Slitting method and system capable of realizing intelligent conversion of raw meat strip shape

Abstract

The present application relates to the technical field of food intelligent processing, and provides a slitting method and system capable of realizing intelligent conversion of raw material meat strip shape, which is applied to a server and comprises the following steps: in response to a raw material meat slitting signal, obtaining slitting mode information of the raw material meat, and obtaining meat product multi-dimensional information of the raw material meat through a raw material meat multi-dimensional information sensing unit; based on the meat product multi-dimensional information, a raw material meat adjusting unit adjusts the relative position of the raw material meat in the transportation direction; based on the meat product multi-dimensional information, a raw material meat shaping unit shapes the external shape of the raw material meat after the relative position is adjusted; based on the slitting mode information, a meat product processing unit adjusts the slitting form of the raw material meat, and performs slitting on the raw material meat. The present application realizes intelligent conversion and rapid slitting of the raw material meat between strip cutting and dicing by obtaining multi-dimensional information of the raw material meat, formulating a slitting strategy, and realizes quantitative slicing, strip cutting and dicing, and provides technical support for machine human-simulated intelligent quantitative slitting and precise loss reduction.

Description

Technical Field

[0001] This invention relates to the field of intelligent food processing technology, and in particular to a cutting method and system that can realize intelligent transformation of the shape of raw meat strips and cubes. Background Technology

[0002] With the development of technology, in order to meet the needs of different processing methods for Chinese meat dishes, the raw meat needs to be pre-processed before cooking, such as slicing, slicing, or dicing, for example, the chunks of meat in braised pork, the strips of meat in sweet and sour pork, the diced meat in Kung Pao chicken, and the slices of meat in boiled pork slices.

[0003] Currently, raw meat is mostly cut manually or mechanically. Manual cutting is labor-intensive, inefficient, and lacks standardization, making it difficult to meet the requirements of industrialized food processing. Mechanical cutting machines or equipment cannot achieve precise quantitative cutting, resulting in low accuracy and high waste, which cannot meet the meat industry's needs for reducing raw material loss and consumption, as well as intelligent processing.

[0004] Furthermore, due to the diversity and variety of ingredients in Chinese cuisine, chefs need to choose different cutting methods based on the type, size, and cut of the meat before cooking. This is commonly known as "knife skills." For example, when slicing beef or lamb, which have coarser muscle fibers, the knife should be used perpendicular to the grain, while when cutting into strips, it should be used along the grain. This ensures that the muscle fibers break down quickly after cooking, aiding chewing and digestion. For tender meats such as pork and chicken, the slices and strips should be cut along the grain as much as possible, either with or diagonally, to ensure that the muscle does not become mushy during heat processing and to maintain its texture. However, due to the complexity of Chinese cooking techniques, existing cutting technologies and equipment cannot meet the intelligent cutting requirements for quantitative slicing, strip cutting, and dicing of raw meat in traditional Chinese cooking methods such as steaming, roasting, stewing, and stir-frying. Intelligent cutting technology that matches the knife skills of Chinese cooking is still lacking, and specialized robotic cutting equipment suitable for Chinese cooking is urgently needed. Summary of the Invention

[0005] This invention provides a cutting method and system that enables intelligent conversion of the shape of raw meat strips and cubes, thereby solving the shortcomings of existing cutting technologies and equipment that cannot meet the intelligent cutting requirements of traditional Chinese cooking techniques such as steaming, roasting, stewing, and stir-frying for quantitative slicing, strip cutting, and dicing of raw meat.

[0006] According to a first aspect of the present invention, a cutting method for realizing intelligent transformation of the shape of raw meat strips and cubes is provided and applied to a server, comprising: a raw meat multidimensional information sensing unit, a raw meat adjustment unit, a raw meat shaping unit and a meat processing unit connected in sequence;

[0007] The method includes:

[0008] In response to the raw meat cutting signal, the cutting method information of the raw meat is obtained, and the multi-dimensional information of the raw meat is obtained through the raw meat multi-dimensional information sensing unit. The cutting method information includes at least one or a combination of any one of the raw meat slices, strips, and cubes. The multi-dimensional information of the meat includes at least one or a combination of any one of the raw meat weight, position, shape, type, lean-to-fat ratio, moisture content, texture, viscoelasticity, and texture distribution.

