematic perspective view of a side plate and track groove of the present invention;

fig. 9 is a schematic perspective view of a second moving block and a third cylinder in the present invention.

In the figure: 1. a robot steel foundation; 2. a robot main body; 3. splitting the cutter head; 4. a transport rail; 5. a transmission block; 6. a first elongate plate; 7. a bottom plate; 8. a second elongate plate; 9. a first adjustment member; 10. a first roller; 11. a second roller; 12. a spring; 13. a rotary groove; 14. a main rotating rod; 15. a first bevel gear; 16. a side rotating rod; 17. a connecting rod; 18. a second bevel gear; 19. a first servo motor; 20. a universal joint; 21. swing arms; 22. a positioning rod; 23. balancing weight; 24. a cutter; 25. a clamping plate; 26. a first cylinder; 27. an adjusting block; 28. installing an adjusting piece; 29. an adjusting plate; 30. a third roller; 31. a fourth roller; 32. a water conduit; 33. a spray head; 34. an electromagnetic valve; 35. a fixed rod; 36. a side plate; 37. an adjustment tank; 38. an adjusting rod; 39. a second cylinder; 40. a track groove; 41. a moving rod; 42. a first moving block; 43. a second moving block; 44. a second servo motor; 45. polishing the rod; 46. a third cylinder; 47. and a fourth cylinder.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-9, an embodiment of the present invention is provided:

the full-automatic livestock splitting robot comprises a robot steel foundation 1, a power cutting mechanism, a clamping mechanism, a cooling cleaning mechanism and a polishing mechanism, wherein a robot main body 2 is arranged at the top end of the robot steel foundation 1, a splitting tool bit 3 is arranged at one end of the robot main body 2, a conveying track 4 is arranged at one side of the splitting tool bit 3, the splitting tool bit 3 comprises a transmission block 5, the top end of the transmission block 5 is connected with one end of the robot main body 2 through a motor, one end of the transmission block 5 is fixedly connected with a first extension plate 6, the bottom end of the transmission block 5 is fixedly connected with a bottom plate 7, one end of the bottom plate 7 is fixedly connected with a second extension plate 8, one end of the second extension plate 8 is provided with a first adjusting piece 9, one end of the second extension plate 8 is symmetrically and fixedly connected with a fixing rod 35, two ends of the fixing rod 35 are in sliding connection with the first adjusting piece 9, one end of the first adjusting piece 9 is connected with a first roller 10 through a bearing, the other end of the first adjusting piece 9 is connected with a second roller 11 through a bearing, one end of the first adjusting piece 9 is uniformly and fixedly connected with a spring 12, and one end of the spring 12 is fixedly connected with one end of the second extension plate 8.

Referring to fig. 4, 5 and 6, in the present embodiment, the power cutting mechanism includes a rotary groove 13, a main rotary rod 14, a first conical gear 15, a side rotary rod 16, a connecting rod 17, a second conical gear 18, a first servo motor 19, a universal joint 20, a swing arm 21, a positioning rod 22, a balancing weight 23 and a cutter 24, the rotary groove 13 is provided in the middle of the transmission block 5, two ends of the rotary groove 13 are connected with the main rotary rod 14 through bearings, a first conical gear 15 is provided between the main rotary rods 14, two ends of the first conical gear 15 are fixedly connected with the main rotary rod 14, two ends of the main rotary rod 14 are fixedly connected with the side rotary rod 16, the side rotary rod 16 is respectively located at the upper and lower sides of the main rotary rod 14, the middle of the first conical gear 15 is rotatably connected with the connecting rod 17, one end of the connecting rod 17 is fixedly connected with the second conical gear 18, and the second conical gear 18 is meshed with the first conical gear 15, a first servo motor 19 is arranged at one end of the transmission block 5, a universal joint 20 is fixedly connected to the output end of the first servo motor 19, one end of the universal joint 20 is fixedly connected with a connecting rod 17, swing arms 21 are arranged at two sides of the transmission block 5, the middle parts of the swing arms 21 are respectively and rotatably connected with a side rotating rod 16, one end of the swing arms 21 is connected with a positioning rod 22 through a rotating shaft, the middle parts of the positioning rods 22 are connected with a bottom plate 7 through rotating shafts, one end of the positioning rod 22 is fixedly connected with a balancing weight 23, one end of the swing arms 21 is connected with a cutter 24 through a screw, the control end of the first servo motor 19 is electrically connected with an external power supply through a control cabinet, a user controls the first servo motor 19 to work, the output end of the first servo motor 19 drives the universal joint 20 to rotate, the universal joint 20 drives the connecting rod 17 to rotate, the connecting rod 17 drives a second bevel gear 18 to rotate, the first bevel gear 15 is enabled to rotate through the rotating second bevel gear 18, the first bevel gear 15 drives the two groups of main rotating rods 14 to rotate in the rotating groove 13, the main rotating rods 14 respectively drive the side rotating rods 16 to rotate, the main rotating rods 14 drive the middle parts of the two groups of swing arms 21 to do circular motion through the two groups of side rotating rods 16, one ends of the swing arms 21 are limited by the positioning rods 22, so that the connecting positions of the swing arms 21 and the positioning rods 22 do small-range back-and-forth motion, the middle parts of the positioning rods 22 are limited by the bottom plates 7, at the moment, the positioning rods 22 take the middle parts as central shafts to do movement, the bottom ends of the positioning rods 22 drive the balancing weights 23 to do back-and-forth motion, when the side rotating rods 16 do circular motion, one ends of the swing arms 21 do up-and-down and-back reciprocating motion, and-forth reciprocating motion of the swing arms 21 drive the cutters 24 to do circular motion, and the two groups of cutters 24 close to each other are enabled to be continuously and alternately pulled to cut, and split and half livestock and poultry are facilitated;

