CN217620604U

CN217620604U - Robot splitting equipment

Info

Publication number: CN217620604U
Application number: CN202122368332.3U
Authority: CN
Inventors: 李有权; 罗文浩
Original assignee: Dongguan Jianli Intelligent Technology Co ltd
Current assignee: Dongguan Jianli Intelligent Technology Co ltd
Priority date: 2021-09-29
Filing date: 2021-09-29
Publication date: 2022-10-21
Anticipated expiration: 2031-09-29

Abstract

The utility model relates to the technical field of splitting equipment, and discloses robot splitting equipment, which comprises a base, a rotating arm, a first movable arm, a second movable arm and a splitting device, wherein one end of the rotating arm is rotatably connected with the base, and the other end of the rotating arm is hinged with the first movable arm; the first movable arm is hinged with a second movable arm, the second movable arm is connected with a machine head, and the machine head is fixedly connected with a chopping device; the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism are used for driving the rotating arm, the first movable arm and the second movable arm to move; the utility model has the advantages of as follows: 1. the machine head can rotate and move, so that the flexibility is high and the application range is wide; 2. the chopping can be followed, the chopping efficiency is high, and the stability is good; 3. the head is provided with a cutter positioning mechanism, so that the service life of the cutter is prolonged.

Description

Robot splitting equipment

Technical Field

The utility model relates to a split equipment technical field especially relates to a robot splits equipment.

Background

The food is eaten by people as the day, and meat is a popular food and is in a special position in the people's county. Particularly, pork products are meat products which are the largest in consumption amount of people at present, and in China, a large amount of pork products are in consumption demand.

After a live pig is slaughtered and cleaned in a slaughterhouse, the live pig is generally split into halves, then is split into different sizes, and finally flows to market for sale. The conventional live pig splitting, cutting and edge dividing device mainly comprises a bridge type splitting machine, a belt type splitting saw and the like, but the devices have the problems of low flexibility, unstable splitting and cutting and the like, and the inventor carries out a new invention to solve the problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to prior art not enough, provide a robot splits half equipment, it has the characteristics that the flexibility ratio is high, stability is good.

In order to achieve the purpose, the utility model relates to a robot splitting device, which comprises a base, a rotating arm, a first movable arm, a second movable arm and a splitting and cutting device, wherein one end of the rotating arm is rotatably connected with the base, and the other end of the rotating arm is hinged with the first movable arm; the first movable arm is hinged with a second movable arm, the second movable arm is connected with a machine head, and the machine head is fixedly connected with a chopping device; the device also comprises a first driving mechanism, a second driving mechanism, a third driving mechanism and a fourth driving mechanism which are used for driving the rotating arm, the first movable arm and the second movable arm to move.

Furthermore, the chopping device comprises a fixed box, the fixed box is fixedly connected with the machine head, the middle of the fixed box is provided with a chopping mechanism, the chopping mechanism at least comprises a first cutter, a second cutter and a fifth driving device for driving the first cutter and the second cutter to move, the fifth driving mechanism comprises a servo motor and a speed reducer, the servo motor is in transmission connection with the speed reducer, the speed reducer is provided with a first eccentric shaft and a second eccentric shaft, the first eccentric shaft drives the first cutter, and the second eccentric shaft drives the second cutter.

Furthermore, a fixed arm is arranged at the upper part of the fixed box, a back pressing mechanism is hinged to the fixed arm, and a sixth driving mechanism is further arranged on the fixed arm; the lower part of the fixed box is provided with a front abutting mechanism, and the front abutting mechanism and the back abutting mechanism dynamically fix the body of the slaughtered animal.

Furthermore, the back of the body supports and presses the mechanism and includes the third digging arm, and it has the arch bridge to articulate on the third digging arm, the arch bridge is provided with first roller train and second roller train, first roller train includes at least that first supports pinch roller and second and supports the pinch roller.

