CN209825020U - Full-automatic splitting robot system - Google Patents
Full-automatic splitting robot system Download PDFInfo
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- CN209825020U CN209825020U CN201920204152.1U CN201920204152U CN209825020U CN 209825020 U CN209825020 U CN 209825020U CN 201920204152 U CN201920204152 U CN 201920204152U CN 209825020 U CN209825020 U CN 209825020U
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Abstract
The utility model discloses a full-automatic splitting robot system, which comprises a robot main body, a synchronous tracking system arranged on the robot main body, a main control module and a cutter assembly; the robot main body comprises a robot handle, and the cutter assembly is arranged on the robot handle; synchronous tracking system surveys and fixes a position the livestock carcass to linear velocity and position information transmission who will gather give host system, host system carries out the operation with the information of receiving and handles and send control command, and control robot body synchronous motion is behind the synchronous tracking system location to splitting position, and host system control cutter assembly splits half to the livestock carcass and handles. The utility model discloses split robot system passes through the information that rotary encoder gathered the linear velocity, and split linear velocity is synchronous with the trunk line to send control command to the robot body, realized full-automatic splitting and cut control.
Description
Technical Field
The utility model belongs to the technical field of the equipment is slaughtered to the livestock, especially, relate to a full-automatic robot system of splitting.
Background
In the field of meat slaughtering and processing, slaughtering production lines are increasingly scaled and automated, but most slaughterhouses are laggard behind in automation degree due to fund problems, and a commonly used electric saw is a reciprocating type splitting saw or a bridge type splitting saw. The reciprocating type splitting saw has the advantages of low splitting efficiency, large vibration, large noise, thick saw blade, no cooling, disinfecting and cleaning system, influence on the quality of meat in the splitting process, more complicated saw blade replacement and higher labor intensity of workers. Although the bridge type splitting saw has high automation degree, the saw blade is thick, the meat loss is large, the energy consumption is large, the noise is large, and the danger degree of operators is high. The splitting machine cannot be adjusted in real time according to the position of the livestock carcass to enable the splitting machine to accurately track the splitting position, the phenomenon of splitting displacement is very easy to occur in the splitting process, and splitting precision and splitting efficiency are greatly influenced. Meanwhile, although the high-temperature sterilization and disinfection device is arranged in the splitting process of the existing automatic splitting machine, the splitting knife is disinfected by a timed sterilization and disinfection mode instead of after each splitting is completed, so that great potential food safety hazards caused by bacterial infection are easily caused. Therefore, it is necessary to improve the existing automatic splitting machine to enable the machine to be accurately positioned and realize full-automatic accurate splitting of the livestock carcasses.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a simple structure, full-automatic splitting robot system that the accuracy is high to the above-mentioned not enough that split splitting equipment exists to the livestock carcass in the course of working is slaughtered to current livestock.
For solving the technical problem, the utility model discloses a technical scheme be:
a full-automatic splitting robot system comprises a robot main body, a synchronous tracking device, a cutter assembly, a main control module and a conveyor, wherein the synchronous tracking device is installed on the robot main body; the robot main body comprises a robot handle, and the cutter assembly is arranged on the robot handle; the conveyor is used for conveying livestock carcasses and is also provided with a displacement sensor and a linear velocity sensor; the synchronous tracking device adopts a rotary encoder and is used for detecting and positioning the livestock carcasses and transmitting the acquired linear velocity and position information to the main control module; the main control module is used for carrying out operation processing on the received information and sending a control instruction to control the robot body to move synchronously, and after the synchronous tracking device is positioned to the splitting position, the main control module controls the cutter assembly to split the livestock carcass into halves.
Preferably, the cutter assembly includes drive arrangement and riving knife, drive arrangement includes the motor and is connected the speed reducer as an organic whole with the motor, be provided with speed reducer base and main structure internal support subassembly on the robot handle, the speed reducer is installed on the speed reducer base, the motor is installed on main structure internal support subassembly, installs the sword arm on the eccentric shaft of speed reducer, and the riving knife is installed to the sword arm front end, drives the riving knife motion through the speed reducer eccentric shaft when the motor rotates.