referring to fig. 4 and 5, in this embodiment, the clamping mechanism includes a clamping plate 25, a first cylinder 26, a regulating block 27, a mounting regulating member 28, a regulating plate 29, a third roller 30 and a fourth roller 31, one end of the first extension plate 6 is connected with the clamping plate 25 through a rotating shaft, the middle part of the clamping plate 25 is connected with one end of the first cylinder 26 through the rotating shaft, the other end of the first cylinder 26 is connected with one end of the first extension plate 6 through the rotating shaft, one end of the clamping plate 25 is fixedly connected with the regulating block 27 through the rotating shaft, one end of the clamping plate 25 is connected with a mounting regulating member 28, the middle part of the mounting regulating member 28 is fixedly connected with the regulating plate 29, one end of the regulating plate 29 is located in the regulating block 27, one end of the mounting regulating member 28 is connected with two sets of third rollers 30 through bearings, the other end of the mounting regulating member 28 is connected with two sets of fourth rollers 31 through bearings, at the moment, one end of the first cylinder 26 is extended, the first cylinder 26 is controlled by a user to perform circular motion, the clamping plate 25 in a horizontal state is enabled to move to a vertical state through the rotating shaft, when the third roller 30 or the fourth roller 30 is fixedly connected with the regulating member 28 through the regulating block 29, and the regulating member 28 is attached to the regulating member 28, and the inner regulating member is convenient to move to the livestock and poultry through the regulating member 28, and the regulating member is mounted in the regulating member 28, and the regulating member is attached to the regulating member is mounted through the regulating member 28, and the regulating member is mounted through the regulating member 28 and the regulating member is mounted;

referring to fig. 2, in the present embodiment, the cooling and cleaning mechanism includes a water guide pipe 32, a spray head 33 and an electromagnetic valve 34, the top end of the first extension board 6 is uniformly connected with the water guide pipe 32, the bottom ends of the water guide pipe 32 are all connected with the spray head 33, the top ends of the water guide pipe 32 are all provided with the electromagnetic valve 34, the electromagnetic valve 34 is opened, clear water is sprayed to the cutter 24 and the livestock and poultry through the water guide pipe 32 and the spray head 33, the cutter 24 and the livestock and poultry are cooled through the clear water, and meanwhile, the clear water can wash away the blood water generated by the livestock and poultry, so that the split part is in a clean state, thereby being convenient for cooling, cooling and washing the device;

