CN220494119U - Automatic meat block cutting device based on double-cooperation mechanical arm - Google Patents
Automatic meat block cutting device based on double-cooperation mechanical arm Download PDFInfo
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- CN220494119U CN220494119U CN202322155974.4U CN202322155974U CN220494119U CN 220494119 U CN220494119 U CN 220494119U CN 202322155974 U CN202322155974 U CN 202322155974U CN 220494119 U CN220494119 U CN 220494119U
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- 235000013372 meat Nutrition 0.000 title claims abstract description 50
- 238000012544 monitoring process Methods 0.000 claims abstract description 13
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000011218 segmentation Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The utility model discloses an automatic meat block cutting device based on double cooperative mechanical arms, which comprises a table top and a cutting machine arranged on the table top, wherein two cooperative mechanical arms are arranged on opposite sides of the table top, electric clamping jaws are arranged at working ends of the cooperative mechanical arms, and the electric clamping jaws are used for grabbing meat blocks under the drive of the cooperative mechanical arms and cutting the meat blocks through the cutting machine; the device further comprises a first camera for monitoring and positioning the meat chunk position, a second camera for monitoring the grabbing condition of the electric clamping jaw, and a controller for controlling the two cooperative mechanical arms and the electric clamping jaw to work according to the monitoring results of the first camera and the second camera. The device replaces manual operation by the double-cooperation mechanical arm, realizes automatic cutting of meat blocks by matching with the shooting positioning technology, avoids the risk of manual operation, is beneficial to improving the cutting efficiency and keeps the cutting precision for a long time.
Description
Technical Field
The utility model relates to the technical field of meat segmentation, in particular to an automatic meat block segmentation device based on double-cooperation mechanical arms.
Background
The meat can be stored for a long time after being frozen, is convenient to transport, and has been widely adopted. The frozen meat blocks need to be segmented before sales or deep processing, the existing segmentation devices mostly adopt segmentation machines based on electric saw blades, such as segmentation equipment disclosed in patents with publication number of CN205343253U, CN210361429U and the like, and when the segmentation equipment is used, the meat blocks need to be manually sent to be close to the saw blades to complete segmentation, the operation has higher requirements on the proficiency of operators, is dangerous, and can cause safety accidents slightly without attention; in addition, manual operation also makes the separation efficiency lower, can't accomplish continuous uninterrupted duty for a long time, and the accuracy stability of segmentation is relatively poor, easily receives the environmental impact.
Disclosure of Invention
The utility model aims to provide an automatic meat block cutting device based on double-cooperation mechanical arms, which solves the problems of high risk, low efficiency and poor stability of cutting precision caused by the fact that the existing cutting equipment relies on manual operation.
The utility model realizes the above purpose through the following technical scheme:
the automatic meat block cutting device based on the double-cooperation mechanical arms comprises a table top and a cutting machine arranged on the table top, wherein two cooperation mechanical arms are arranged on opposite sides of the table top, electric clamping jaws are arranged at working ends of the cooperation mechanical arms, and the electric clamping jaws are used for grabbing meat blocks under the drive of the cooperation mechanical arms and cutting the meat blocks through the cutting machine;
the device further comprises a first camera for monitoring and positioning the meat chunk position, a second camera for monitoring the grabbing condition of the electric clamping jaw, and a controller for controlling the two cooperative mechanical arms and the electric clamping jaw to work according to the monitoring results of the first camera and the second camera.
The further improvement is that the cooperation mechanical arms all adopt five-axis cooperation mechanical arms.
The meat slicer is further improved in that a bearing plate for placing meat blocks is movably arranged on the table top through a sliding rail, a strip-shaped groove is formed in the bearing plate, and segmentation saw teeth of the divider vertically penetrate through the strip-shaped groove.
The improved structure is characterized in that an elastic piece is arranged in the sliding rail and is used for enabling the bearing plate to return to the middle position of the table top after moving.
The electric clamping jaw comprises a shell, a telescopic part arranged in the shell, a driving frame arranged on an output shaft of the telescopic part, and two linkage rods which are symmetrically and movably arranged in the shell through a rotating shaft, wherein one ends of the two linkage rods extend out of the shell and are provided with clamping blocks, the other ends of the linkage rods are movably provided with movable sleeves through the rotating shaft, two symmetrical inclined sections are formed on the driving frame, and the two inclined sections are respectively movably inserted into the two movable sleeves.
The further improvement is that needle-shaped bulges are distributed on the surface of the clamping block and are used for improving the grabbing stability.
The electronic clamping jaw is characterized in that the first camera is arranged on the divider, the shooting direction of the first camera is aligned with the table top, the second camera is two, and the first camera and the second camera are respectively arranged on the two electronic clamping jaws, and the shooting direction of the first camera is aligned with the grabbing ends of the electronic clamping jaws.