Preferably, the full-automatic splitting robot system further comprises a spraying and disinfecting device, and the main control module is connected with the spraying and disinfecting device to control the work of the spraying and disinfecting device; the spraying and disinfecting device is arranged on the robot handle and is positioned on one side of the riving knife of the knife assembly.
Preferably, the full-automatic splitting robot system further comprises a back pulling device, wherein the back pulling device is mounted on the robot handle, movably hinged with the robot handle and located at the front end of the cutter assembly.
Preferably, the full-automatic splitting robot system further comprises a display module, and the display module receives and displays the environmental information and the state information of the robot main body transmitted by the main control module.
Preferably, the full-automatic splitting robot system further comprises an automatic lifting mechanism and a translation mechanism.
Compared with the prior art, the beneficial effects of the utility model reside in that:
the utility model discloses a full-automatic robot system of splitting for the cutting of slaughtering of livestock. When the carcass is split, the robot body drives the splitting knife to reciprocate, the carcass is vertically split, no bone and meat loss exists, and no meat is cured at the cutting edge in the splitting process; the livestock carcass splitting machine is provided with a synchronous tracking system, the position and linear velocity information of a cut livestock carcass is collected in real time, the splitting linear velocity of the splitting robot must be synchronous with the carcass line, the cutter assembly is controlled to perform precise positioning splitting processing on the livestock carcass, and splitting precision is improved. The utility model can realize the execution and implementation of the complete automatic operation splitting half-cycle process according to the operation requirements of the production line, reduces the labor intensity, has higher automation degree, does not operate intermittently, and improves the production efficiency; the automatic spraying disinfection device is matched, the chopper is automatically washed and disinfected by each automatic chopping circulation program, so that bacterial infection is prevented, and the quality of meat products is improved.
Drawings
FIG. 1 is a mechanical structure diagram of the full-automatic splitting robot system of the present invention;
the robot comprises a robot main body 1, a robot handle 11, a cutter assembly 2, a speed reducer 21, a chopper 22, a speed reducer base 111, a main structure inner support assembly 112, a back pulling device 3, a buckle grab 31, a buckle wheel 32 and a spray disinfection device 4.
Detailed Description
The technical solution in the embodiments of the present invention will be described in detail and completely with reference to the accompanying drawings. It is obvious that the described embodiments are only some embodiments, not all embodiments, of the general solution of the present invention. All other embodiments, which can be derived by a person skilled in the art based on the general idea of the invention, fall within the scope of protection of the invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", "inner", "outer", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
The utility model provides a full-automatic robot system of splitting for the splitting of in-process is slaughtered to the livestock is handled, can realize full-automatic splitting control. The structure and principle of the full-automatic splitting robot system of the present invention will be described with reference to the accompanying drawings.
A full-automatic splitting robot system comprises a robot main body 1, a step tracking system arranged on the robot main body, a main control module and a cutter assembly 2; the robot main body 1 comprises a robot handle 11, and the cutter assembly 2 is arranged on the robot handle 11; synchronous tracer surveys and fixes a position the livestock carcass to linear velocity positional information with gathering transmits for host system, and host system carries out the operation with the information of receiving and handles and send control command, and control robot body synchronous motion is behind the synchronous tracer location to splitting position, and host system control cutter assembly splits half to the livestock carcass and handles.
Specifically, referring to fig. 1, the cutter assembly 2 includes a driving device and a chopper 22, the driving device includes a motor and a speed reducer 21 connected with the motor as a whole, a speed reducer base 111 and a main structure inner support assembly 112 are arranged on the robot handle 11, the speed reducer 21 is mounted on the speed reducer base 111, the motor is mounted on the main structure inner support assembly 112, a cutter arm is mounted on an eccentric shaft of the speed reducer 21, the chopper 22 is mounted at the front end of the cutter arm, and the motor drives the chopper to move through the eccentric shaft of the speed reducer when rotating. When splitting the livestock carcass, the robot body 1 controls the chopper to reciprocate and vertically split without bone and meat loss.