referring to fig. 7, 8 and 9, in the present embodiment, the polishing mechanism includes a side plate 36, an adjusting slot 37, an adjusting rod 38, a second cylinder 39, a track slot 40, a moving rod 41, a first moving block 42, a second moving block 43, a second servo motor 44, a polishing rod 45, a third cylinder 46 and a fourth cylinder 47, two sides of the first extending plate 6 are connected with the side plate 36 through a rotating shaft, the track slot 40 is formed on one side of the side plate 36, the adjusting slot 37 is formed on two sides of the first extending plate 6, the adjusting rod 38 is connected with the adjusting rod 37 through a bearing, two groups of second cylinders 39 are arranged in the adjusting slot 37, one end of the second cylinder 39 is fixedly connected with the adjusting rod 38, one end of the second cylinder 39 is connected with one side of the side plate 36 through the rotating shaft, the moving rod 41 is slidingly connected with the inner side of the track slot 40, one end of the moving rod 41 is fixedly connected with the first moving block 42, the other end of the moving rod 41 is fixedly connected with a second moving block 43, the middle part of the second moving block 43 is provided with a second servo motor 44, the output end of the second servo motor 44 is fixedly connected with a polishing rod 45, one end of the polishing rod 45 is attached to the cutter 24, one end of the side plate 36 is connected with a third cylinder 46 through a bearing, the other end of the side plate 36 is connected with a fourth cylinder 47 through a bearing, the output ends of the third cylinder 46 and the fourth cylinder 47 are connected with the first moving block 42 through a rotating shaft, when the cutter 24 needs to be polished, a user controls the output end of the first servo motor 19 to rotate after the clamping plate 25 is unfolded, so that a group of cutters 24 is at the lowest end, at the moment, the user controls the second cylinder 39 on one side of the cutter 24 at the lowest end to work, the output end of the second cylinder 39 is shortened, so that the side plate 36 rotates, the side plate 36 drives the movable rod 41, the second movable block 43 and the polishing rod 45 to move towards one side close to the first extension plate 6, at the moment, the polishing rod 45 is attached to one group of cutters 24, a user controls the second servo motor 44 to work, the output end of the second servo motor 44 drives the polishing rod 45 to rotate, the cutters 24 are polished through the rotating polishing rod 45, then the user controls the fourth cylinder 47 to extend, the third cylinder 46 is controlled to shorten, the first movable block 42 drives the movable rod 41 to move in the track groove 40, at the moment, the track groove 40 limits the moving track of the movable rod 41, at the moment, the movable rod 41 can only move according to the shape of the track groove 40, at the moment, the third cylinder 46 and the fourth cylinder 47 rotate and continuously adjust the positions of the movable rod 41, so that the first movable block 42 and the movable rod 41 can be conveniently moved, the movable rod 41 drives the second movable block 43 to move, and the second servo motor 44 and the polishing rod 45 are driven by the second movable block 43, at the moment, the rotating polishing rod 45 can continuously move along the same shape as the cutter 24, at the moment, the rotating polishing rod 45 can continuously move along the track groove 40, the cutter 24 can be polished, at the moment, the cutter 24 can be conveniently polished down, and the cutter group 24 can be conveniently polished, and the cutter 24 can be lifted down, and the user can be conveniently polished down, after the cutter 24 is completely polished, and the cutter 24 is conveniently polished down;

it should be noted that, the control ends of the robot main body 2 and the conveying track 4 are all electrically connected with an external power supply through a control cabinet, so that a user can conveniently control the device to work through the control cabinet, the control end of the first cylinder 26 is electrically connected with the external power supply through the control cabinet, the user can conveniently control the device to work through the control cabinet, the control end of the electromagnetic valve 34 is electrically connected with the external power supply through the control cabinet, the top end of the water guide pipe 32 is externally connected with the water guide pipe, the user can conveniently control the device to work through the control cabinet, and the control ends of the second cylinder 39, the second servo motor 44, the third cylinder 46 and the fourth cylinder 47 are electrically connected with the external power supply through the control cabinet, so that the user can conveniently control the device to work through the control cabinet.