[0009] Based on the multidimensional information of the meat, the raw meat adjustment unit adjusts the relative position of the raw meat in the transportation direction;

[0010] Based on the multidimensional information of the meat, the raw meat shaping unit shapes the external morphology of the raw meat after adjusting its relative position;

[0011] Based on the cutting method information, the cutting method of the raw meat in the meat processing section is adjusted, and the cutting of the raw meat is performed.

[0012] According to one embodiment of the present invention, the adjustment of the relative position of the raw meat in the transport direction by the raw meat adjustment unit based on the multidimensional information of the meat product specifically includes:

[0013] Based on the multidimensional information of the meat, it is determined that the raw meat belongs to the first type of meat, the first muscle fiber direction of the raw meat is obtained, and the first muscle fiber direction is adjusted to be parallel to the transport direction of the raw meat, wherein the texture distribution of the first type of meat is greater than or equal to a preset texture threshold.

[0014] Based on the multidimensional information of the meat, it is determined that the raw meat belongs to the second type of meat. The direction of the second muscle fiber of the raw meat is obtained and adjusted to be perpendicular to the transport direction of the raw meat. The texture distribution of the second type of meat is less than a preset texture threshold.

[0015] Specifically, this embodiment provides an implementation method for adjusting the relative position of the raw meat in the transport direction using a raw meat adjustment unit.

[0016] According to one embodiment of the present invention, the shaping of the raw meat by the raw meat shaping unit based on the multidimensional information of the meat product, after the relative positions have been adjusted, specifically includes:

[0017] Based on the multidimensional information of the meat products, a multimodal information data model of the raw meat is constructed;

[0018] Based on the cutting method information and the multimodal information data model, the external morphology of the raw meat is shaped, and a cutting path planning model is generated.

[0019] Specifically, this embodiment provides an implementation method for shaping the external form of the raw meat after adjusting its relative positions.

[0020] According to one embodiment of the present invention, the generation of the split path planning model includes:

[0021] Based on the cutting method information, the meat characteristic parameters and the cutting form of the raw meat after shaping are obtained. The meat characteristic parameters include at least one or a combination of the following: weight parameters, contour parameters, tangent angle of contour boundary, meat viscoelasticity, texture direction, color value, lean-to-fat ratio, and texture of the raw meat after shaping.

[0022] Based on the meat product characteristic parameters and the cutting method, the cutting path planning model is generated.

[0023] Specifically, this embodiment provides an implementation method for generating a split path planning model.

[0024] According to one embodiment of the present invention, generating the cutting path planning model based on the meat characteristic parameters and the cutting form specifically includes:

[0025] When the raw meat is cut into slices of equal thickness, the preset cutting thickness of the raw meat, the fixed-thickness slicing path of the raw meat in the contour length direction, the conveying speed of the raw meat, and the fixed-thickness slicing time interval between two adjacent slices are obtained.

[0026] Based on the preset slicing thickness, the fixed-thickness slicing path, the conveying speed, and the fixed-thickness slicing time interval, the slicing path planning model is generated;

[0027] Wherein, the number of cuts n determined by the preset cutting thickness and the contour length is a non-integer, and the non-integer part is greater than or equal to the preset slice base number, and the preset cutting thickness is updated according to n+1 cutting numbers and the contour length;

[0028] If the number of cuts n, determined by the preset cutting thickness and the contour length, is a non-integer and the non-integer portion is less than the preset slice base, the preset cutting thickness is updated based on the n-1 cutting quantities and the contour length.

[0029] Specifically, this embodiment provides an implementation method in which the slicing form is an equal-thickness slice.

[0030] According to one embodiment of the present invention, generating the cutting path planning model based on the meat characteristic parameters and the cutting form specifically includes:

[0031] When the raw meat is cut into quantitative slices, the preset cutting weight of the raw meat, the thickness of the first slice, the weight parameters of the raw meat, the quantitative slicing path of the raw meat in the contour length direction, the conveying speed of the raw meat, and the quantitative slicing time interval between two adjacent slices are obtained.

[0032] Based on the preset slicing weight, the first piece fixed-weight slicing thickness, the weight parameters, the fixed-weight slicing path, the conveying speed, and the fixed-weight slicing time interval, the slicing path planning model is generated;

[0033] Wherein, the number of cuts m determined by the preset cutting weight and the weight parameter is a non-integer, and the non-integer part is greater than or equal to the preset slice base number, the preset cutting weight is updated according to m+1 cutting quantities and the contour length;

[0034] If the number of cuts m determined by the preset cutting weight and the contour length is a non-integer and the non-integer part is less than the preset slice base, the preset cutting weight is updated according to m-1 cutting quantities and the contour length.