As further shown in fig. 1, the system further includes a back-pulling device 3, wherein the back-pulling device 3 is mounted on the robot handle 11, movably hinged to the robot handle 11, and located at the front end of the cutter assembly 2. The back seizing device 3 can rotate 180 degrees around the top mounting position of the robot handle 11 and comprises a buckle claw 31 and a buckle wheel 32, a buckle claw cylinder is mounted in the buckle claw 31, a buckle claw cylinder rod extends out when the buckle claw cylinder is inflated, the buckle claw 31 contracts to drive a round idler wheel and a gear idler wheel of the buckle wheel 32 to be close to the carcass, a fixed clamping effect is achieved, the phenomenon that the chopping position is deviated due to the deviation of the livestock carcass when a chopper splits the half is prevented, and the splitting precision and the splitting efficiency are improved; when the buckling cylinder deflates, the buckling cylinder rod extends horizontally to drive the buckling wheel to retract, and the clamping state is released. The embodiment is also provided with a spraying and disinfecting device 4, and the main control module is connected with the spraying and disinfecting device to control the spraying and disinfecting device to work; the spraying and sterilizing device 4 is arranged on the robot handle 11 and is positioned at one side of the riving knife 22 of the knife assembly 2, the riving knife is automatically sterilized when the riving process is finished once, and the phenomenon of cross contamination of residual bacteria of the knife to the pig body is reduced. Meanwhile, when splitting, the cutting part is automatically sprayed with water for cooling, so that meat quality at the cutting edge is prevented from being cured in the splitting process, and the meat quality is improved; when the operation is stopped, the spraying and sterilizing device is automatically closed, the cost is reduced, and the resource waste is prevented.
The full-automatic splitting robot system in the embodiment further comprises a conveyor for transporting livestock carcasses, and the conveyor is further provided with a displacement sensor and a linear velocity transducer. Wherein, synchronous tracer includes the location detection module, the linear velocity positional information of the conveyer that the location detection module is used for acquireing displacement sensor and linear velocity transducer collection carries out the location, simultaneously with the linear velocity positional information transmission of the collection of acquireing for host system, host system carries out the operation with the information of receiving and handles and send control command, control robot body synchronous motion, after synchronous tracer location splits the cutting position, host system control cutter assembly splits half to the livestock carcass and handles. Meanwhile, the main control module synchronously transmits the received environmental information, the state information (position, linear velocity and action) of the robot main body, the cutting state information and the spraying system information to the display module for information real-time display. The synchronous tracking device in the system adopts a rotary encoder, the splitting linear speed of the splitting robot needs to be ensured to be synchronous with a carcass line, the information of the linear speed of the dissecting conveyor is collected through the rotary encoder, and pulses are sent to the robot body, so that the splitting machine and the conveyor are synchronous.
In the embodiment, the parts of the device are made of aluminum alloy, stainless steel and nylon materials, so that the device meets the food sanitation requirement; the debugging operation is performed by using a control panel provided with a touch screen. The splitting power system is manufactured by adopting a miniature speed reducer and an aluminum alloy precision die casting to reduce weight, the splitting mode is that a chopper reciprocates and vertically splits, and the service life is not less than 100 ten thousand heads under a correct use method; the production capacity of the splitting machine reaches more than 350 heads/h, and the production efficiency is high. Meanwhile, the system automatically cleans and sterilizes the riving knife after completing the splitting process every time, thereby reducing the cross contamination of residual bacteria of the knife to the pig body.
The utility model discloses a working process does:
specifically, taking splitting of a pig carcass as an example, when the pig carcass enters a robot to be split, the synchronous tracking device acquires information acquired by the running linear speed of the pig carcass and transmits the information to the controller, and the controller sends an instruction to control the robot to act after running operation processing according to a set program, so that the chopper keeps synchronous with the running linear speed of the pig carcass in the splitting process, and the pig carcass is ensured not to be split and inclined; meanwhile, the half-splitting stroke is not limited by the size of the pig body. When some pig carcasses of automatic on-line conveyer arrived the split position promptly, the robot body control cutter assembly was to pig carcass top, then held back the device and carry out the centre gripping fixed to the pig carcass, and the motor starts, and the chopper is in and splits the pig carcass and cuts. The automatic lifting mechanism and the translation mechanism adjust the splitting height and the horizontal position of the robot body in real time until the pig carcass is completely split by the riving knife. The rotary encoder ensures the position, and the spraying system carries out high-temperature disinfection, sterilization and cleaning treatment on the cutter. And repeating the operation when the controller detects the information of the next pig.
