Automatic anus carving system for white pig on slaughter house production line

Abstract

The utility model relates to an automatic anus carving system for a hog in a slaughter house production line, and belongs to the technical field of splitting of hog in a slaughter house. According to the technical scheme, an anus carving knife (3) is mounted on a mechanical arm (1) through a jig (33); the air motor (17) is arranged on the RV speed reducer (18), and the RV speed reducer is arranged on the jig; a connecting shaft (20) is rotationally arranged at the output end of the RV reducer, two ends of the connecting shaft extend out of the RV reducer, the upper end of the connecting shaft is connected with a rotary joint (19), and the lower end of the connecting shaft is connected with a guide rod (14); holes are formed in the rotary joint (19), the connecting shaft (20) and the guide rod to form a channel; and a cutter (15) is arranged on the guide rod and is fixed with the guide rod through a connecting shaft. The automatic anus carving machine has the advantages that manual operation is replaced at the anus carving position of a slaughter house, cutting is more accurate than manual cutting, position errors are reduced, and product quality is improved; the automation degree is improved and the labor intensity of workers is reduced.

Description

Technical Field

[0001] The utility model relates to an automatic anus carving system for white-striped pigs on a slaughterhouse production line, belonging to the technical field of white-striped pig segmentation in slaughterhouses. Background Art

[0002] On the slaughterhouse production line, there is a workstation for anal carving (separating the anus and large intestine head of white-strip pigs from the carcass), which requires manual operation with a pneumatic anal carving knife. It is a link in the segmentation of white-strip pigs. The existing technology has the following shortcomings and problems: the anal carving position has strict standards for cutting position and angle. Manual operation is difficult to ensure compliance with standards due to factors such as personnel experience, proficiency and fatigue, which affects product quality; the degree of automation is low, the slaughterhouse generally produces 400-600 pigs per hour, the anal carving station has high labor intensity, the working environment is humid, the noise is loud, and the odor is unpleasant. Automated equipment is urgently needed to replace manual operation. Utility Model Content

[0003] The utility model aims to provide an automatic anus carving system for white-striped pigs on a slaughterhouse production line, which can accurately cut according to the required position, control the error within the allowable range, and ensure the product quality; it completely replaces manual operation, has a high degree of automation, reduces labor intensity, and solves the above-mentioned technical problems existing in the existing technology.

[0004] The technical solution of the utility model is:

[0005] An automatic anus carving system for white-striped pigs on a slaughterhouse production line comprises a mechanical arm, a moisture-proof camera component, an anus carving knife, a slaughtering production line slide, a slaughtering production line drive chain, a photoelectric switch bracket, a white-striped pig hook, a roller, a slaughtering production line beam and a photoelectric shooting switch. The slaughtering production line slide and the slaughtering production line drive chain are arranged on the slaughtering production line beam. The slaughtering production line drive chain pulls a plurality of rollers to move on the slaughtering production line slide, and the white-striped pig is hung on the roller through the white-striped pig hook; a photoelectric switch bracket is arranged next to the slaughtering production line beam, the photoelectric switch bracket is arranged vertically with the slaughtering production line beam, the two ends of the photoelectric switch bracket are respectively arranged on both sides of the slaughtering production line beam, and the transmitting module and receiving module of the photoelectric shooting switch are respectively arranged on the two sides of the slaughtering production line beam. The modules are respectively arranged at the two ends of the photoelectric switch bracket, and a mechanical arm and a moisture-proof camera assembly are arranged on the side of the slaughter production line beam where the photoelectric shooting switch is installed. The special features are: the anal carving knife is installed on the mechanical arm through a fixture; the anal carving knife includes a guide rod, a tool, an air motor, an RV reducer, a rotary joint and a connecting shaft, the air motor is arranged on the RV reducer, and the RV reducer is arranged on the fixture; the connecting shaft is rotatably arranged at the output end of the RV reducer, and both ends extend out of the outside of the RV reducer, the upper end of the connecting shaft is connected to the rotary joint, and the lower end is connected to the guide rod; holes are arranged inside the rotary joint, the connecting shaft and the guide rod to form a channel; a tool is arranged on the guide rod, and the tool is fixed by the connecting shaft and the guide rod.

