CN205005813U9 - Pig carcass full-automatic splitting robot - Google Patents

Abstract

The utility model provides a full -automatic half robot of splitting of hog on hook, includes the cutter assembly, and the cutter assembly includes a motor power, and left and right tool arm is installed on the eccentric shaft of motor power's slowdown unit, and left and right tool arm front end is equipped with the chopper, and the rear end is equipped with the tail and is moved and turn, drive the motion of left and right tool arm through the slowdown unit eccentric shaft when motor rotates, the main structure frame is a cutter assembly structure skeleton, and the top is by the hand of interface cover hookup six axis robot body, and the below is by a wheel support hookup top wheel, top wheel cylinder, top wheel support by the fix with screw on the main structure frame, the place ahead is linking knot claw and sprocket wheel by detaining the claw pivot, detains the claw cylinder and installs in detaining the claw, is equipped with the hot water spray header in the main structure frame. The advantage of this novel invention is: characteristics such as having the degree of automation height, use manpower sparingly, split half accuracy, the section is of high quality, meat decreases less, meat safety of high quality, sanitary, cost are moderate.

Description

The full-automatic spliting machine device of hog on hook people

Technical field

The present invention relates to meat and butcher processing equipment, be i.e. the full-automatic spliting machine device of a kind of hog on hook people.

Background technology

At present, in pig slaughtering enterprise of China hog on hook spliting machine tool equipment nothing more than several below: half saw, bridge-type electric saw etc. are manually split in the full-automatic spliting machine of import, import. Although the full-automatic spliting machine of import is split, half efficiency is high, meat damages littlely, and because of expensive, chopper, to swing up and down the raw back knife mark of movable property not good compared with deeply causing trunk and split half section appearance effect, is generally only applicable to the large-scale meat producing plant of part. Although half saw is manually split in import, the charge is small, and it is very high that saw kerf has certain meat damage, the simultaneously technical quality to operator and qualification to require, and operator's labour intensity is large, so production capacity is not high. Bridge-type electric saw generally adopts that circular sawtooth is opened limit, cost is low, whole split semiosis in sawtooth easily produce high temperature because of continuous frictional heat, if the bad trunk spine that is easy to of radiating effect burns and affects meat, and production capacity is not high, meat damages large, neither be fine so split semi-monolithic effect.

Summary of the invention

In order to overcome the deficiency of the problems referred to above, the invention provides a kind of production efficiency high, split that half is effective, production cost is moderate, adapt to the wide new automatic spliting machine device people in region.

The full-automatic spliting machine device of this hog on hook people, includes basis, base, robot, cutting tool assembly.

Basis is full-automatic spliting machine device people's basis, ground, and it is that the pouring of reinforced concrete soil scene forms. Ensure to a certain extent to adapt to full-automatic spliting machine device people's working depth and the needs of working face and upkeep operation face.

Base is full-automatic spliting machine device people's support basis, and it is that metal parts is welded. It adapts to full-automatic spliting machine device people's working depth and needs is easily installed for ensureing.

Robot is full-automatic spliting machine device people's core facility, and essence is six-joint robot body. Its arm adopts space open chain linkage, and kinematic pair is wherein referred to as joint, and joint number is commonly referred to the number of degrees of freedom, of robot, also referred to as the number of axle. According to the difference of joint configuration and coordinates of motion form, robot actuating mechanism can be divided into the types such as Cartesian coordinate type, circular cylindrical coordinate formula, polar coordinates type and joint coordinates formula. For the consideration personalizing, often the relevant position of robot body is called to pedestal, waist, arm, ancon, wrist, hand (clamper or end effector). Full-automatic spliting machine device people's hand coordinate is followed entirely and is completed by this six-joint robot body. Whole controls of six-joint robot body complete interpolation operation and SERVO CONTROL processing by microcomputer, realize given motion, and to main frame feedback information. Drive unit is the power-jdriven gear with servomotor, reductor one, orders about the mechanism of executing agency's motion. The command signal of sending according to control system, moves robot by means of dynamical element. Checkout gear is motion and the working condition that detects in real time robot, feeds back to as required control system, after comparing, executing agency is adjusted, to ensure that the action of robot meets predetermined requirement with set information. Program composition takes teaching to reproduce pattern, utilizes operation board to input manually guided robot action, and robot body develops program automatically according to its movement locus, and robot can repeat work operations automatically according to program. The six-joint robot body that full-automatic spliting machine device people relates to is the existing commodity in market.