Working principle: when the device does not work, a user stretches the first air cylinder 26 to enable the clamping plate 25 to be in a horizontal state, the clamping plate 25 is in a unfolding state at the moment, the second air cylinder 39 is controlled to stretch to enable the side plate 36 to be slightly unfolded, the polishing rod 45 does not affect the work of the cutter 24, when the device is used by the user, the user controls the device to work automatically through the control cabinet, the user hangs the livestock and poultry on the conveying track 4, the livestock and poultry are moved to the position of the splitting cutter head 3 through the conveying track 4, meanwhile, the output end of the first servo motor 19 slowly rotates, the output end of the first servo motor 19 drives the universal joint 20 to rotate, the universal joint 20 drives the connecting rod 17 to rotate, the connecting rod 17 drives the second conical gear 18 to rotate, the first conical gear 15 is driven by the rotating second conical gear 18, the first conical gear 15 drives the two groups of main rotating rods 14 to rotate in the rotating groove 13, the main rotating rod 14 drives the side rotating rods 16 to rotate respectively, the main rotating rod 14 drives the middle parts of the two groups of swing arms 21 to perform circular motion through the two groups of side rotating rods 16, the connecting position of the swing arms 21 and the positioning rods 22 performs small-range back and forth motion because one end of each swing arm 21 is limited by the positioning rod 22, the middle part of each positioning rod 22 is limited by the bottom plate 7, the positioning rod 22 moves around the middle part as a central shaft, the bottom end of each positioning rod 22 drives the balancing weight 23 to perform back and forth motion, when the side rotating rods 16 perform circular motion, one end of each swing arm 21 performs up-and-down and back-and-forth reciprocating motion, the swing arms 21 which perform up-and-down and back-and-forth reciprocating motion drive the cutters 24 to enable the two groups of cutters 24 which are close to each other to perform continuous alternate pulling and cutting, when the split cutter 3 is positioned at the central position of livestock and poultry, the robot main body 2 drives the split cutter 3 to move towards the livestock and poultry rapidly, when the first roller 10 and the second roller 11 at one end of the second extension plate 8 are tightly attached to the livestock and poultry, at this time, the first adjusting member 9 rotates at one end of the second extension plate 8, the rotation range of the first adjusting member 9 is limited by the fixing rod 35, the rotating first adjusting member 9 compresses the spring 12, the first roller 10 and the second roller 11 are attached to the livestock and poultry under the action of the resilience of the spring 12, then the first cylinder 26 works, at this time, one end of the first cylinder 26 extends, the clamping plate 25 moves circularly, the clamping plate 25 moves to a vertical state through the first cylinder 26, at this time, the adjusting member 28 is installed to rotate, the third roller 30 and the fourth roller 31 are adjusted to be attached to the livestock and poultry through the installation adjusting member 28, at the same time, the adjusting member 28 is installed to drive the adjusting plate 29 to move in the adjusting block 27, the adjusting range of the installation adjusting piece 28 is controlled by the adjusting block 27 and the adjusting plate 29, after the livestock and poultry are clamped by the first air cylinder 26 and the clamping plate 25, the output end of the first servo motor 19 rotates rapidly at the moment, the cutter 24 moves rapidly by the universal joint 20, the first roller 10, the first conical gear 15, the main rotating rod 14, the side rotating rod 16 and the swing arm 21, meanwhile, the whole splitting cutter head 3 moves horizontally downwards by the robot main body 2, and when moving downwards, the first roller 10, the second roller 11, the third roller 30 and the fourth roller 31 roll on the surface of the livestock and poultry, the friction force is reduced by the first roller 10, the second roller 11, the third roller 30 and the fourth roller 31, the horizontal downward movement of the splitting cutter head 3 is facilitated, the two groups of cutters 24 pull and cut the livestock and poultry alternately rapidly, so that the livestock and poultry are separated into two parts from one part, the output end of the first servo motor 19 rotates rapidly, the electromagnetic valve 34 is opened, clear water is sprayed to the cutter 24 and livestock and poultry through the water guide pipe 32 and the spray head 33, the cutter 24 and livestock and poultry are cooled by clear water, meanwhile, the clear water can wash away the blood water generated by the livestock and poultry, the split part is kept in a clean state, then the robot main body 2 drives the splitting cutter head 3 to reset, at the moment, the output end of the first servo motor 19 rotates slowly, the electromagnetic valve 34 is closed, thereby saving water sources, simultaneously, the first regulating element 9 resets under the action of the self resilience force of the spring 12, the output end of the first cylinder 26 is shortened, thereby enabling the clamping plate 25 to perform circular motion again, the installation regulating element 28 also resets along with the clamping plate 25, after the clamping plate 25 is in a horizontal state, so that the next clamping work is convenient, the device has high degree of automation, long-time control is not needed, the working strength of workers is reduced, when the cutter 24 needs to be polished, after the clamping plate 25 is unfolded by a user, the output end of the first servo motor 19 is controlled to rotate so that one group of cutters 24 is at the lowest end, at the moment, the user controls the second air cylinder 39 at one side of the cutter 24 at the lowest end to work, the output end of the second air cylinder 39 is shortened so that the side plate 36 rotates, the side plate 36 drives the movable rod 41, the second movable block 43 and the polishing rod 45 to move towards one side close to the first extension plate 6, at the moment, the polishing rod 45 is attached to one group of cutters 24, the user controls the second servo motor 44 to work, the output end of the second servo motor 44 drives the polishing rod 45 to rotate, the cutter 24 is polished through the rotating polishing rod 45, then the user controls the fourth air cylinder 47 to extend, the third air cylinder 46 is controlled to shorten, the movable rod 41 is driven to move in the track groove 40 through the first movable block 42, at this moment, the track groove 40 limits the moving track of the moving rod 41, at this moment, the moving rod 41 can only move according to the shape of the track groove 40, at this moment, the third cylinder 46 and the fourth cylinder 47 rotate and continuously adjust the positions of the moving rod 41, thereby the moving of the first moving block 42 and the moving rod 41 is facilitated, the moving rod 41 drives the second moving block 43 to move, the second moving block 43 drives the second servo motor 44 and the polishing rod 45 to move, because the shape of the track groove 40 is the same as that of the blade of the cutter 24, at this moment, the blade of the cutter 24 can be polished continuously through the rotating polishing rod 45, after the polishing of one group of cutters 24 is finished, the other group of cutters 24 are lifted up to the lowest position, then polishing can be carried out again, the in-process solenoid valve 34 is opened, the cutter 24 is continuously washed and cooled through clear water, thereby the polishing work of a user is facilitated, the device has higher automation degree, the operation of a worker is not required for a long time, thereby the work load of the worker is reduced, the work safety is improved, the cutter can be polished simultaneously, the cutter 24 can be polished simultaneously, the automatic cooling and the cutter can be cooled down by the cutter 24, the automatic cooling device for a long time is required, the work efficiency is greatly reduced, the work efficiency is high, the work can be accomplished, the work can be reduced, the work can be stably, the work can be carried out and the work can be reduced and has high work efficiency and has high and has low work efficiency and can be stably and has high work efficiency.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. Full-automatic beasts and birds split robot, its characterized in that includes robot steel foundation (1), power cutting mechanism, clamping mechanism, cooling wiper mechanism and grinding machanism, the top of robot steel foundation (1) is provided with robot main part (2), the one end of robot main part (2) is provided with split tool bit (3), one side of split tool bit (3) is provided with transport track (4), split tool bit (3) include drive block (5), the top of drive block (5) is connected through the motor with the one end of robot main part (2), the one end fixedly connected with first extension board (6) of drive block (5), the bottom fixedly connected with bottom plate (7) of drive block (5), the one end fixedly connected with second extension board (8) of bottom plate (7), the one end of second extension board (8) is provided with first regulating part (9), the one end symmetry fixedly connected with dead lever (35) of second extension board (8), and the both ends of dead lever (35) all are connected with first regulating part (9) through the motor, the one end fixedly connected with first bearing (9) through first regulating part (10), one end of the spring (12) is fixedly connected with one end of the second extension plate (8);