[0006] An oil baffle is provided on the connecting shaft below the RV reducer to prevent oil leakage from the RV reducer and contamination of the white-striped pig.

[0007] A nut is provided at the upper end of the connecting shaft, and the connecting shaft and the RV reducer are locked by the nut.

[0008] The moisture-proof camera assembly includes a glass pressure plate, optical glass, an industrial camera, a box cover, a camera mounting seat, a PTC heater, a wire outlet, a box and a temperature and humidity controller. The box has a round hole at one end and a wire outlet at the other end. The optical glass is installed at the round hole at one end of the box through the glass pressure plate. The camera mounting seat is installed at the bottom of the box. The industrial camera is installed on the camera mounting seat. The PTC heater and the temperature and humidity controller are installed inside the box. A box cover is provided on the side of the box. After the box cover and the box are installed, a closed space is formed inside the box. After the moisture-proof camera assembly is installed, external light enters the industrial camera through the optical glass, and the electrical circuit of the industrial camera is connected to the outside world through the wire outlet.

[0009] The anal carving knife is installed on a jig, and a jig connecting plate is provided on the jig, and the jig connecting plate is connected to the end of the robot arm.

[0010] The mechanical arm is mounted on a mechanical arm mounting platform, a camera bracket is mounted on the mechanical arm mounting platform, and a moisture-proof camera assembly is mounted on the camera bracket. The mechanical arm is a well-known and commonly used six-joint robot, and the position of the spray-engraving anal knife in three-dimensional space can be adjusted by the mechanical arm.

[0011] The pig hook passes between the transmitting module and the receiving module of the photoelectric shooting switch to detect whether there is a pig passing through. The photoelectric shooting switch controls the start of the moisture-proof camera component to take a picture of the pig's buttocks. The moisture-proof camera component transmits the image information of the photo to the control system, and the control system processes the image through software to determine the coordinates of the pig's anus. The control system transmits the determined coordinates of the pig's anus to the robotic arm through the network port communication method. After the robotic arm drives the anus carving knife to move to the coordinate position given by the control system, it moves synchronously with the pig and operates the anus carving knife to rotate to complete the anus carving process.

[0012] The control system, air motor, RV reducer, PTC heater and temperature and humidity controller are all well-known and commonly used equipment in the art.

[0013] The beneficial effects of the utility model are: replacing manual operation at the anus carving post in a slaughterhouse, being more accurate than manual cutting, reducing position errors, and improving product quality; improving the degree of automation and reducing the labor intensity of workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is the front view of the utility model;

[0015] Figure 2 It is a top view of the utility model;

[0016] Figure 3 It is the left view of the utility model;

[0017] Figure 4 It is a three-dimensional diagram of the utility model;

[0018] Figure 5 This is the front view of the anal carving knife of the utility model;

[0019] Figure 6 This is a three-dimensional diagram of the anal carving knife of the utility model;

[0020] Figure 7 This is a side view of the anal carving knife of the utility model;

[0021] Figure 8 This is a cross-sectional view of the anal carving knife of the utility model;

[0022] Fig. 9 This is the front view of the moisture-proof camera assembly of the utility model;

[0023] Fig.10 for Fig. 9 EE direction schematic diagram;

[0024] Fig.11 for Fig. 9 GG direction schematic diagram;

[0025] Fig.12 This is a three-dimensional diagram of the moisture-proof camera assembly of the utility model;

[0026] Fig.13 This is an exploded view of the moisture-proof camera assembly of the utility model;

[0027] Fig.14 This is a three-dimensional diagram of the anal carving knife and the jig combination of the utility model;

[0028] In the figure: robotic arm 1, moisture-proof camera assembly 2, anal carving knife 3, control system 4, white-striped pig 5, slaughter production line slide 6, slaughter production line drive chain 7, photoelectric switch bracket 8, white-striped pig hook 9, roller 10, camera bracket 11, robotic arm mounting platform 12, slaughter production line beam 13, guide rod 14, tool 15, oil baffle plate 16, air motor 17, RV reducer 18, rotary joint 19, connecting shaft 20, nut 21, glass pressure plate 22, optical glass 23, industrial camera 24, box cover 25, camera mounting seat 26, PTC heater 27, outlet 28, box 29, temperature and humidity controller 30, photoelectric beam switch 32, fixture 33, fixture connecting plate 34. DETAILED DESCRIPTION

[0029] The present invention will be further described below through examples in conjunction with the accompanying drawings.