[0035] Specifically, this embodiment provides an implementation method in which the slicing form is quantitative slicing.

[0036] According to one embodiment of the present invention, generating the cutting path planning model based on the meat characteristic parameters and the cutting form specifically includes:

[0037] When the raw meat is cut into strips, the following parameters are obtained: width of the raw meat after shaping, length of the strip, width of the strip, thickness of the strip, cutting frequency of the strip, and cutting path of the strip.

[0038] Based on the width of the shaped raw meat, the length parameter of the meat strip, the width parameter of the meat strip, the thickness parameter of the meat strip, the chopping frequency of the meat strip, and the cutting path of the meat strip, the cutting path planning model is generated;

[0039] Wherein, the number of cuts k determined by the meat strip width parameter and the width of the shaped raw meat is a non-integer, and the non-integer part is greater than or equal to the preset slice base number, and the meat strip width parameter is updated according to the k+1 cuts and the width of the shaped raw meat;

[0040] If the number of cuts k determined by the meat strip width parameter and the width of the shaped raw meat is a non-integer and the non-integer part is less than the preset slice base number, the meat strip width parameter is updated according to the k-1 cuts and the width of the shaped raw meat.

[0041] Specifically, this embodiment provides an implementation method for cutting meat into strips.

[0042] According to one embodiment of the present invention, generating the cutting path planning model based on the meat characteristic parameters and the cutting form specifically includes:

[0043] When the raw meat is cut into cubes, the following parameters are obtained: the width of the raw meat after shaping, the length of the cube, the width of the cube, the thickness of the cube, the chopping frequency, the chopping position, and the cutting path of the cube.

[0044] Based on the width of the shaped raw meat, the length parameter of the meat cube, the width parameter of the meat cube, the thickness parameter of the meat cube, the chopping frequency of the meat cube, the chopping position of the meat cube, and the cutting path of the meat cube, the cutting path planning model is generated;

[0045] Wherein, the number of cuts p determined by the meat cube width parameter and the shaped raw meat width is a non-integer, and the non-integer part is greater than or equal to the preset slice base number, the meat cube width parameter is updated according to p+1 cuts and the shaped raw meat width;

[0046] If the number of cuts p determined by the meat cube width parameter and the width of the shaped raw meat is a non-integer and the non-integer part is less than the preset slice base number, the meat cube width parameter is updated according to the number of cuts p-1 and the width of the shaped raw meat.

[0047] Specifically, this embodiment provides an implementation method for cutting meat into diced pieces.

[0048] According to one embodiment of the present invention, the meat processing unit includes: a slicing and cutting mechanism disposed near the raw meat shaping unit for slicing the raw meat into meat slices; a strip-cutting assembly disposed downstream of the slicing and cutting mechanism for cutting the meat slices into meat strips; a dicing assembly disposed downstream of the slicing and cutting mechanism for cutting the meat strips into meat cubes; and a power assembly connected to the strip-cutting assembly and the dicing assembly respectively for providing power to the strip-cutting assembly and the dicing assembly, and for adjusting the dicing assembly to switch between a dicing working position and a strip-cutting working position.

[0049] The step of adjusting the cutting method of the raw meat by the meat processing section based on the cutting method information, and performing the cutting of the raw meat, specifically includes:

[0050] The cutting method information indicates that the raw meat is cut into strips. The power component adjusts the relative positions of the strip cutting component and the dicing component so that the dicing component switches to the strip cutting position.

[0051] The cutting method information indicates that the raw meat is cut into cubes. The power component adjusts the relative positions of the strip cutting component and the dicing component so that the dicing component switches to the dicing working position.

[0052] Specifically, this embodiment provides an implementation method for performing the cutting of the raw meat.

[0053] According to a second aspect of the present invention, a cutting system capable of transforming the shape of raw meat strips into cubes is provided. When performing intelligent transformation of the shape of raw meat strips into cubes, the above-mentioned cutting method capable of intelligent transformation of the shape of raw meat strips into cubes is adopted.