The utility model discloses a full-automatic robot system of splitting has realized automation, intelligent control, adopts automatic programming, electronic control system, and production efficiency and degree of automation are higher, and adopt the advanced equipment of environmental protection and energy saving type. Compared with the existing automatic chopping machine, the automatic chopping machine has the advantages of electrical appliance safety and control level, and is provided with a machine head control cabinet and a demonstrator with full Chinese liquid crystal screen display, wherein the demonstrator is provided with a USB interface and supports the import and export of a demonstration program; the execution and implementation of the splitting cycle process can be completely and automatically operated according to the operation requirements of the production line, the labor intensity is reduced, the automation degree is higher, the intermittent operation is avoided, and the quality, the production efficiency and the economic benefit of the meat product are improved; the automatic spraying disinfection device is arranged, and the chopper is automatically washed and disinfected by an automatic chopping cycle program every time, so that the automatic spraying disinfection device is safe and sanitary; meanwhile, the whole machine runs stably and smoothly, the performance is reliable, the running is stable, the size of the equipment is small compared with that of the similar products, the whole structure is simple, the whole mechanism is composed of a robot arm and a splitting machine head, the space occupied by the size of the equipment is saved, and the equipment is convenient and quick to maintain. The utility model discloses a full-automatic splitting robot system not only is limited to splitting of pig carcass, can extend to splitting system to other livestock, and the commonality is strong, and the range of application is wide, and intelligent degree is high.
Claims (6)
1. A full-automatic splitting robot system is characterized by comprising a robot main body, a synchronous tracking device, a cutter assembly, a main control module and a conveyor, wherein the synchronous tracking device is arranged on the robot main body; the robot main body comprises a robot handle, and the cutter assembly is arranged on the robot handle; the conveyor is used for conveying livestock carcasses and is also provided with a displacement sensor and a linear velocity sensor; the synchronous tracking device adopts a rotary encoder and is used for detecting and positioning the livestock carcasses and transmitting the acquired linear velocity and position information to the main control module; the main control module is used for carrying out operation processing on the received information and sending a control instruction to control the robot body to move synchronously, and after the synchronous tracking device is positioned to the splitting position, the main control module controls the cutter assembly to split the livestock carcass into halves.
2. The full-automatic splitting robot system according to claim 1, wherein the cutter assembly comprises a driving device and a chopper, the driving device comprises a motor and a speed reducer connected with the motor into a whole, the robot handle is provided with a speed reducer base and a main structure internal support component, the speed reducer is installed on the speed reducer base, the motor is installed on the main structure internal support component, an eccentric shaft of the speed reducer is provided with a cutter arm, the chopper is installed at the front end of the cutter arm, and the chopper is driven to move by the eccentric shaft of the speed reducer when the motor rotates.
3. The full-automatic splitting robot system according to claim 2, further comprising a spray sterilizing device, wherein the main control module is connected with the spray sterilizing device to control the work thereof; the spraying and disinfecting device is arranged on the robot handle and is positioned on one side of the riving knife of the knife assembly.
4. The full-automatic splitting robot system according to claim 1, further comprising a back-pulling device mounted on the robot handle, movably hinged to the robot handle, and located at the front end of the cutter assembly.
5. The full-automatic splitting robot system according to claim 1, further comprising a display module for receiving and displaying the environment information transmitted from the main control module and the state information of the robot main body.
6. The fully automated cleaving robotic system of claim 1, further comprising an automated lift mechanism and a translation mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920204152.1U CN209825020U (en) | 2019-02-15 | 2019-02-15 | Full-automatic splitting robot system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920204152.1U CN209825020U (en) | 2019-02-15 | 2019-02-15 | Full-automatic splitting robot system |
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| CN209825020U true CN209825020U (en) | 2019-12-24 |
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| CN201920204152.1U Active CN209825020U (en) | 2019-02-15 | 2019-02-15 | Full-automatic splitting robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113383811A (en) * | 2021-07-01 | 2021-09-14 | 江西兆瑞机械设备制造有限责任公司 | Pig ketone body single-knife edge opening device |
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2019
- 2019-02-15 CN CN201920204152.1U patent/CN209825020U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113383811A (en) * | 2021-07-01 | 2021-09-14 | 江西兆瑞机械设备制造有限责任公司 | Pig ketone body single-knife edge opening device |
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