[0030] An automatic anus carving system for white-striped pigs on a slaughterhouse production line comprises a robotic arm 1, a moisture-proof camera assembly 2, an anus carving knife 3, a slaughtering production line slide 6, a slaughtering production line drive chain 7, a photoelectric switch bracket 8, a white-striped pig hook 9, a roller 10, a slaughtering production line beam 13 and a photoelectric shooting switch 32. The slaughtering production line slide 6 and the slaughtering production line drive chain 7 are arranged on the slaughtering production line beam 13. The slaughtering production line drive chain 7 pulls a plurality of rollers 10 to move on the slaughtering production line slide 6. The white-striped pig 5 is hung on the roller 10 through the white-striped pig hook 9. A photoelectric switch bracket 8 is arranged next to the slaughtering production line beam 13. The photoelectric switch bracket 8 is arranged vertically to the slaughtering production line beam 13. The two ends of the photoelectric switch bracket 8 are respectively arranged on both sides of the slaughtering production line beam 13. The transmitting module and the receiving module of the photoelectric shooting switch 32 are respectively arranged at the two ends of the photoelectric switch bracket 8. A robotic arm 1 and a moisture-proof camera assembly 2 are arranged on the side of the slaughter production line beam 13 where the shooting switch 32 is installed. The special feature is that the anal carving knife 3 is installed on the robotic arm 1 through a fixture 33; the anal carving knife 3 includes a guide rod 14, a tool 15, an air motor 17, an RV reducer 18, a rotary joint 19 and a connecting shaft 20, the air motor 17 is arranged on the RV reducer 18, and the RV reducer 18 is arranged on the fixture 33; the connecting shaft 20 is rotatably arranged at the output end of the RV reducer 18, and both ends extend out of the outside of the RV reducer 18, the upper end of the connecting shaft 20 is threadedly connected to the rotary joint 19, and the lower end is threadedly connected to the guide rod 14 and fixes the tool 15; the rotary joint 19, the connecting shaft 20 and the guide rod 14 are all provided with holes to form a channel, and the external water and air reach the guide rod 14 through the rotary joint to play the role of flushing the tool 15 and sucking the dirt in the large intestine.

[0031] An oil baffle plate 16 is provided on the connecting shaft 20 below the RV reducer 18 to prevent oil leakage from the RV reducer and contamination of the white-striped pig.

[0032] A nut 21 is provided at the upper end of the connecting shaft 20 , and the connecting shaft 20 and the RV reducer 18 are locked by the nut 21 .

[0033] The moisture-proof camera assembly 2 includes a glass pressure plate 22, an optical glass 23, an industrial camera 24, a box cover 25, a camera mounting seat 26, a PTC heater 27, a wire outlet 28, a box 29 and a temperature and humidity controller 30. The box 29 has a round hole at one end and a wire outlet 28 at the other end. The optical glass 23 is installed at the round hole at one end of the box 29 through the glass pressure plate 22. The camera mounting seat 26 is installed at the bottom of the box 29. The industrial camera 24 is installed on the camera mounting seat 26. The PTC heater 27 and the temperature and humidity controller 30 are installed inside the box 29. A box cover 25 is provided on the side of the box 29. After the box cover 25 and the box 29 are installed, a closed space is formed inside the box 29. After the moisture-proof camera assembly 2 is installed, external light enters the industrial camera 24 through the optical glass 23, and the electrical circuit of the industrial camera 24 is connected to the outside through the wire outlet 28.

[0034] The anal carving knife 3 is installed on a jig 33 , and a jig connecting plate 34 is provided on the jig 33 . The jig connecting plate 34 is connected to the end of the robot arm 1 .