[0054] The above-mentioned one or more technical solutions of the present invention have at least one of the following technical effects: The present invention provides a cutting method and system that can realize intelligent transformation of the shape of raw meat strips and cubes. By combining food processing, artificial intelligence algorithms and the chef's knife skills experience in the cooking of Chinese dishes, the multi-dimensional information of raw meat is acquired and corresponding cutting strategies are formulated. This realizes the intelligent transformation and rapid cutting of raw meat between strips and cubes, and realizes functions such as quantitative slicing, strip cutting and cube cutting. It provides technical support for machine-human-like intelligent quantitative cutting and precise loss reduction.

[0055] Furthermore, this invention constructs a physical property information model database that integrates information such as meat location, weight, viscoelasticity, contour volume, texture, and viscoelasticity. Based on the meat physical property information model database and combined with the knife skills experience of Chinese chefs, a biomimetic cutting instruction set for Chinese knife skills machines is created. The instruction set includes planning paths for meat slicing, slicing into strips, and dicing with quantitative dimensions, as well as planning paths for slicing meat of equal weight and oblique cutting. The intelligent quantitative cutting equipment embedded with this instruction set can mechanically realize the functions of quantitative slicing, slicing into strips, and dicing of meat. Attached Figure Description

[0056] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0057] Figure 1 This is one of the schematic diagrams showing the arrangement of a humanoid meat cutting machine based on multidimensional information perception provided by the present invention.

[0058] Figure 2 This is a schematic diagram showing the arrangement of the multi-dimensional information sensing units for raw meat provided by the present invention.

[0059] Figure 3This is one of the schematic diagrams showing the arrangement of the raw meat shaping section provided by the present invention.

[0060] Figure 4 This is the second schematic diagram of the arrangement of the raw meat shaping section provided by the present invention.

[0061] Figure 5 This is the third schematic diagram of the arrangement of the raw meat shaping section provided by the present invention.

[0062] Figure 6 This is one of the schematic diagrams showing the arrangement of the shaping components in the raw meat shaping section provided by the present invention.

[0063] Figure 7 This is the second schematic diagram showing the arrangement of the shaping components in the raw meat shaping section provided by the present invention.

[0064] Figure 8 This is the third schematic diagram showing the arrangement of the shaping components in the raw meat shaping section provided by the present invention.

[0065] Figure 9 This is one of the schematic diagrams showing the arrangement of the meat processing unit provided by the present invention.

[0066] Figure 10 This is one of the schematic diagrams showing the arrangement of the slicing and cutting mechanisms in the meat processing unit provided by the present invention.

[0067] Figure 11 This is a schematic diagram of the optimized slicing blade contour design of the present invention.

[0068] Figure 12 This is a schematic diagram showing the arrangement of the cutting conveyor belt and the telescopic mechanism in the meat processing unit provided by the present invention.

[0069] Figure 13 This is the second schematic diagram of the layout of the meat processing unit provided by the present invention.

[0070] Figure 14 This is the second schematic diagram showing the arrangement of the strip-cutting and dicing mechanisms in the meat processing unit provided by the present invention.

[0071] Figure 15 This is the third schematic diagram showing the arrangement of the strip-cutting and dicing mechanisms in the meat processing unit provided by the present invention.

[0072] Figure 16 This is the fourth schematic diagram showing the arrangement of the strip-cutting and dicing mechanisms in the meat processing unit provided by the present invention.

[0073] Figure 17 This is the fifth schematic diagram showing the arrangement of the strip-cutting and dicing mechanisms in the meat processing unit provided by the present invention.

[0074] Figure 18This is the sixth schematic diagram showing the arrangement of the strip-cutting and dicing mechanisms in the meat processing unit provided by the present invention.

[0075] Figure 19 This is the seventh schematic diagram showing the arrangement of the strip-cutting and dicing mechanisms in the meat processing unit provided by the present invention.

[0076] Figure 20 This is the eighth schematic diagram showing the arrangement of the strip-cutting and dicing mechanisms in the meat processing unit provided by the present invention.

[0077] Figure 21 This is one of the schematic diagrams showing the layout of the meat packaging section provided by the present invention.

[0078] Figure 22 This is the second schematic diagram of the layout of the meat packaging section provided by the present invention.

[0079] Figure 23 This is a schematic diagram of the adjustment angle for conveying beef and mutton provided by the present invention.

[0080] Figure 24 This is a schematic diagram of the adjustment angle for conveying pork and chicken meat provided by the present invention.

[0081] Figure 25 This is one of the schematic diagrams of the slicer execution for path planning of raw meat of equal thickness size provided by the present invention.

[0082] Figure 26 This is the second schematic diagram of the slicer execution for path planning of raw meat of equal thickness size provided by the present invention.

