Automatic meat slice processing system and processing method

Abstract

The present invention discloses an automated meat slice processing system, comprising a meat slice cutting device, the meat slice cutting device comprising a frame and a tool holder structure disposed on the frame, the tool holder structure being used to cut a block of meat into slices; a feeding device being used to transfer the block of meat to the meat slice cutting device; a material retrieving robot device comprising a material clamping structure, the material clamping structure comprising a material clamping drive mechanism and a clamping member, the clamping member comprising two opposed clamping members, the material clamping drive mechanism being used to drive the two clamping members to move toward or away from each other to clamp or release material; a material retrieving robot device being used to clamp the block of meat and transfer it to the feeding device, and / or a material retrieving robot device being used to clamp the meat slice from the meat slice cutting device and transfer it away. The present invention also discloses an automated meat slice processing method. The present invention can improve the degree of automation in the meat slice processing process, reduce the workload of operators, reduce the burden of manual operation, and improve product production efficiency and food hygiene and safety.

Description

Technical Field

[0001] The present invention relates to the technical field of food processing, and in particular to an automatic meat slice processing system and a processing method. Background Art

[0002] Currently, fish fillets are mostly cut manually by chefs. This method is not only inefficient but also difficult to control the thickness of the cuts, making it difficult to ensure uniformity. With the continuous maturity of food machinery and the rapid development of the market, fish filleting machines have been widely used in large and medium-sized restaurants, hotels, hotels, and fish food processing factories, improving processing efficiency and saving costs for the food industry.

[0003] In the prior art, the invention patent with application number CN202011158293.8 discloses a feeding device and an oblique meat slicer. The feeding device includes a feeding mounting plate and a flip feeding mechanism installed on the feeding mounting plate; the flip feeding mechanism includes a flip structure and a feeding drive structure; the flip structure includes a feeding slide, a supporting mechanism installed on the feeding slide for supporting materials, a trigger structure installed on the feeding slide, and a trigger limiter installed on the feeding mounting plate; the feeding drive mechanism drives the feeding slide to reciprocate linearly along the length direction of the feeding mounting plate, and the feeding slide drives the trigger structure to collide or separate with the trigger limiter, so that the supporting mechanism switches between an open state and a closed state. The device has the characteristics of convenient feeding operation, good feeding stability, and no accumulation or stacking of materials; at the same time, it realizes linear motion and flipping action through a motor, making the overall structure more compact, running smoothly and stably, low cost, and taking up less space. However, the existing oblique meat slicer still has the following defects: the feeding and discharging of the device require manual grasping and transfer, which has the disadvantages of high labor intensity, high production cost, low production efficiency and poor food hygiene and safety. Summary of the Invention

[0004] In order to overcome the shortcomings of the existing technology, the purpose of the present invention is to provide an automated meat slice processing system and processing method, which can improve the degree of automation of the meat slice processing process, reduce the workload of operators, reduce the burden of manual operation, and improve product production efficiency and food hygiene and safety.

[0005] A first aspect of the present invention provides an automated meat slice processing system, comprising:

[0006] A meat slice cutting device, comprising a frame and a knife holder structure provided on the frame, wherein the knife holder structure is used to cut the meat block into meat slices;

[0007] A feeding device, the feeding device is used to transfer the meat blocks to the meat slicing device;

[0008] A material-grabbing robot device, the material-grabbing robot device includes a material clamping structure, the material clamping structure includes a material clamping drive mechanism and a clamping member, the clamping member includes two relatively arranged members, the material clamping drive mechanism is used to drive the two clamping members to move toward or away from each other to clamp or release the material; the material-grabbing robot device is used to clamp the meat blocks and transfer the meat blocks to the feeding device, and / or, the material-grabbing robot device is used to clamp the meat slices from the meat cutting device and transfer the meat slices away.

[0009] In the first aspect of the present invention, as a preferred embodiment, it further includes a feeding conveying line and / or a discharging conveying line;

[0010] The feeding conveyor line is used to convey the meat blocks, and is arranged on one side of the feeding device and is located within the travel range of the clamping structure of the retrieving manipulator device;

[0011] The discharging conveyor line is used to convey the meat slices. It is arranged on one side of the meat slice cutting device and is located within the travel range of the clamping structure of the material taking robot device.