Preferably, the back of the body is supported and is pressed mechanism still including supplementary wheelset, supplementary wheelset includes the mount pad, is provided with first tight pulley and second tight pulley on the mount pad, first tight pulley rear is provided with first torsional spring, and second tight pulley rear is provided with the second torsional spring.

Furthermore, preceding mechanism of supporting includes support arm, third roller train and fourth roller train, and third roller train and fourth roller train all set up on the support arm, the support arm still is provided with the cylinder, and the motion of cylinder drive piston rod, the third roller train includes at least that the third supports pinch roller and the fourth supports the pinch roller.

Preferably, the diameters of the third pressing resisting wheel and the fourth pressing resisting wheel are smaller than the diameters of the first pressing resisting wheel and the second pressing resisting wheel.

Preferably, the fixing arm is further provided with a first positioning device for defining a first cutter and a second positioning device for defining a second cutter, and the first positioning device comprises a limiting member.

Preferably, the inclination angle α of the first and second cutters is 10 to 30 degrees.

Preferably, the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism are servo motors, and the sixth driving mechanism is a swing cylinder.

Has the beneficial effects that: compared with the prior art, the utility model relates to a robot splitting device, which comprises a base, a rotating arm, a first movable arm, a second movable arm and a splitting mechanism, wherein one end of the rotating arm is rotatably connected with the base, and the other end of the rotating arm is hinged with the first movable arm; the first movable arm is hinged with a second movable arm, the second movable arm is connected with a machine head, and the machine head is fixedly connected with a chopping device; the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism are used for driving the rotating arm, the first movable arm and the second movable arm to move; the utility model has the advantages of as follows: 1. the machine head can rotate and move, so that the flexibility is high and the application range is wide; 2. the chopping can be followed, the chopping efficiency is high, and the stability is good; 3. the head is provided with a cutter positioning mechanism, so that the service life of the cutter is prolonged.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a back perspective view of the present invention.

Fig. 3 is a schematic structural view of the chopping device.

FIG. 4 is a schematic structural diagram of the chopping mechanism.

FIG. 5 is a schematic view of the internal structure of the chopping device

FIG. 6 is another view angle structure diagram of the chopping device

FIG. 7 is a schematic view of the internal structure of the back pressing mechanism

FIG. 8 is a schematic view of the front pressing mechanism

FIG. 9 is a schematic view of the structure of the inclination angle of the tool

Fig. 10 is a schematic structural view of the eccentric shaft.

The reference numerals include:

base-1, rotating arm-2, first movable arm-3, second movable arm-4, chopping and cutting device-5, machine head-6, first driving mechanism-7, second driving mechanism-8, third driving mechanism-9, fourth driving mechanism-10, fixed box-51, chopping and cutting mechanism-52, first cutter-521, second cutter-522, fifth driving mechanism-523, servo motor-524, speed reducer-525, first eccentric shaft-526, second eccentric shaft-527, fixed arm-53, first positioning device-531, limiting piece-5311, second positioning device-532, back press mechanism-54, third movable arm-541, arch bridge-542, first roller set-543, first press wheel-5431, second press wheel-5432, second roller set-5656565656545, auxiliary press wheel-545, mounting seat-5451, first fixed wheel-5452, second fixed wheel-5453, first press wheel-5454, sixth press wheel-5454, fourth spring-5655, fourth press wheel-5622, fourth spring-56565622, third press wheel-55, a first driving member 57 and a second driving member 58.

Detailed Description

The present invention will be described in detail with reference to fig. 1 to 10.