[0083] Figure 27 This is one of the schematic diagrams of the slicer executing the equal weight path planning for raw meat provided by the present invention.

[0084] Figure 28 This is the second schematic diagram of the slicer executing the equal weight path planning for raw meat provided by the present invention.

[0085] Figure 29 This is one of the schematic diagrams of the oblique path planning slicing knife for raw meat provided by the present invention.

[0086] Figure 30 This is the second schematic diagram of the oblique path planning slicing knife for raw meat provided by the present invention.

[0087] Figure 31 This is one of the schematic diagrams illustrating the process of chopping raw meat into cubes provided by the present invention.

[0088] Figure 32 This is the second schematic diagram of the path execution for chopping raw meat into cubes provided by the present invention.

[0089] Figure 33This is a schematic diagram illustrating the execution path of the rolling cutter for dicing raw meat, provided by the present invention.

[0090] Figure 34 This is the second schematic diagram of the layout of the humanoid meat cutting equipment based on multidimensional information perception provided by the present invention.

[0091] Figure 35 This is a flowchart illustrating the cutting method provided by the present invention, which enables intelligent transformation of the shape of raw meat strips into cubes.

[0092] Figure label:

[0093] 100. Raw meat multi-dimensional information sensing unit; 110. Weighing belt; 120. First photoelectric sensor; 130. Ultrasonic detector; 140. First laser scanner; 150. Imaging spectrometer;

[0094] 200. Raw Meat Adjustment Department;

[0095] 300. Raw meat shaping section; 310. Shaping support frame; 320. Bottom support plate; 330. Pre-adjustment transmission belt; 340. Shaping mechanism; 341. Shaping fixing bracket; 342. Drive assembly; 3421. Vertical displacement module; 3422. Horizontal displacement module; 343. Shaping component; 3431. Mounting bracket; 3432. Shaping motor; 3433. Transmission gear; 3434. Shaping gear connecting rod; 3435. Shaping module; 34351. Roller bracket; 34352. Roller pressure plate; 34353. Shaping electric push rod; 34354. Roller adjustment push rod; 34355. Angle sensing module; 34356. Force sensing module; 3436. Dual-axis electric push rod; 350. Angle adjustment mechanism; 360. Second laser scanner; 370. Second photoelectric sensor; 380. Third photoelectric sensor;

[0096] 400. Meat processing section; 410. Slitting conveyor belt; 411. Adjustable tilting conveyor belt; 420. Slicing and cutting mechanism; 421. Rotary gear mounting bracket; 422. Cutter fixing plate; 423. Slicing blade; 424. Cutter drive motor; 425. Angle adjustment gear; 426. Rotary shaft; 427. Angle adjustment motor; 430. Strip and dicing mechanism; 431. Slitting fixing bracket; 432. Pressure stabilizing assembly; 4321. Transverse lead screw; 4322. Lead screw motor; 4323. Transverse threaded pair; 4324. Electric cylinder; 4325. Pressure roller frame; 4326. Pressure roller; 433. Strip cutting assembly; 4331. Longitudinal optical axis; 4332. Lifting mechanism 4333, Connecting rod; 4334, Fixed rack; 4335, Rolling gear; 4336, Tilting disc; 4337, Guide post; 4338, Chopping blade; 434, Dicing assembly; 4341, Mounting plate; 4342, Roller holder; 4343, Roller body; 4344, Dicing drive motor; 4345, Electric slide; 4346, Guide plate; 4347, Guide groove; 4348, Roller; 4349, Dicing longitudinal drive module; 435, Power assembly; 4351, Roller cutting drive motor; 4352, Roller shaft; 4353, Rotary disc; 4354, Dicing electric push rod; 440, Fourth photoelectric sensor; 450, Telescopic mechanism;

[0097] 500. Meat Packaging Department; 510. Right-Angle Transfer Mechanism; 520. Meat Slice Quantitative Packaging Mechanism; 530. Meat Strip / Diced Quantitative Packaging Mechanism;

[0098] 600. Raw meat. Detailed Implementation

[0099] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0100] The present invention will now be described in detail with reference to the accompanying drawings. The specific operation methods in the method embodiments can also be applied to the device embodiments or system embodiments. In the description of the present invention, unless otherwise stated, "at least one" includes one or more. "Multiple" refers to two or more. For example, at least one of A, B, and C includes: A existing alone, B existing alone, A and B existing simultaneously, A and C existing simultaneously, B and C existing simultaneously, and A, B, and C existing simultaneously. In the present invention, " / " means "or". For example, A / B can mean A or B. "And / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone.