[0012] In the first aspect of the present invention, as a preferred embodiment, the retrieving manipulator device further includes:

[0013] Support frame;

[0014] a first slide rail, the first slide rail being arranged on the support frame;

[0015] a sliding seat, the sliding seat being slidably connected to the supporting frame via the first sliding rail;

[0016] a fixed bracket, the fixed bracket being slidably disposed on the sliding seat along a vertical direction;

[0017] The material clamping structure is arranged on the fixing bracket;

[0018] a horizontal driving mechanism, wherein the horizontal driving mechanism drives the sliding seat to slide along the first slide rail, thereby driving the fixed bracket and the material clamping structure to slide along the first slide rail;

[0019] A lifting drive mechanism drives the fixed bracket to move up and down, thereby driving the clamping structure to move up and down.

[0020] In the first aspect of the present invention, as a preferred embodiment, the clamping member includes a connecting plate and an inclined clamping plate; one end of the connecting plate is connected to the clamping drive mechanism, and the other end thereof is connected to one end of the clamping plate; the inclined clamping plates of the two opposing clamping members are both inclined toward the inside;

[0021] The clamping drive mechanism is used to drive the two clamping members to move toward or away from each other to switch between a closed state and an open state; in the closed state, the inclined clamping plates of the two clamping members abut against each other to jointly define a clamping space, and the two inclined clamping plates guide the material into the clamping space to clamp the material during the process of moving toward each other; in the open state, the inclined clamping plates of the two clamping members separate from each other to release the material.

[0022] In the first aspect of the present invention, as a preferred embodiment, the connecting plate includes a first connecting plate and a second connecting plate connected in sequence from top to bottom, the upper end of the first connecting plate is connected to the clamping drive mechanism, and the lower end of the second connecting plate is connected to the upper end of the inclined guide plate; the second connecting plates of the two relatively arranged clamping members are both inclined toward the outside.

[0023] In the first aspect of the present invention, as a preferred embodiment, the material clamping drive mechanism is a pneumatic clamp, which includes a clamp cylinder and two claw fingers installed on a fixed bracket, wherein the lower end of one of the claw fingers is fixedly connected to the upper end of a clamping member, and the lower end of the other claw finger is fixedly connected to the upper end of another clamping member, and the clamp cylinder is used to drive the two claw fingers to close or open to drive the two clamping members to move toward or away from each other; an angle is formed between the two claw fingers.

[0024] In the first aspect of the present invention, as a preferred embodiment, the clamping structure includes at least two groups of pneumatic jaws, and the at least two groups of pneumatic jaws jointly drive the two clamping members to move toward or away from each other to clamp or release the material.

[0025] In the first aspect of the present invention, as a preferred embodiment, the clamping structure is composed of at least two groups, and at least two groups of the clamping structures are arranged side by side on the fixed bracket; in any two adjacent groups of the clamping structures, two adjacent clamping members are respectively provided with avoidance structures, so that the clamping members of one group of the clamping structures and the clamping members of the other group of the clamping structures do not interfere with each other when they move toward each other; the avoidance structure is a plurality of avoidance holes arranged side by side at intervals on the clamping members, and the avoidance holes on the two adjacent clamping members are staggered.

[0026] In the first aspect of the present invention, as a preferred embodiment, the meat slice cutting device includes a frame; the frame is provided with a knife holder structure for horizontal cutting, the knife holder structure includes a blade fixing frame, and a plurality of inclined blades are distributed on the blade fixing frame; a comb plate structure is provided on the frame below the knife holder structure, the comb plate structure includes a comb plate fixing seat, a plurality of inclined comb plates arranged on the comb plate fixing seat, the comb plates and the blades have the same inclination angle, and the blades and the comb plates are staggered, and the comb plates can extend into or leave the gap between two adjacent blades; the feeding device is arranged on the frame, and the feeding device includes a feeding mounting plate fixedly mounted on the frame at a position corresponding to the blade and a flip feeding mechanism mounted on the feeding mounting plate; the flip feeding mechanism includes a flip structure and a feeding drive mechanism for driving the flip structure to reciprocate linearly along the length direction of the feeding mounting plate; the flip structure includes a carrying mechanism for carrying materials and a flip driving mechanism for driving the carrying mechanism to flip.