[0035] The mechanical arm 1 is mounted on a mechanical arm mounting platform 12, a camera bracket 11 is mounted on the mechanical arm mounting platform 12, and a moisture-proof camera assembly 2 is mounted on the camera bracket 11. The mechanical arm 1 is a well-known and commonly used six-joint robot, and the position of the spray-engraving anal knife 3 in three-dimensional space can be adjusted by the mechanical arm 1.

[0036] The air motor 17 is a well-known and commonly used mechanical product, which can convert the potential energy of compressed air into rotational mechanical energy; the RV reducer 18 is a well-known and commonly used mechanical product, which uses the worm gear principle to reduce the rotation speed and increase the torque.

[0037] In this embodiment, the white-striped pig hook 9 passes between the transmitting module and the receiving module detection of the photoelectric beam switch 32, which is used to detect whether a white-striped pig 5 passes through. The photoelectric beam switch 32 controls the start-up of the moisture-proof camera component 2 to take a picture of the buttocks of the white-striped pig 5. The moisture-proof camera component 2 transmits the image information of the picture to the control system 4, and the control system 4 determines the coordinates of the anus position of the white-striped pig 5 through software processing. The control system 4 transmits the determined coordinates of the anus position of the white-striped pig 5 to the robot arm 1 through the network port communication method. After the robot arm 1 drives the anal carving knife 3 to move to the coordinate position given by the control system 4, it moves synchronously with the white-striped pig 5 and operates the anal carving knife 3. The guide rod 1 of the anal carving knife 3 is inserted into the anus of the white-striped pig. The air motor 4 rotates under the drive of compressed air and reduces the speed and increases the torque through the RV reducer 5. The connecting shaft 20 is installed at the output end of the RV reducer 18 and rotates. The connecting shaft 7 rotates to drive the guide rod 1 and the tool 2 to rotate, and the white-striped pig anus and large intestine head are separated from the ketone body by the tool 2 to complete the anal carving process; the external water and air reach the guide rod 1 along the channel through the rotating joint to play the role of flushing the tool 2 and sucking the dirt in the large intestine.

[0038] The humidity in the slaughterhouse environment is relatively high, and the temperature difference between the start and stop periods is also large. The air humidity is easy to reach saturation and form condensation water. The hazards of condensation water are: 1. Forming a water film on the optical glass 23 and the lens glass of the industrial camera 24, affecting the imaging quality of the industrial camera 24; 2. Condensation water harms the internal precision circuit of the industrial camera 24, causing corrosion, short circuit and other faults. The PTC heater 27 is electrically connected to the temperature and humidity controller 30. When the temperature and humidity controller 30 detects that the humidity or temperature inside the box 29 reaches the set value, the PTC heater 27 is powered on for heating, thereby increasing the internal temperature of the box 29 and reducing the humidity to avoid the formation of condensation water.

[0039] The PTC heater 27 is a positive temperature coefficient thermistor, referred to as a PTC thermistor. A PTC thermistor is a typical temperature-sensitive semiconductor resistor. When a certain temperature (Curie temperature) is exceeded, its resistance value increases in a step-like manner as the temperature increases. The resistance value of a positive temperature coefficient thermistor increases in a step-like manner as the temperature of the PTC thermistor body increases. The higher the temperature, the greater the resistance value, ensuring that the temperature does not exceed a certain value during the heating process.

[0040] The temperature and humidity controller 30 contains a temperature sensor and a humidity sensor inside and has a normally open contact to the outside. According to the set temperature and humidity thresholds, when the corresponding values ​​are reached, the power of the PTC heater 27 is turned on for heating or the power is turned off to stop heating, so as to keep the local environment temperature and humidity meeting the requirements.

[0041] The control system 4 includes an industrial computer. The industrial computer has two functions. One is to process the image data transmitted by the moisture-proof camera component 2, compare the transmitted image with the preset model image through the corresponding software, determine the position of the pig anus and convert it into three-dimensional coordinate data of the robot arm 1; the other is to send the converted three-dimensional coordinate data to the robot arm 1 through serial communication. The robot arm 1 drives the anus carving knife 3 to move to the corresponding position for precise cutting according to the three-dimensional coordinate data sent by the industrial computer.