[0101] The present invention will now be described in detail with reference to specific embodiments.

[0102] In some specific embodiments of the present invention, such as Figures 1 to 35 As shown, this solution provides a cutting method that can realize intelligent transformation of the shape of raw meat strips and cubes, applied to a server, including: a raw meat multidimensional information sensing unit 100, a raw meat adjustment unit 200, a raw meat shaping unit 300 and a meat processing unit 400 connected in sequence;

[0103] The methods include:

[0104] In response to the cutting signal of the raw meat 600, the cutting method information of the raw meat 600 is obtained, and the multi-dimensional information of the raw meat 600 is obtained through the multi-dimensional information sensing unit 100. The cutting method information includes at least one or a combination of slices, strips and cubes of the raw meat 600, and the multi-dimensional information of the meat includes at least one or a combination of weight, position, shape, type, lean-to-fat ratio, moisture content, texture, viscoelasticity and texture distribution of the raw meat 600.

[0105] Based on multi-dimensional information about the meat products, the raw meat adjustment unit 200 adjusts the relative position of the raw meat 600 in the transportation direction;

[0106] Based on multi-dimensional information about the meat products, the raw meat shaping unit 300 shapes the external shape of the raw meat 600 after adjusting its relative position.

[0107] Based on the cutting method information, the cutting method of the meat processing unit 400 for cutting the raw meat 600 is adjusted, and the cutting of the raw meat 600 is performed.

[0108] It should be noted that this invention is based on the chef's knife skills experience in the cooking process of Chinese cuisine. It comprehensively adopts technologies such as intelligent recognition of raw meat 600 information, multimodal digital representation, artificial intelligence algorithms, and mechatronics to achieve intelligent recognition, precise positioning, and adaptive shaping of multi-dimensional information such as weight, texture, color, viscoelasticity, and outline size of raw meat 600. It breaks through the cutting path planning algorithm, constructs a human-like cutting path planning model that simulates the chef's knife skills, and establishes a set of machine-like human-like cutting action instructions for slicing, slicing, and dicing. It provides technical support for achieving precise, quantitative, and high-precision cutting of raw meat 600 into slices, shreds, and cubes, effectively reducing the loss in the initial processing of meat, and providing an intelligent solution for improving the quality and efficiency of industrialized food processing and the formation of new quality productivity.

[0109] In some possible embodiments of the present invention, based on multidimensional information about the meat product, the raw meat adjustment unit 200 adjusts the relative position of the raw meat 600 in the transport direction, specifically including:

[0110] Based on the multidimensional information of meat products, it is determined that the raw meat 600 belongs to the first type of meat products. The first muscle fiber direction of the raw meat 600 is obtained and adjusted to be parallel to the transport direction of the raw meat 600. The texture distribution of the first type of meat products is greater than or equal to the preset texture threshold.

[0111] Based on the multidimensional information of meat products, it is determined that the raw meat 600 belongs to the second type of meat products. The direction of the second muscle fiber of the raw meat 600 is obtained and adjusted to be perpendicular to the transport direction of the raw meat 600. The texture distribution of the second type of meat products is less than the preset texture threshold.

[0112] Specifically, this embodiment provides an implementation method for adjusting the relative position of raw meat 600 in the transport direction by the raw meat adjustment unit 200. By classifying the types of raw meat 600, the direction of raw meat 600 can be adjusted according to different types of meat, which is more in line with cooking habits.

[0113] In a possible embodiment, the first type of meat product is raw meat 600 with a coarser texture, such as beef or mutton, and the second type of meat product is raw meat 600 with a tender texture, such as pork or chicken.

[0114] In possible embodiments, such as Figure 23 As shown, when the raw meat 600 to be cut is beef, mutton, or other meats with coarser texture, that is, the raw meat 600 belongs to the first category of meat, when slicing, Chinese chefs will place the raw meat 600 so that the knife is perpendicular to the texture of the meat at 90° and cut with the knife against the grain; when cutting into strips or cubes, the cut meat slices will be stacked neatly, the knife will be placed parallel to the texture of the meat slices, and the slices will be cut along the grain.