[0027] A second aspect of the present invention provides an automated meat slice processing method, comprising the following steps:

[0028] S10: The feeding conveyor line conveys the meat block to the clamping position. When it is detected that the meat block reaches the clamping position, the feeding conveyor line stops;

[0029] S20: The retrieving robot device drives the clamping structure to move to above the clamping position of the feeding conveyor line, and then drives the clamping structure to clamp the meat block and transfer the meat block to the feeding device;

[0030] S30: After the feeding device receives the meat block, it transfers the meat block to the meat slicing device;

[0031] S40: The meat slice cutting device receives the meat block and cuts the meat block into meat slices, so that the meat slices are exposed at the top opening of the meat slice cutting device;

[0032] S50: The retrieving robot device drives the clamping structure to move to the top of the meat slice cutting device, drives the clamping structure to clamp the meat slices and transfer the meat slices to the discharging conveyor line;

[0033] S60: The discharging conveyor line transfers the meat slices away.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The automated meat slice processing system of the present invention includes a meat slice cutting device, a feeding device and a material taking robot device. During operation, the meat block is clamped by the material taking robot device and transferred to the feeding device. After the feeding device receives the meat block, the meat block is transferred to the meat slice cutting device. After the meat slice cutting device receives the meat block, it cuts the meat block into meat slices, so that the meat slices are exposed at the top opening of the meat slice cutting device; and / or, the meat slices are clamped from the meat slice cutting device and transferred away by the material taking robot device. It can improve the degree of automation of the meat slice processing process, reduce the workload of operators, reduce the burden of manual operation, and improve product production efficiency and food hygiene and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic structural diagram of the automated meat slice processing system of the present invention;

[0037] Figure 2 This is a schematic structural diagram of the automated meat slice processing system of the present invention that eliminates the feeding conveyor line and the discharging conveyor line;

[0038] Figure 3 It is a structural schematic diagram of the material clamping structure of the present invention;

[0039] Figure 4 It is a structural schematic diagram of the material reclaiming manipulator device of the present invention;

[0040] Figure 5 This is a schematic structural diagram of the reclaiming manipulator device from another angle of the present invention;

[0041] Figure 6 It is a structural schematic diagram of the material clamping structure and the fixing bracket of the present invention;

[0042] Figure 7 This is a schematic structural diagram of the clamping structure and the fixing bracket of the present invention from another angle;

[0043] Figure 8 It is a structural schematic diagram of the fixing bracket of the present invention.

[0044] In the picture:

[0045] 100. Retrieving manipulator; 10. Fixed bracket; 11. Vertical slide; 12. I-shaped fixing bracket; 121. Longitudinal fixing rod; 122. Horizontal fixing rod; 20. Material clamping structure; 21. Clamping member; 211. Connecting plate; 2111. First connecting plate; 2112. Second connecting plate; 212. Inclined guide plate; 22. Pneumatic gripper; 221. Gripper cylinder; 222. Gripper finger; 31. Avoidance hole; 32. Spacer; 40. Support frame ;41. Vertical mounting plate;42. Horizontal fixed base plate;50. First slide rail;60. Sliding seat;61. Sliding seat body;62. First slider;71. First motor;72. First transmission gear;73. First pressure wheel;74. First toothed belt;75. First toothed belt fixing seat;81. Second motor;82. Second transmission gear;83. Second pressure wheel;84. Second toothed belt;85. Second toothed belt fixing seat;86. Second slide rail;87. Second slider;

[0046] 200. Meat cutting device;

[0047] 300. Feeding device;

[0048] 400, feeding conveyor line;

[0049] 500. Discharging conveyor line. DETAILED DESCRIPTION

[0050] Below, the invention is further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Unless otherwise specified, the materials and equipment used in this embodiment can be purchased from the market. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0051] In the description of this application, it should be understood that the terms "upper," "lower," "front," "back," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting this application. In the description of this application, "plurality" means two or more, unless otherwise specifically specified.