The utility model relates to a robot splits equipment. The equipment comprises a base 1, a rotating arm 2, a first movable arm 3, a second movable arm 4 and a chopping device 5, wherein one end of the rotating arm 2 is rotatably connected with the base 1, and the other end of the rotating arm is hinged with the first movable arm 3; the first movable arm 3 is hinged with a second movable arm 4, the second movable arm 4 is sleeved with a telescopic arm and is connected with a machine head 6, and the machine head 6 is fixedly connected with a chopping device 5; the device also comprises a first driving mechanism 7, a second driving mechanism 8, a third driving mechanism 9 and a fourth driving mechanism 10 which are used for driving the rotating arm 2, the first movable arm 3 and the second movable arm 4 to move. When the slaughtering machine is used, the rotating arm 2 can rotate freely, the movable arm drives the chopping device 5 to move freely under the driving of the driving device, the slaughtering animal bodies hung on a flow line are chopped, meanwhile, the mechanical arm can follow chopping, the flow line does not need to be stopped, and the production efficiency is improved. This equipment utilizes the arm to improve the flexibility of splitting equipment, and splitting device 5 can remove in a flexible way, and the application range of half equipment is split in the increase, compares in the tradition and splits equipment, and the flexibility ratio is higher, and stability is better, and production efficiency has also greatly improved.

Further, the chopping device 5 comprises a fixed box 51, the fixed box 51 is fixedly connected with the machine head 6, the middle part of the fixed box 51 is provided with a chopping mechanism 52, the chopping mechanism 52 at least comprises a first cutter 521, a second cutter 522 and a fifth driving mechanism 523 for driving the first cutter 521 and the second cutter 522 to move, the fifth driving mechanism 523 comprises a servo motor 524 and a speed reducer 525, the servo motor 524 is in transmission connection with the speed reducer 525, the speed reducer 525 is provided with a first eccentric shaft 526 and a second eccentric shaft 527, the first eccentric shaft 526 and the second eccentric shaft 527 are arranged in an up-down opposite manner, the first eccentric shaft 526 drives the first cutter 521, and the second eccentric shaft 527 drives the second cutter 522, so that the two cutters can be chopped in a staggered manner.

In the present invention, the first cutter 521 is connected with the first driving member 57, the second cutter 522 is connected with the second driving member 58, the first driving member 57 is movably connected with the first eccentric shaft 526, and the second driving member 58 is movably connected with the second eccentric shaft 527. When the chopping knife is used, the first driving piece 57 and the second driving piece 58 are driven by the eccentric shaft to rotate in a staggered manner, namely similar to the rotation action of a bicycle crank, and then the first knife 521 and the second knife 522 are driven to sequentially and alternately perform chopping actions until the chopping is completed. The cutting edges of the two cutters in the scheme are almost on the same straight line, so that the purpose of chopping the meat is to enable the meat to be more flat and to obtain a better chopping effect.

Furthermore, a fixing arm 53 is arranged at the upper part of the fixing box 1, the fixing arm 53 is hinged with a back pressing mechanism 54, and the fixing arm 53 is further provided with a sixth driving mechanism 55; the lower part of the fixed box 51 is provided with a front pressing mechanism 56, and the front pressing mechanism 56 and the back pressing mechanism 54 dynamically fix the body of the slaughtered animal. The dynamic fixation means that the pressing mechanism can move and fix the body of the animal along with the chopping mechanism 52 along with the chopping action.

When the chopping device 5 is used, the back pressing mechanism 54 is pressed against the back of the slaughtered animal by the movable arm, the front pressing mechanism 56 is pressed against the front part of the body of the slaughtered animal, and then the slaughtered animal can be rapidly chopped into halves by utilizing the double cutters to perform chopping in a mutually staggered manner, so that the manual labor intensity is greatly reduced, and the stability is better. The chopping efficiency can be improved, the service life of the cutter can be prolonged, and the production cost is reduced.

Further, the back pressing mechanism 54 includes a third movable arm 541, an arch bridge 542 is hinged on the third movable arm 541, the arch bridge 542 is provided with a first roller set 543 and a second roller set 544, the first roller set 543 at least includes a first pressing wheel 5431 and a second pressing wheel 5432, and the structure of the second roller set 544 is the same as that of the first roller set 543.