The utility model has the beneficial effects that: the device replaces manual operation by the double-cooperation mechanical arm, realizes automatic cutting of meat blocks by matching with the shooting positioning technology, avoids the risk of manual operation, is beneficial to improving the cutting efficiency and keeps the cutting precision for a long time.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present utility model;
FIG. 2 is a schematic view of the exterior structure of the motorized jaw;
FIG. 3 is a schematic view of the internal structure of the motorized jaw;
FIG. 4 is a schematic view of the installation of a carrier plate;
in the figure: 1. a table top; 2. a dividing machine; 3. a cooperative mechanical arm; 4. an electric clamping jaw; 401. a housing; 402. a telescoping member; 403. a drive rack; 404. a linkage rod; 405. clamping blocks; 406. a movable sleeve; 5. a first camera; 6. a second camera; 7. a controller; 8. a slide rail; 9. a carrying plate; 10. a bar-shaped groove; 11. an elastic member.
Detailed Description
The following detailed description of the present application is provided in conjunction with the accompanying drawings, and it is to be understood that the following detailed description is merely illustrative of the application and is not to be construed as limiting the scope of the application, since numerous insubstantial modifications and adaptations of the application will be to those skilled in the art in light of the foregoing disclosure.
Referring to fig. 1-4, an automatic meat block dividing device based on double cooperative mechanical arms comprises a table top 1 and a dividing machine 2 arranged on the table top 1, wherein the dividing machine 2 can adopt an electric saw tooth-based dividing machine 2, the electric saw tooth vertically penetrates through the table top 1, two cooperative mechanical arms 3 are arranged on opposite sides of the table top 1, electric clamping jaws 4 are arranged at working ends of the cooperative mechanical arms 3, and the electric clamping jaws 4 are used for grabbing meat blocks under the drive of the cooperative mechanical arms 3 and dividing the meat blocks by the dividing machine 2;
the device also comprises a first camera 5 for monitoring and positioning the meat chunk position, a second camera 6 for monitoring the grabbing condition of the electric clamping jaw 4, and a controller 7 for controlling the two cooperative mechanical arms 3 and the electric clamping jaw 4 to work according to the monitoring results of the first camera 5 and the second camera 6.
At concrete during operation, the divider 2 starts, place the meat piece on mesa 1 after, monitor the position of location meat piece through first camera 5, controller 7 is according to the position control of meat piece (concrete control technique is prior art, and this is not repeated) two cooperation arm 3 actions for two electronic clamping jaw 4 snatch the both sides of meat piece respectively, and whether snatch successfully through second camera 6 monitoring, snatch again if snatch successfully, control cooperation arm 3 after snatch successfully and drive the meat piece and remove, make its meat piece pass through the electronic sawtooth of divider 2 with certain position and angle, accomplish the segmentation. After one division, the above process may be repeated for a plurality of divisions until the meat pieces are divided into the desired size, and the divided meat pieces are transferred into the corresponding collection boxes or onto the conveying lines by the cooperative robot arm 3.
Preferably, the five-axis cooperative mechanical arms 3 are adopted in the utility model, and the structure is small and flexible, so that the movement of any position and any angle in a certain range can be realized.
The present utility model, in a preferred embodiment, improves the table top 1 because the meat pieces are heavy and have a smooth surface, which is prone to slipping off during gripping. The method comprises the following steps: the table top 1 is movably provided with a bearing plate 9 for placing meat blocks through a sliding rail 8, the bearing plate 9 is provided with a strip-shaped groove 10, and the cutting saw teeth of the cutting machine 2 vertically penetrate through the strip-shaped groove 10. In addition, an elastic piece 11 is arranged in the slide rail 8, and the elastic piece 11 is used for enabling the bearing plate 9 to return to the middle position of the table top 1 after moving. The setting of loading board 9 for when cutting apart, electronic clamping jaw 4 need not to snatch the unsettled removal with the meat piece completely, and only need the centre gripping drag meat piece can, can avoid the slippage phenomenon like this, can drive loading board 9 synchronous movement in the dragging process, until the completion cuts apart, loosens the meat piece and makes meat piece and loading board 9 get back to mesa 1 intermediate position under the effect of elastic component 11, and breaks away from and cut apart the sawtooth, is convenient for cut apart next time.
Preferably, the motorized clasps 4 of the present utility model can take any configuration, and one embodiment is provided herein: the telescopic device comprises a shell 401, a telescopic piece 402 (such as an electric telescopic rod, a telescopic cylinder and the like) arranged in the shell 401, a driving frame 403 arranged on an output shaft of the telescopic piece 402, and two linkage rods 404 symmetrically and movably arranged in the shell 401 through a rotating shaft, wherein one ends of the two linkage rods 404 extend out of the shell 401 and are provided with clamping blocks 405, the other ends of the linkage rods 404 are movably provided with movable sleeves 406 through the rotating shaft, two symmetrical inclined sections are formed on the driving frame 403, and the two inclined sections are respectively movably inserted into the two movable sleeves 406. When grabbing, the telescopic piece 402 is controlled to shrink, the driving frame 403 is driven to move towards the direction away from the linkage rod 404, at the moment, the inclined section can move along the movable sleeve 406, and the two linkage rods 404 can be driven to rotate around the rotating shaft of the telescopic piece, so that the rear end of the linkage rod 404 rotates towards the outer side, and the front end of the linkage rod 404 rotates towards the inner side, and therefore grabbing action is achieved.