[0052] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "connected," "connected," and "connected" should be understood in a broad sense. For example, they may refer to a fixed connection, a connection through an intermediary medium, internal communication between two components, or an interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0053] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. In addition, the terms "including," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to the process, method, product, or apparatus.

[0054] Example 1

[0055] Please refer to Figure 1-8 As shown, this embodiment provides an automated meat slice processing system, comprising:

[0056] The meat slice cutting device 200 includes a frame and a knife holder structure provided on the frame, and the knife holder structure is used to cut the meat block into meat slices;

[0057] The feeding device 300 is used to transfer the meat blocks to the meat cutting device 200;

[0058] The material-picking robot device 100 includes a material-gripping structure 20, and the material-gripping structure 20 includes a material-gripping drive mechanism and a clamping member 21. The clamping member 21 includes two relatively arranged members, and the material-gripping drive mechanism is used to drive the two clamping members 21 to move toward or away from each other to clamp or release the material; the material-picking robot device 100 is used to clamp the meat blocks and transfer the meat blocks to the feeding device 300, and / or, the material-picking robot device 100 is used to clamp the meat slices from the meat slice cutting device 200 and transfer the meat slices away.

[0059] Based on the above structure, during operation, this embodiment uses the material-grabbing robot device 100 to clamp the meat block and transfer it to the feeding device 300. After the feeding device 300 receives the meat block, it transfers the meat block to the meat slice cutting device 200. After the meat slice cutting device 200 receives the meat block, it cuts the meat block into meat slices, exposing the meat slices to the top opening of the meat slice cutting device; and / or, the material-grabbing robot device 100 clamps the meat slices from the meat slice cutting device 200 and transfers them away. This can improve the degree of automation in the meat slice processing process, reduce the workload of operators, reduce the burden of manual operation, and improve product production efficiency and food hygiene and safety.

[0060] In a preferred embodiment of the present invention, the automated meat slice processing system further comprises a feeding conveyor line 400 and / or a discharging conveyor line 500;

[0061] The feeding conveyor line 400 is used to transport the meat. It is located on one side of the feeding device 300 and within the travel range of the material clamping structure 20 of the retrieving robot device 100. Preferably, the feeding conveyor line 400 can also be equipped with an infrared sensor at the clamping position to detect whether the meat has reached the clamping position. Specifically, the feeding conveyor line 400 can use a belt conveyor mechanism for transmission.

[0062] The discharging conveyor line 500 is used to convey the meat slices, which is arranged on one side of the meat slice cutting device 200 and is located within the travel range of the clamping structure 20 of the retrieving robot device 100. Specifically, the discharging conveyor line 500 can be conveyed by a belt conveyor mechanism.

[0063] It should be noted that the feed conveyor line 400 and the discharge conveyor line 500 can simultaneously supply multiple meat slice cutting devices, feeding devices and material retrieving robot devices 100, and can be coordinated through intelligent control functions.

[0064] In a preferred embodiment of the present invention, the retrieving robot device 100 further includes:

[0065] Support frame 40;

[0066] A first slide rail 50 is provided on the support frame 40;

[0067] A sliding seat 60 is slidably connected to the support frame 40 via a first slide rail;

[0068] A fixed bracket 10 is slidably disposed on the sliding seat along a vertical direction;

[0069] The material clamping structure 20 is disposed on the fixing bracket 10;

[0070] A horizontal driving mechanism drives the sliding seat to slide along the first slide rail, thereby driving the fixed bracket 10 and the material clamping structure 20 to slide along the first slide rail;

[0071] The lifting drive mechanism drives the fixed bracket 10 to move up and down, thereby driving the clamping structure 20 to move up and down.

[0072] Specifically, the support frame 40 includes a vertical mounting plate 41 and a horizontal fixed base plate 42 fixedly mounted on the top of the vertical mounting plate 41;

[0073] Specifically, there are two first slide rails 50 , and the two first slide rails 50 are arranged in parallel on the top surface of the horizontal fixed base plate 42 .

[0074] Specifically, the sliding seat 60 includes a sliding seat body 61 having a mounting cavity and four first sliding blocks 62 disposed at the bottom of the sliding seat body 61 . Every two first sliding blocks 62 are slidably connected to one first slide rail 50 .