Preferably, the back pressing mechanism 54 further includes an auxiliary wheel set 545, the auxiliary wheel set 545 includes a mounting seat 5451, a first fixed wheel 5452 and a second fixed wheel 5453 are disposed on the mounting seat 5451, a first torsion spring 5454 is disposed behind the first fixed wheel 5452, and a second torsion spring 5455 is disposed behind the second fixed wheel 5453. The auxiliary wheel set 545 is provided to allow the fixed wheel to abut against the first roller set 543 under the action of the torsion spring, so as to provide a pre-pressure for the first roller set 543. When the splitting process is to be completed, the second roller set 544 for fixing the body of the slaughtered animal leaves the body of the slaughtered animal (in the technical scheme, the slaughtered animal mainly comprises pigs or animals with similar body shapes), and at this time, under the condition that the second roller set 544 is empty, the first roller set 543 loses the pressure, so that the positioning deviation is easily generated, and the splitting and the cutting are inaccurate, and at this time, the auxiliary roller set 545 can provide pressure for the first roller set 543, thereby avoiding the problems.

Further, the front pressing mechanism 56 includes a support arm 561, a third roller set 562 and a fourth roller set 563, the third roller set 562 and the fourth roller set 563 are both disposed on the support arm 561, the support arm 561 is further provided with a cylinder 564, the cylinder 564 drives the piston rod 565 to move, the third roller set 562 includes at least a third pressing wheel 5621 and a fourth pressing wheel 5622, and the fourth roller set 563 has the same structure as the third roller set 562. In the technical scheme, the front pressing mechanism 56 and the back pressing mechanism 54 are matched with each other to dynamically fix the body of the slaughtered animal, so that the chopping is more accurate, and the chopping efficiency is improved.

Preferably, the diameters of the third and fourth

pressing wheels

5621 and 5622 are smaller than the diameters of the first and second

pressing wheels

5431 and 5432. The big wheel can increase the area of pressing, and the small wheel then further supports the pressure to the face of pressing of big wheel, more does benefit to the fixed to the trunk, and the chopping also can be more accurate.

Preferably, the fixing arm 53 is further provided with a first positioning mechanism 531 for defining the first knife 521 and a second positioning mechanism 532 for defining the second knife 522, the first positioning mechanism 531 includes a limiting piece 5311, and the second positioning mechanism 532 has the same structure as the first positioning mechanism 531. In the process of chopping and cutting the cutter, the positioning mechanism effectively limits the cutter within a set range, and the cutter cannot be deflected left and right due to deformation to cause inaccurate chopping and cutting.

Preferably, the first and

second cutters

521 and 522 are inclined at an angle α of 10 to 30 degrees. The inclined cutter can make the cutter have a cutting action, when the cutter just begins to split into halves, the inclined cutter can immediately begin to cut, the inclined cutter is better matched with the front abutting mechanism 56 and the back abutting mechanism 54 to fix the bodies of the slaughtered animals, meanwhile, the inclined cutter has a better stress point, and if the inclined cutter is horizontally arranged, the effect cannot be achieved.

Preferably, the first driving mechanism 7, the second driving mechanism 8, the third driving mechanism 9 and the fourth driving mechanism 10 are all servo motors, and the servo motors are high in chopping efficiency and good in stability. In this embodiment, the sixth driving mechanism 55 employs a swing cylinder, so that the third movable arm 541 can be smoothly opened and folded. The sixth driving mechanism 55 may be a piston cylinder, a servo motor, or the like, in addition to the swing cylinder.

The above description is only for the preferred embodiment of the present invention, and for those skilled in the art, there are variations on the detailed description and the application scope according to the idea of the present invention, and the content of the description should not be construed as a limitation to the present invention.