Cutting tool assembly is full-automatic spliting machine device people's end actuating unit. It comprises a power motor, and power motor motor is arranged on main structure frame main support support plate, and left and right tool arm is arranged on the eccentric shaft of deceleration unit of power motor, and left and right tool arm front end is equipped with chopper, and rear end is equipped with that tail is moving to turn; When electric machine rotation, drive left and right tool arm motion through deceleration unit eccentric shaft, realize the action of chopper up and down of left and right cutter. Main structure frame is cutting tool assembly structural framework, and top is connected the hand of six-joint robot body by interface cover, ensures that cutting tool assembly follows six-joint robot body and carry out coordinate and move. Below connects top wheel, top wheel cylinder by top wheel support, and top wheel is adjusted angle according to hog on hook cavity shape and withstood hog on hook inner chamber, and top wheel support is fixed on main structure frame by screw. Front is connecting button pawl and sprocket wheel by detaining pawl rotating shaft, and button pawl cylinder is arranged in button pawl, and in button pawl cylinder, inflation button pawl cylinder rod stretches out, button pawl shrinks to top wheel close, be close to hog on hook back by circle roller and tooth roller, venting button pawl cylinder rod retraction in button pawl cylinder, button pawl is unfolded flat stretching. Main structure frame adopts high-strength light alloy material, and tensile strength and yield strength are all up to more than 500Mpa. The technique that its structure is shaped, is cast in material screw attachment, resin by digital control processing is manufactured, be different from the manufacturing process of cast form, digital control processing, screw attachment, the feature little according to this product annual production, has that intensity is high, lightweight, good reliability, cost are moderate, the advantage such as convenient of retrofiting. Heat water-spraying's water pipe is housed in main structure frame, when chopper is carried out to high-temperature sterilization, the residual meat foam of chopper is rinsed.

Top wheel part comprises a top wheel, and top wheel is contained on the wheel plate of top by bearing pin, and top wheel plate is arranged on the wheel support of top by square rotating shaft, and top wheel and top wheel plate are free to rotate; Top wheel support afterbody is equipped with adjusting screw mandrel, is used for regulating the position, left and right of top wheel and chopper. Become round and smooth close-shaped according to A place, the rear portion shape special design of putting into practice top wheel plate, be different from the similar products of other producers both at home and abroad. The yoke that it can effectively prevent the pork skin rib at hog on hook neck place, are particularly suitable for the process environments of butchering in territory variously. (note: China is vast in territory, there is different butchering the technique custom various places. As hog on hook split half technique decaptitate split half, do not decaptitate split half, haircut monolaterally takes the lead to split half, haircut is bilateral takes the lead to split half) top wheel plate is connected by little axle with top wheel cylinder, the rotation of top wheel plate drives the flexible of top wheel cylinder, and the signal transducer perceptual signal in the wheel cylinder block of top is sent to cutting tool assembly control system. Cutting tool assembly control system is attached thereto by the ECP Extended Capabilities Port of six-joint robot body control system. Six-joint robot body control system is connected with slaughter production line by encoder.

The full-automatic spliting machine device of this Novel pig trunk people's the course of work is as follows: in the time that half position is split in the hog on hook arrival on transfer matic, six-joint robot body starts action, and cutting tool assembly is delivered to hog on hook top. Then detain pawl cylinder commutation action, in button pawl cylinder, inflation button pawl cylinder rod stretches out, and circle roller and tooth roller are close to hog on hook back and hog on hook is held in top wheel acting in conjunction tightly. When holding action tightly, the rotating shaft ridge cutter being arranged on button pawl is pricked into hog on hook back, cutter head action electric motor starting, and left and right chopper is in cutting meat operating state. Whole button pig moved rear six-joint robot body start decline, the button claw portion declining with six-joint robot body frame and rotating shaft Ji Dao mono-tunnel friction rotary-cut are descending, hog on hook back in advance crush-cutting go out straight back cutter seam, until left and right chopper is rived hog on hook completely. In this process, level and downward coordinate move by six-joint robot body and implement. Following signal by encoder has ensured it and has butchered synchronizeing of transfer matic motion. Split and then detain pawl cylinder commutation action after partly completing, button pawl is flat to be stretched cutting tool assembly and retracts, stops at position of readiness after rising to certain position. This process is completed automatically by six-joint robot body, its horizontal movement direction and the counter motion of butchering transfer matic. Now shower sterilization section starts action, completes and cleans and disinfection. In the time next pig being detected, repeat actuation cycle above.

Cutting tool assembly main structure frame is formed by connecting by screw, and its screw is sunk screw, tightens afterwards by resin cast, then polishes one flat, is commonly called as resin cast flat head screw. Screw is very attractive in appearance, firm.

The advantage of this novel invention is: 1, have automaticity high, save manpower, split half accurately, the feature such as cross section quality is good, meat damages less, meat quality is good, safe and sanitary, cost are moderate. 2, compact conformation, easy to operate, noise is low, be suitable for the process environments of butchering in territory variously.