[0075] Specifically, the horizontal drive mechanism includes a first motor 71, a first transmission gear 72, two first pressure wheels 73, a first toothed belt 74 and two first toothed belt fixing seats 75; the first motor 71 is installed in the mounting cavity of the sliding seat body 61, and the output shaft of the first motor 71 extends outward from one side of the sliding seat body 61; the first transmission gear 72 is arranged on the output shaft of the first motor 71; the two first pressure wheels 73 are respectively fixedly mounted on the sliding seat body 61 and are respectively located on the left and right sides of the first transmission gear 72; the two first toothed belt fixing seats 75 are respectively fixedly mounted on the top surface of the horizontal fixed base plate 42 and are located on the same side as the output shaft of the first motor 71; the two ends of the first toothed belt 74 are respectively fixedly connected to the two first toothed belt fixing seats 75, and the bottom surface of the first toothed belt is provided with meshing teeth; the first transmission gear 72 is located below the first toothed belt and meshes with the meshing teeth on the bottom surface of the first toothed belt, and the two first pressure wheels 73 respectively press the top surface of the first toothed belt.

[0076] During operation, the first motor 71 drives the first transmission gear 72 to rotate, and the first transmission gear 72 engages with the meshing teeth on the bottom surface of the first toothed belt. Since the two ends of the first toothed belt are fixed, the first motor 71 drives the sliding seat 60 to slide along the first slide rail 50 under the action of the reaction force of the first toothed belt.

[0077] Specifically, the lifting drive mechanism includes a second motor 81, a second transmission gear 82, two second pressure wheels 83, a second toothed belt 84, two second toothed belt fixing seats 85, two second slide rails 86, and four second sliders 87; the second motor 81 is installed in the installation cavity of the sliding seat body 61, and the output shaft of the second motor 81 extends outward from one side of the sliding seat body 61. The second transmission gear 82 is arranged on the output shaft of the second motor 81. The two second pressure wheels 83 are respectively fixedly installed on the sliding seat body 61 and are respectively located on the upper and lower sides of the second transmission gear 82. The two second toothed belt fixing seats 85 are respectively fixed The upper and lower ends of the fixed bracket 10 are fixedly installed and are located on the same side as the output shaft of the second motor 81. The two ends of the second toothed belt are respectively fixedly connected to the two second toothed belt fixing seats 85, and the inner side of the second toothed belt is provided with meshing teeth; the second transmission gear 82 is located below the second toothed belt and meshes with the meshing teeth of the second toothed belt, and the two second pressure wheels 83 respectively press the outer side surfaces of the second toothed belt; the two second slide rails 86 are arranged parallel to each other in the vertical direction on the fixed bracket 10, and the four first sliders 62 are respectively fixedly installed on the side walls of the sliding seat body 61, and every two second sliders 87 are slidably matched with a second slide rail 86.

[0078] During operation, the second motor 81 drives the second transmission gear 82 to rotate, and the second transmission gear 82 engages with the meshing teeth on the bottom surface of the second toothed belt. Since the second motor 81 is fixed in the vertical direction, the second toothed belt drives the fixed bracket 10 to move up and down along the second slide rail 86 under the action of the second motor 81, thereby driving the clamping structure 20 to move up and down.

[0079] Preferably, the first motor 71 is located below the second motor 81, and their output shafts are respectively located on both sides of the sliding seat. This has the advantages of compact structure and convenient control.

[0080] In a preferred embodiment of the present invention, the clamping member 21 includes a connecting plate and an inclined clamping plate; one end of the connecting plate is connected to the material clamping drive mechanism, and the other end thereof is connected to one end of the clamping plate; the inclined clamping plates of the two opposing clamping members 21 are both inclined toward the inside;

[0081] The clamping drive mechanism is used to drive the two clamping members 21 to move toward or away from each other to switch between a closed state and an open state. In the closed state, the inclined clamping plates of the two clamping members 21 abut against each other to define a clamping space. During the movement toward each other, the two inclined clamping plates guide the material into the clamping space to clamp the material. In the open state, the inclined clamping plates of the two clamping members 21 separate from each other to release the material. Based on the above structure, during the movement toward each other, the two inclined guide plates 212 guide the material from the bottom into the clamping space without clamping the material. This makes it suitable for clamping strips of meat or slices, avoiding damage to the meat during the clamping process.