Claims

1. The utility model provides a robot splits half equipment, includes base (1), its characterized in that: the chopping machine further comprises a rotating arm (2), a first movable arm (3), a second movable arm (4) and a chopping device (5), wherein one end of the rotating arm (2) is rotatably connected with the base (1), and the other end of the rotating arm is hinged with the first movable arm (3); the first movable arm (3) is hinged with a second movable arm (4), the second movable arm (4) is connected with a machine head (6), and the machine head (6) is fixedly connected with a chopping device (5); the device also comprises a first driving mechanism (7), a second driving mechanism (8), a third driving mechanism (9) and a fourth driving mechanism (10) which are used for driving the rotating arm (2), the first movable arm (3) and the second movable arm (4) to move.

2. The robotic splitting apparatus of claim 1, wherein: the chopping device (5) comprises a fixed box (51), the fixed box (51) is fixedly connected with a machine head (6), a chopping mechanism (52) is arranged in the middle of the fixed box (51), the chopping mechanism (52) at least comprises a first cutter (521), a second cutter (522), a fifth driving mechanism (523) for driving the first cutter (521) and the second cutter (522) to move, the fifth driving mechanism (523) comprises a servo motor (524) and a speed reducer (525), the servo motor (524) is in transmission connection with the speed reducer (525), the speed reducer (525) is provided with a first eccentric shaft (526) and a second eccentric shaft (527), the first eccentric shaft (526) drives the first cutter (521), and the second eccentric shaft (527) drives the second cutter (522).

3. The robotic cleaving apparatus of claim 2, wherein: a fixing arm (53) is arranged at the upper part of the fixing box (51), the fixing arm (53) is hinged with a back pressing mechanism (54), and the fixing arm (53) is also provided with a sixth driving mechanism (55); the lower part of the fixed box (51) is provided with a front pressing mechanism (56), and the front pressing mechanism (56) and the back pressing mechanism (54) dynamically fix the body of the slaughtered animal.

4. The robotic cleaving apparatus of claim 3, wherein: the back pressing mechanism (54) comprises a third movable arm (541), an arch bridge (542) is hinged to the third movable arm (541), the arch bridge (542) is provided with a first roller set (543) and a second roller set (544), and the first roller set (543) at least comprises a first pressing wheel (5431) and a second pressing wheel (5432).

5. The robotic cleaving apparatus of claim 4, wherein: the back pressing mechanism (54) further comprises an auxiliary wheel set (545), the auxiliary wheel set (545) comprises an installation seat (5451), a first fixed wheel (5452) and a second fixed wheel (5453) are arranged on the installation seat (5451), a first torsion spring (5454) is arranged behind the first fixed wheel (5452), and a second torsion spring (5455) is arranged behind the second fixed wheel (5453).

6. The robotic cleaving apparatus of claim 3, wherein: preceding mechanism (56) of holding to press includes support arm (561), third roller train (562) and fourth roller train (563), and third roller train (562) and fourth roller train (563) all set up on support arm (561), support arm (561) still are provided with cylinder (564), and cylinder (564) actuating piston rod (565) motion, third roller train (562) include at least that the third supports pinch roller (5621) and the fourth supports pinch roller (5622).

7. The robotic cleaving apparatus of claim 6, wherein: the diameters of the third pressing wheel (5621) and the fourth pressing wheel (5622) are smaller than the diameters of the first pressing wheel (5431) and the second pressing wheel (5432).

8. The robotic splitting apparatus of claim 3, wherein: the fixing arm (53) is further provided with a first positioning device (531) used for limiting a first cutter (521) and a second positioning device (532) used for limiting a second cutter (522), and the first positioning device (531) comprises a limiting piece (5311).

9. The robotic cleaving apparatus of claim 2, wherein: the first cutter (521) and the second cutter (522) are inclined at an angle alpha of 10 to 30 degrees.

10. The robotic cleaving apparatus of claim 1, wherein: the first driving mechanism (7), the second driving mechanism (8), the third driving mechanism (9) and the fourth driving mechanism (10) are servo motors, and the sixth driving mechanism (55) is a swing cylinder.