the power cutting mechanism comprises a rotary groove (13), a main rotary rod (14), a first conical gear (15), a side rotary rod (16), a connecting rod (17), a second conical gear (18), a first servo motor (19), a universal joint (20), a swing arm (21), a locating rod (22), a balancing weight (23) and a cutter (24), wherein the rotary groove (13) is formed in the middle of a transmission block (5), the two ends of the rotary groove (13) are connected with the main rotary rod (14) through bearings, a first conical gear (15) is arranged between the main rotary rods (14), two ends of the first conical gear (15) are fixedly connected with the main rotary rod (14), one ends of the main rotary rod (14) which are far away from each other are fixedly connected with the side rotary rod (16), the side rotary rod (16) is respectively positioned on the upper side and the lower side of the main rotary rod (14), the middle of the first conical gear (15) is rotationally connected with the connecting rod (17), one end of the connecting rod (17) is fixedly connected with the second conical gear (18), the second conical gear (18) is meshed with the first end (19) of the first conical gear (15), the first servo motor (19) is fixedly connected with the first end (19), one end of the universal joint (20) is fixedly connected with the connecting rod (17), two sides of the transmission block (5) are provided with swing arms (21), the middle parts of the swing arms (21) are respectively connected with the side rotating rods (16) in a rotating mode, one ends of the swing arms (21) are connected with positioning rods (22) through rotating shafts, the middle parts of the positioning rods (22) are connected with the bottom plate (7) through rotating shafts, one ends of the positioning rods (22) are fixedly connected with balancing weights (23), one ends of the swing arms (21) are connected with cutters (24) through screws, and the control ends of the first servo motors (19) are electrically connected with an external power supply through control cabinets;