[0082] In a preferred embodiment of the present invention, the connecting plates 211 include a first connecting plate 2111 and a second connecting plate 2112, connected sequentially from top to bottom. The upper end of the first connecting plate 2111 is connected to the clamping drive mechanism, and the lower end of the second connecting plate 2112 is connected to the upper end of the inclined guide plate 212. The second connecting plates 2112 of the two opposing clamping members 21 are both inclined outward. This design increases the clamping space and is suitable for clamping meat strips of various sizes.

[0083] In a preferred embodiment of the present invention, the material clamping drive mechanism is a pneumatic clamp 22, which includes a clamp cylinder 221 and two claw fingers 222 mounted on a fixed bracket 10, wherein the lower end of one claw finger 222 is fixedly connected to the upper end of one clamping member 21, and the lower end of the other claw finger 222 is fixedly connected to the upper end of the other clamping member 21, and the clamp cylinder 221 is used to drive the two claw fingers 222 to close or open to drive the two clamping members 21 to move toward or away from each other. Specifically, the pneumatic clamp 22 can adopt a conventional structure. Preferably, an angle is formed between the two claw fingers 222, and the angle is preferably an acute angle. The specific angle can be adjusted accordingly according to actual conditions.

[0084] In a preferred embodiment of the present invention, the upper end of the first connecting plate 2111 is detachably connected to the lower end of the claw finger. Specifically, the detachable connection can be a screw connection, a snap connection, or the like.

[0085] In a preferred embodiment of the present invention, the material clamping structure 20 includes at least two sets of pneumatic grippers, which together drive the two gripping members 21 to move toward or away from each other to grip or release the material. This ensures smoother movement of the two gripping members 21 and prevents one end of the gripping member 21 from tilting.

[0086] In a preferred embodiment of the present invention, there are at least two groups of clamping structures 20, and at least two groups of clamping structures 20 are arranged side by side on the fixed bracket 10; in any two adjacent groups of clamping structures 20, two adjacent clamping members 21 are respectively provided with avoidance structures, so that the clamping members 21 of one group of clamping structures 20 and the clamping members 21 of the other group of clamping structures 20 do not interfere with each other when they move toward each other; the avoidance structure is a plurality of avoidance holes 31 arranged side by side at intervals on the clamping members 21, and the avoidance holes 31 on the two adjacent clamping members 21 are staggered.

[0087] In a preferred embodiment of the present invention, a plurality of avoidance holes 31 are spaced and arranged side by side along the width of the clamping member 21. The avoidance holes 31 are distributed on the second connecting plate 2112 and the inclined guide plate 212. On each clamping member 21, a spacer bar 32 is formed between each adjacent avoidance hole 31. The width of the avoidance hole 31 is greater than the width of the spacer bar 32. This allows the spacer bar 32 on each clamping member 21 to more smoothly pass through the corresponding avoidance hole 31 during the movement of the two clamping members 21 toward each other, making the operation of the clamping device more stable and smooth.

[0088] In a preferred embodiment of the present invention, the fixed bracket 10 includes a vertical slide 11 arranged in the vertical direction and an I-shaped fixed bracket 12 arranged in the horizontal direction; the middle portion of the I-shaped fixed bracket 12 is fixed to the bottom end of the vertical slide 11; and at least two sets of clamping structures 20 are fixedly mounted on the I-shaped fixed bracket 12. Specifically, the I-shaped fixed bracket 12 includes a longitudinal fixing rod 121 and transverse fixing rods 122 symmetrically fixed to the ends of the longitudinal fixing rod 121. Preferably, two pneumatic clamps are symmetrically mounted on both ends of each transverse fixing rod 122, and the two pneumatic clamps located on the same side are respectively connected to a pair of clamping members 21. This has the advantages of a more compact structure and greater stability.