Claims

1. An automatic anal carving system for white-striped pigs on a slaughterhouse production line, comprising a robotic arm (1), a moisture-proof camera assembly (2), an anal carving knife (3), a slaughtering production line slideway (6), a slaughtering production line drive chain (7), a photoelectric switch bracket (8), a white-striped pig hook (9), a roller (10), a slaughtering production line beam (13) and a photoelectric shooting switch (32), wherein a slaughtering production line slideway (6) and a slaughtering production line drive chain (7) are arranged on the slaughtering production line beam (13), and the slaughtering production line drive chain (7) pulls a plurality of rollers (10) to move on the slaughtering production line slideway (6), and the white-striped pigs are cut into pieces. The pig (5) is hung on the roller (10) through the white strip pig hook (9); a photoelectric switch bracket (8) is arranged next to the slaughter production line beam (13), the photoelectric switch bracket (8) is arranged vertically with the slaughter production line beam (13), the two ends of the photoelectric switch bracket (8) are respectively arranged on both sides of the slaughter production line beam (13), the transmitting module and the receiving module of the photoelectric beam switch (32) are respectively arranged at the two ends of the photoelectric beam switch bracket (8), and a mechanical arm (1) and a moisture-proof camera component (2) are arranged on the side of the slaughter production line beam (13) where the photoelectric beam switch (32) is installed, characterized in that: The anal carving knife (3) is installed on the robot arm (1) through a fixture (33); the anal carving knife (3) comprises a guide rod (14), a cutter (15), an air motor (17), an RV reducer (18), a rotary joint (19) and a connecting shaft (20); the air motor (17) is arranged on the RV reducer (18), and the RV reducer (18) is arranged on the fixture (33); the connecting shaft (20) is rotatably arranged at the output end of the RV reducer (18), and both ends extend out of the outside of the RV reducer (18); the upper end of the connecting shaft (20) is connected to the rotary joint (19), and the lower end is connected to the guide rod (14); the rotary joint (19), the connecting shaft (20) and the guide rod (14) are all provided with holes inside to form a channel; the guide rod (14) is provided with a cutter (15), and the cutter (15) is fixed by the connecting shaft (20) and the guide rod (14).

2. The automatic anus carving system for white-striped pigs on a slaughterhouse production line according to claim 1, characterized in that: An oil baffle plate (16) is provided on the connecting shaft (20) below the RV reducer (18).

3. The automatic anus carving system for white-striped pigs on a slaughterhouse production line according to claim 1 or 2, characterized in that: A nut (21) is provided at the upper end of the connecting shaft (20), and the connecting shaft (20) and the RV reducer (18) are locked by the nut (21).

4. The automatic anus carving system for white-striped pigs on a slaughterhouse production line according to claim 1 or 2, characterized in that: The moisture-proof camera assembly (2) comprises a glass pressure plate (22), an optical glass (23), an industrial camera (24), a box cover (25), a camera mounting seat (26), a PTC heater (27), a wire outlet (28), a box (29) and a temperature and humidity controller (30). The box (29) is provided with a circular hole at one end and the wire outlet (28) at the other end. The optical glass (23) is mounted at the circular hole at one end of the box (29) through the glass pressure plate (22). The camera mounting seat (26) is mounted at the bottom of the box (29). The industrial camera (24) is mounted on the camera mounting seat (26). The PTC heater (27) and the temperature and humidity controller (30) are mounted inside the box (29). A box cover (25) is provided on the side of the box (29). After the box cover (25) and the box (29) are mounted, a closed space is formed inside the box (29).

5. The automatic anus carving system for white-striped pigs on a slaughterhouse production line according to claim 1 or 2, characterized in that: The anal carving knife (3) is mounted on a jig (33), and a jig connecting plate (34) is provided on the jig (33), and the jig connecting plate (34) is connected to the end of the arm of the robot arm (1).

6. The automatic anus carving system for white-striped pigs on a slaughterhouse production line according to claim 1 or 2, characterized in that: The mechanical arm (1) is mounted on a mechanical arm mounting platform (12), a camera bracket (11) is mounted on the mechanical arm mounting platform (12), and the moisture-proof camera assembly (2) is mounted on the camera bracket (11).

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