Preferably, needle-shaped protrusions are distributed on the surface of the clamping block 405, and the needle-shaped protrusions can be pricked into the meat block during grabbing, so that grabbing stability is improved, and slipping is further avoided.
Preferably, in the utility model, the first camera 5 is arranged on the divider 2, the shooting direction is aligned with the table top 1, the second cameras 6 are respectively arranged on the two electric clamping jaws 4, and the shooting direction is aligned with the grabbing ends of the electric clamping jaws 4.
The foregoing examples illustrate only a few embodiments of the utility model and are described in detail herein without thereby limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model.
Claims (7)
1. The automatic meat block cutting device based on the double-cooperation mechanical arms comprises a table top (1) and a cutting machine (2) arranged on the table top (1), and is characterized in that two cooperation mechanical arms (3) are arranged on opposite sides of the table top (1), electric clamping jaws (4) are arranged at working ends of the cooperation mechanical arms (3), and the electric clamping jaws (4) are used for grabbing meat blocks under the driving of the cooperation mechanical arms (3) and cutting the meat blocks through the cutting machine (2);
the device also comprises a first camera (5) for monitoring and positioning the meat chunk position, a second camera (6) for monitoring the grabbing condition of the electric clamping jaw (4), and a controller (7) for controlling the two cooperative mechanical arms (3) and the electric clamping jaw (4) to work according to the monitoring results of the first camera (5) and the second camera (6).
2. The automatic meat chunk cutting device based on the double-cooperation mechanical arms according to claim 1, wherein the cooperation mechanical arms (3) are all five-axis cooperation mechanical arms.
3. The automatic meat block cutting device based on the double-cooperation mechanical arm according to claim 1, wherein a bearing plate (9) for placing meat blocks is movably arranged on the table top (1) through a sliding rail (8), a strip-shaped groove (10) is formed in the bearing plate (9), and cutting saw teeth of the cutting machine (2) vertically penetrate through the strip-shaped groove (10).
4. The automatic meat block cutting device based on the double-cooperation mechanical arm according to claim 3, wherein an elastic piece (11) is arranged in the sliding rail (8), and the elastic piece (11) is used for enabling the bearing plate (9) to return to the middle position of the table top (1) after moving.
5. The automatic meat chunk cutting device based on the double-cooperation mechanical arm according to claim 1, wherein the electric clamping jaw (4) comprises a shell (401), a telescopic piece (402) arranged in the shell (401), a driving frame (403) arranged on an output shaft of the telescopic piece (402), and two linkage rods (404) symmetrically movably arranged in the shell (401) through a rotating shaft, one ends of the two linkage rods (404) extend out of the shell (401) and are provided with clamping blocks (405), the other ends of the linkage rods (404) are respectively movably provided with movable sleeves (406) through the rotating shaft, two symmetrical inclined sections are formed on the driving frame (403), and the two inclined sections are respectively movably inserted into the two movable sleeves (406).
6. The automatic meat chunk cutting device based on the double-cooperation mechanical arm according to claim 5, wherein needle-shaped protrusions are distributed on the surface of the clamping block (405) and used for improving grabbing stability.
7. The automatic meat chunk cutting device based on the double-cooperation mechanical arm according to claim 1, wherein the first camera (5) is arranged on the cutting machine (2) and the shooting direction is aligned with the table top (1), and the second camera (6) is respectively arranged on the two electric clamping jaws (4) and the shooting direction is aligned with the grabbing ends of the electric clamping jaws (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322155974.4U CN220494119U (en) | 2023-08-11 | 2023-08-11 | Automatic meat block cutting device based on double-cooperation mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322155974.4U CN220494119U (en) | 2023-08-11 | 2023-08-11 | Automatic meat block cutting device based on double-cooperation mechanical arm |
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| CN220494119U true CN220494119U (en) | 2024-02-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202322155974.4U Active CN220494119U (en) | 2023-08-11 | 2023-08-11 | Automatic meat block cutting device based on double-cooperation mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116897978A (en) * | 2023-08-11 | 2023-10-20 | 无锡海基智能机器人有限公司 | Automatic meat block cutting device based on double-cooperation mechanical arm |
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2023
- 2023-08-11 CN CN202322155974.4U patent/CN220494119U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116897978A (en) * | 2023-08-11 | 2023-10-20 | 无锡海基智能机器人有限公司 | Automatic meat block cutting device based on double-cooperation mechanical arm |
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