Brief description of the drawings

Fig. 1 is that entirety of the present invention forms schematic diagram

Fig. 2 is cutting tool assembly structural representation of the present invention

Fig. 3 is cutting tool assembly working state schematic representation of the present invention

Fig. 4 is cutting tool assembly duty front elevational schematic of the present invention

Fig. 5 is cutting tool assembly of the present invention top wheel clamping plate profile difference schematic diagram, is traditional top wheel clamping plate below, and top is top of the present utility model wheel clamping plate

Fig. 6 is cutting tool assembly main structure frame schematic diagram of fabrication technology of the present invention

In figure: 1, motor, 2, tail is moving turns, 3, interface cover, 4, main structure frame, 5, button pawl rotating shaft, 6, button pawl cylinder, 7, button pawl, 8, sprocket wheel rotating shaft, 9, justify roller, 10, rotating shaft ridge cutter, 11, tooth roller, 12, chopper, 13, top wheel, 14, top wheel support, 15, top wheel cylinder screw, 16, eccentric shaft, 17, top wheel cylinder, 18, tool arm, 19, robot, 20, base, 21, basis, 22, cutting tool assembly, 23, the flat head screw of resin cast.

Detailed description of the invention

As follows to the detailed description of the invention below in conjunction with accompanying drawing:

In Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, in the time that half position is split in the hog on hook arrival on transfer matic, six-joint robot body starts action, and cutting tool assembly is delivered to hog on hook top. Then detain the 6 commutation actions of pawl cylinder, in button pawl cylinder 6, inflation button pawl cylinder rod stretches out, and circle roller 9 and tooth roller 11 are close to hog on hook back and hog on hook is held in top wheel 13 actings in conjunction tightly. When holding action tightly, the rotating shaft ridge cutter 10 being arranged on button pawl is pricked into hog on hook back, and cutter head action motor 1 starts, and left and right chopper 12 is in cutting meat operating state. Whole button pig moved rear six-joint robot body start decline, the button claw portion declining with six-joint robot body frame and rotating shaft Ji Dao mono-tunnel friction rotary-cut are descending, hog on hook back in advance crush-cutting go out straight back cutter seam, until left and right chopper 12 is rived hog on hook completely. In this process, level and downward coordinate move by six-joint robot body and implement. Following signal by encoder has ensured it and has butchered synchronizeing of transfer matic motion. Split and then detain the 6 commutation actions of pawl cylinder after partly completing, button pawl is flat to be stretched cutting tool assembly and retracts, stops at position of readiness after rising to certain position. This process is completed automatically by six-joint robot body, its horizontal movement direction and the counter motion of butchering transfer matic. Now shower sterilization section starts action, completes and cleans and disinfection. In the time next pig being detected, repeat actuation cycle above.

Claims (3)

1. the full-automatic spliting machine device of a hog on hook people, include basis, base, robot, cutting tool assembly, basis is that the pouring of reinforced concrete soil scene forms, base is that metal parts is welded, and it is characterized in that, cutting tool assembly comprises a power motor, power motor is arranged on main structure frame main support support plate, left and right tool arm is arranged on the eccentric shaft of deceleration unit of power motor, and left and right tool arm front end is equipped with chopper, and rear end is equipped with that tail is moving to turn; When electric machine rotation, drive left and right tool arm motion through deceleration unit eccentric shaft; Main structure frame top is connected the hand of six-joint robot body by interface cover, ensure that cutting tool assembly follows six-joint robot body and carry out coordinate and move; Below connects top wheel, top wheel cylinder by top wheel support, and top wheel is adjusted angle according to hog on hook cavity shape and withstood hog on hook inner chamber, and top wheel support is fixed on main structure frame by screw; Front is connecting button pawl and sprocket wheel by detaining pawl rotating shaft, and button pawl cylinder is arranged in button pawl, and heat water-spraying's water pipe is housed in main structure frame.

2. the full-automatic spliting machine device of a kind of hog on hook according to claim 1 people, is characterized in that, described top wheel is contained on the wheel plate of top by bearing pin, and top wheel plate is arranged on the wheel support of top by square rotating shaft, and top wheel and top wheel plate are free to rotate; Top wheel support afterbody is equipped with adjusting screw mandrel, be used for regulating the position, left and right of top wheel and chopper, the rear portion (A) of top wheel plate is located shape and is become round and smooth close-shaped, top wheel plate is connected by little axle with top wheel cylinder, the rotation of top wheel plate drives the flexible of top wheel cylinder, in the wheel cylinder block of top, there is signal transducer, be electrically connected with cutting tool assembly control system, cutting tool assembly control system is attached thereto by the ECP Extended Capabilities Port of six-joint robot body control system, and six-joint robot body control system is connected with slaughter production line by encoder.

3. the full-automatic spliting machine device of a kind of hog on hook according to claim 1 people, is characterized in that, cutting tool assembly main structure frame is formed by connecting by screw, and its screw is sunk screw, tightens afterwards by resin cast, then polishes one flat.