[0089] In a preferred embodiment of the present invention, the meat slice cutting device includes a frame; a knife holder structure for transverse cutting is provided on the frame, the knife holder structure includes a blade fixing frame, and a plurality of inclined blades are distributed on the blade fixing frame; a comb plate structure is provided on the frame below the knife holder structure, the comb plate structure includes a comb plate fixing seat, and a plurality of inclined comb plates arranged on the comb plate fixing seat, the comb plates and the blades have the same inclination angle, and the blades and the comb plates are staggered, and the comb plates can extend into or leave the gap between two adjacent blades; a feeding device is provided on the frame, the feeding device includes a feeding mounting plate fixedly mounted on the frame at a position corresponding to the blade and a flip feeding mechanism installed on the feeding mounting plate; the flip feeding mechanism includes a flip structure and a feeding drive mechanism that drives the flip structure to reciprocate linearly along the length direction of the feeding mounting plate; the flip structure includes a bearing mechanism for carrying materials and a flip drive mechanism that drives the bearing mechanism to flip. Specifically, the specific structure of the meat slice cutting device and the feeding device can also adopt a feeding device and an oblique meat slicer disclosed in application number CN202022406930.0.

[0090] Example 2

[0091] Please refer to Figure 4-5 As shown, embodiment 2 provides an automated meat slice processing method, comprising the following steps:

[0092] S10: The feeding conveyor line conveys the meat block to the clamping position. When it is detected that the meat block reaches the clamping position, the feeding conveyor line stops;

[0093] S20: The retrieving robot device drives the clamping structure to move to above the clamping position of the feeding conveyor line, and then drives the clamping structure to clamp the meat block and transfer the meat block to the feeding device;

[0094] S30: After the feeding device receives the meat block, it transfers the meat block to the meat slicing device;

[0095] S40: The meat slice cutting device receives the meat block and cuts the meat block into meat slices, so that the meat slices are exposed at the top opening of the meat slice cutting device;

[0096] S50: The retrieving robot device drives the clamping structure to move to the top of the meat slice cutting device, drives the clamping structure to clamp the meat slices and transfer the meat slices to the discharging conveyor line;

[0097] S60: The discharging conveyor line transfers the meat slices away.

[0098] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes may be envisioned by those skilled in the art without actually departing from the scope and spirit of the claims, such as changes in the size, dimensions, structure, shape and proportion of the various elements, mounting arrangements, use of materials, color, orientation, etc.

[0099] The above embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. An automated meat slice processing system, characterized in that: include: A meat slice cutting device, comprising a frame and a knife holder structure provided on the frame, wherein the knife holder structure is used to cut the meat block into meat slices; A feeding device, the feeding device is used to transfer the meat blocks to the meat slicing device; A material retrieving robot device, the material retrieving robot device comprising a material clamping structure, the material clamping structure comprising a material clamping drive mechanism and a clamping member, the clamping member comprising two relatively arranged members, the material clamping drive mechanism being used to drive the two clamping members to move toward or away from each other to clamp or release the material; the material retrieving robot device being used to clamp the meat block and transfer the meat block to the feeding device, and / or the material retrieving robot device being used to clamp the meat slice from the meat slicing device and transfer the meat slice away; The material clamping drive mechanism is a pneumatic clamping jaw, which includes a clamping jaw cylinder and two claw fingers mounted on a fixed bracket, wherein the lower end of one of the claw fingers is fixedly connected to the upper end of one clamping member, and the lower end of the other claw finger is fixedly connected to the upper end of the other clamping member, and the clamping jaw cylinder is used to drive the two claw fingers to close or open to drive the two clamping members to move toward or away from each other; an angle is formed between the two claw fingers; The material clamping structure includes at least two groups of pneumatic clamping jaws, which together drive two clamping members to move toward or away from each other to clamp or release the material; At least two groups of the clamping structures are arranged side by side on the fixed bracket; in any two adjacent groups of the clamping structures, two adjacent clamping members are respectively provided with avoidance structures, so that the clamping members of one group of the clamping structures and the clamping members of the other group of the clamping structures do not interfere with each other when they move toward each other; The avoidance structure is a plurality of avoidance holes arranged side by side at intervals on the clamping member, and the avoidance holes on two adjacent clamping members are staggered.