[0115] The specific implementation process is as follows: Distribution of muscle fibers in 600g of raw meat and adjustment direction, as follows: Figure 23 As shown, the direction of the muscle fibers is at an angle α to the direction of transport. The adjustment angle of the platform for the raw meat 600 is then set to α, so that the direction of the muscle fibers is parallel to the direction of transport. This ensures that the slices are cut perpendicular to the grain during slicing. It also ensures that after the slices are flipped over, the neatly stacked meat slices can be cut into strips by the chopping blade 4339 parallel to the muscle fibers, and the rolling blade group can be cut into chunks and cubes parallel to the muscle fibers, in accordance with the knife skills used in Chinese cooking for cutting beef and mutton.

[0116] In possible embodiments, such as Figure 24 As shown, when the raw meat 600 to be cut is tender meat such as pork or chicken, that is, the raw meat 600 belongs to the second category of meat, when slicing, Chinese chefs will place the raw meat 600 so that the knife is parallel to the grain of the meat and make a vertical or oblique cut; when cutting into strips, the cut meat slices will be stacked neatly, the knife will be placed parallel to the grain of the meat slices and cut along the grain; when cutting into cubes, the knife will be rotated 90° to cut perpendicular to the fibers.

[0117] The specific implementation process is as follows: Distribution of muscle fibers in 600g of raw meat and adjustment direction, as follows: Figure 21 As shown, the angle is adjusted to 90°-α so that the direction of the muscle fibers is perpendicular to the conveying direction. This ensures that the slicing operation is carried out along the grain, i.e., a straight cut or a diagonal cut. At the same time, it ensures that after the subsequent slicing operation is completed and the slices are flipped over, the neatly stacked meat slices can be cut into strips by the chopping blade 4339 along the muscle fibers, and the rolling cutter group can be cut into chunks or cubes perpendicular to the muscle fibers, in accordance with the knife skills used for cutting pork and chicken in Chinese cooking.

[0118] In some possible embodiments of the present invention, based on multidimensional information about the meat product, the raw meat shaping unit 300 shapes the external morphology of the raw meat 600 after its relative position has been adjusted, specifically including:

[0119] Based on multidimensional information of meat products, a multimodal information data model of raw meat 600 was constructed;

[0120] Based on the cutting method information and multimodal information data model, the external morphology of raw meat 600 is shaped and a cutting path planning model is generated.

[0121] Specifically, this embodiment provides an implementation method for shaping the external shape of raw meat 600 after adjusting its relative position. After the relative position of the raw meat 600 is adjusted according to different cooking requirements or cutting methods, the external shape of the raw meat 600 needs to be adjusted. Since the raw meat 600 has a rebound effect, the stability of the external shape of the raw meat 600 can be improved by performing secondary shaping, which will provide support for subsequent cutting.

[0122] In possible embodiments, such as Figure 7 and Figure 8 As shown, the working principle of the raw meat shaping unit 300 during the shaping process is as follows: the shaping motor 3432 drives the transmission gear 3433 to rotate, which in turn drives the two shaping gears and the shaping gear connecting rod 3434 to rotate. There is a hinge relationship between the parts, and the shaping electric push rod 34353 pushes the roller pressure plate 34352 to rotate inward. The shaping angle γ1 of the raw meat 600 can be fed back in real time by the angle sensing module installed on the roller pressure plate 34352. The adjustment of the dual-axis electric push rod 3436 can meet the shaping needs of raw meat 600 with different widths at the same shaping angle. The adjustment of the roller angle can be achieved by the roller adjustment push rod 34354 in the raw meat shaping unit 300 to match the oblique cutting requirements formulated according to the different types of raw meat 600 and the distribution of muscle fibers in the raw meat 600 during the cutting process.

[0123] In some possible embodiments of the present invention, generating a split path planning model includes:

[0124] Based on the cutting method information, obtain the meat characteristic parameters of the shaped raw meat 600 and the cutting form of the raw meat 600. The meat characteristic parameters include at least one or a combination of the following: weight parameters, contour parameters, tangent angle of contour boundary, meat viscoelasticity, texture direction, color value, lean-to-fat ratio, and texture of the shaped raw meat 600.

[0125] Based on the meat product's characteristic parameters and cutting method, a cutting path planning model is generated.

[0126] Specifically, this embodiment provides an implementation method for generating a cutting path planning model. By obtaining the meat characteristic parameters and cutting form of the raw meat 600, the cutting path of the raw meat 600 is planned.