the clamping mechanism comprises a clamping plate (25), a first air cylinder (26), an adjusting block (27), an installation adjusting piece (28), an adjusting plate (29), a third roller (30) and a fourth roller (31), wherein one end of the first extension plate (6) is connected with the clamping plate (25) through a rotating shaft, the middle part of the clamping plate (25) is connected with one end of the first air cylinder (26) through the rotating shaft, the other end of the first air cylinder (26) is connected with one end of the first extension plate (6) through the rotating shaft, one end of the clamping plate (25) is fixedly connected with the adjusting block (27), one end of the clamping plate (25) is connected with the installation adjusting piece (28) through the rotating shaft, one end of the installation adjusting piece (28) is positioned in the adjusting block (27), one end of the installation adjusting piece (28) is connected with two groups of third rollers (30) through bearings, and the other end of the installation adjusting piece (28) is connected with two groups of fourth rollers (31) through bearings;

the cooling and cleaning mechanism comprises a water guide pipe (32), a spray head (33) and an electromagnetic valve (34), wherein the top end of the first extension plate (6) is uniformly connected with the water guide pipe (32), the bottom ends of the water guide pipe (32) are all connected with the spray head (33), and the electromagnetic valve (34) is arranged at the top end of the water guide pipe (32);

the polishing mechanism comprises a side plate (36), an adjusting groove (37), an adjusting rod (38), a second air cylinder (39), a track groove (40), a moving rod (41), a first moving block (42), a second moving block (43), a second servo motor (44), a polishing rod (45), a third air cylinder (46) and a fourth air cylinder (47), wherein the two sides of the first extending plate (6) are connected with the side plate (36) through rotating shafts, one side of the side plate (36) is provided with the track groove (40), the two sides of the first extending plate (6) are provided with the adjusting groove (37), the inside of the adjusting groove (37) is connected with the adjusting rod (38) through bearings, the inside of the adjusting groove (37) is provided with two groups of second air cylinders (39), one end of the second air cylinder (39) is fixedly connected with the adjusting rod (38), one end of the second air cylinder (39) is connected with one side of the side plate (36) through rotating shafts, the inside of the track groove (40) is slidingly connected with the moving rod (41), one end of the moving rod (41) is fixedly connected with the second servo motor (43), the output end of the second servo motor (44) is fixedly connected with a polishing rod (45), one end of the polishing rod (45) is attached to the cutter (24), one end of the side plate (36) is connected with a third cylinder (46) through a bearing, the other end of the side plate (36) is connected with a fourth cylinder (47) through a bearing, and the output ends of the third cylinder (46) and the fourth cylinder (47) are connected with the first moving block (42) through rotating shafts.

2. The fully automatic livestock splitting robot of claim 1, wherein: the control ends of the robot main body (2) and the conveying rail (4) are electrically connected with an external power supply through a control cabinet.

3. The fully automatic livestock splitting robot of claim 1, wherein: the control end of the first air cylinder (26) is electrically connected with an external power supply through a control cabinet.

4. The fully automatic livestock splitting robot of claim 1, wherein: the control ends of the electromagnetic valves (34) are electrically connected with an external power supply through a control cabinet, and the top ends of the water guide pipes (32) are externally connected with water pipes.

5. The fully automatic livestock splitting robot of claim 1, wherein: the control ends of the second air cylinder (39), the second servo motor (44), the third air cylinder (46) and the fourth air cylinder (47) are electrically connected with an external power supply through a control cabinet.