2. The automated meat slice processing system according to claim 1, wherein: Also includes an infeed conveyor line and / or an outfeed conveyor line; The feeding conveyor line is used to convey the meat blocks, and is arranged on one side of the feeding device and is located within the travel range of the clamping structure of the retrieving manipulator device; The discharging conveyor line is used to convey the meat slices. It is arranged on one side of the meat slice cutting device and is located within the travel range of the clamping structure of the material taking robot device.

3. The automated meat slice processing system according to claim 1, wherein: The retrieving manipulator device also includes: Support frame; a first slide rail, the first slide rail being arranged on the support frame; a sliding seat, the sliding seat being slidably connected to the supporting frame via the first sliding rail; a fixed bracket, the fixed bracket being slidably disposed on the sliding seat along a vertical direction; The material clamping structure is arranged on the fixing bracket; a horizontal driving mechanism, wherein the horizontal driving mechanism drives the sliding seat to slide along the first slide rail, thereby driving the fixed bracket and the material clamping structure to slide along the first slide rail; A lifting drive mechanism drives the fixed bracket to move up and down, thereby driving the clamping structure to move up and down.

4. The automated meat slice processing system according to claim 3, wherein: The clamping member includes a connecting plate and an inclined clamping plate; one end of the connecting plate is connected to the clamping drive mechanism, and the other end thereof is connected to one end of the clamping plate; the inclined clamping plates of the two clamping members arranged opposite to each other are both inclined toward the inside; The clamping drive mechanism is used to drive the two clamping members to move toward or away from each other to switch between a closed state and an open state; In the closed state, the inclined clamping plates of the two clamping members abut against each other to jointly define a clamping space, and the two inclined clamping plates guide the material into the clamping space to clamp the material during the movement toward each other; in the open state, the inclined clamping plates of the two clamping members separate from each other to release the material.

5. The automated meat slice processing system according to claim 4, wherein: The connecting plate includes a first connecting plate and a second connecting plate connected in sequence from top to bottom, the upper end of the first connecting plate is connected to the clamping drive mechanism, and the lower end of the second connecting plate is connected to the upper end of the inclined guide plate; the second connecting plates of the two relatively arranged clamping members are both inclined toward the outside.

6. The automated meat slice processing system according to claim 1, wherein: The meat slice cutting device includes a frame; a knife holder structure for horizontal cutting is provided on the frame, the knife holder structure includes a blade fixing frame, and a plurality of inclined blades are distributed on the blade fixing frame; a comb plate structure is provided on the frame below the knife holder structure, and the comb plate structure includes a comb plate fixing seat and a plurality of inclined comb plates arranged on the comb plate fixing seat, the comb plates and the blades have the same inclination angle, and the blades and the comb plates are staggered, and the comb plates can extend into or leave the gap between two adjacent blades; the feeding device is arranged on the frame, and the feeding device includes a feeding mounting plate fixedly mounted on the frame at a position corresponding to the blade and a flip feeding mechanism mounted on the feeding mounting plate; the flip feeding mechanism includes a flip structure and a feeding drive mechanism that drives the flip structure to reciprocate linearly along the length direction of the feeding mounting plate; the flip structure includes a carrying mechanism for carrying materials and a flip driving mechanism that drives the carrying mechanism to flip.

7. An automated meat slice processing method, characterized in that: The automated meat slice processing system according to any one of claims 1 to 6 comprises the following steps: S10: The feeding conveyor line conveys the meat block to the clamping position. When it is detected that the meat block reaches the clamping position, the feeding conveyor line stops; S20: The retrieving robot device drives the clamping structure to move to above the clamping position of the feeding conveyor line, and then drives the clamping structure to clamp the meat block and transfer the meat block to the feeding device; S30: After the feeding device receives the meat block, it transfers the meat block to the meat slicing device; S40: The meat slice cutting device receives the meat block and cuts the meat block into meat slices, so that the meat slices are exposed at the top opening of the meat slice cutting device; S50: The retrieving robot device drives the clamping structure to move to the top of the meat slice cutting device, drives the clamping structure to clamp the meat slices and transfer the meat slices to the discharging conveyor line; S60: The discharging conveyor line transfers the meat slices away.

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