[0127] In possible embodiments, such as Figure 23 As shown, when the raw meat to be cut is beef or mutton, the raw meat multidimensional information sensing unit 100 first obtains relevant information: the overall mass M of the raw meat. 牛或羊 (g) Initial contour characteristics of raw meat (length * width * height, L) 牛或羊 *W 牛或羊 *H 牛或羊 (mm), the included angle of the tangents at the contour boundary Ω), and the viscoelasticity of the raw material T (N·s / m). 2The raw meat processing unit first adjusts the raw meat to a position where the texture is parallel to the transport direction. Then, the host computer sets the target shape, size, and weight information to be cut, such as quantitative meat slices, strips, or cubes. Based on the multimodal information database of raw meat and the quantitative cutting path planning model for different target meat shapes built on the host computer, the cutting path planning for the raw meat is then realized.

[0128] Furthermore, when the overall quality M of beef and mutton 牛或羊 (g) Initial contour characteristics of raw meat (length * width * height, L) 牛或羊 *W 牛或羊 *H 牛或羊 When parameters such as the included angle Ω (°) of the contour boundary tangent, the viscoelasticity T (N·s / ㎡) of the raw meat, the direction of the raw meat texture (forward or backward), the color (L*, a*, b*) value, the lean-to-fat ratio, and the texture change, the established cutting path model, combined with the cooperation of components such as pre-shaping and pre-secondary shaping, slicing blade 423, chopping blade 4339, and rolling blade 4343, achieves precise quantitative cutting of different sizes.

[0129] Among them, the overall quality, initial contour characteristics, and the included angle of the contour boundary tangents determine the angle of pre-shaping / secondary shaping; the viscoelasticity of raw meat 600 determines the force, frictional resistance, rebound recovery and other parameters of pre-shaping / secondary shaping; and the texture direction, color, lean-to-fat ratio, and texture of raw meat 600 determine the force, tilt angle, and rotation speed of the slicing blade 423, the frequency and cutting force of the chopping blade, and the spacing and force of the rolling blade.

[0130] In possible embodiments, such as Figure 24 As shown, when the raw meat 600 is a meat with fine texture such as pork or chicken, the cutting process is similar to that of beef and mutton. After adjustment by the raw meat adjustment unit 200, the slicing knife 423 and the chopping knife 4339 cut in the direction parallel to the muscle fibers of the raw meat 600, while the rolling knife body 4343 cuts perpendicular to the muscle fibers of the raw meat 600. This matches the knife skills used by Chinese chefs to cut pork and chicken during cooking.

[0131] In some possible embodiments of the present invention, a cutting path planning model is generated based on meat characteristic parameters and cutting methods, specifically including:

[0132] When the raw meat 600 is cut into equal-thickness slices, the preset cutting thickness of the raw meat 600, the fixed-thickness slicing path of the raw meat 600 in the contour length direction, the conveying speed of the raw meat 600, and the fixed-thickness slicing time interval between two adjacent slices are obtained.

[0133] Based on the preset slitting thickness, fixed-thickness slicing path, conveying speed, and fixed-thickness slitting time interval, a slitting path planning model is generated;

[0134] Among them, the number of cuts n determined by the preset cutting thickness and contour length is a non-integer, and the non-integer part is greater than or equal to the preset slice base number. The preset cutting thickness is updated according to the n+1 cutting numbers and contour length.

[0135] If the number of cuts n, determined by the preset cutting thickness and contour length, is a non-integer and the non-integer part is less than the preset slice base, the preset cutting thickness is updated based on the n-1 cutting numbers and contour length.

[0136] Specifically, this embodiment provides an implementation method in which the slicing form is an equal-thickness slice, such as... Figure 25 and Figure 26 As shown, when the parameter to be cut is a slice of uniform thickness, such as thickness d, slicing paths X1, X2, X3...X are designed perpendicular to the muscle fiber direction along the length L of the raw meat outline. n At this point, n is L / d (n is a positive number). The feature points of this path are the specific locations for subsequent slicing by the 423 slicing blade. Let the pre-adjusted conveyor belt speed be V. 传输带 Then the slicing time interval t of the slicing blade 423 is the equal thickness slicing interval d / V. 传输带 Let t be the time it takes for the slicing blade 423 to make one cut. When the distance between the laser scanner and the slicing blade 423 is S, the cuts to be made are from X1, X2, X3...X n When there are a total of n meat slices of equal thickness, the response time sequence of the slicing blade 423 is as follows:

[0137] When the length of the raw meat outline is L and the thickness of the selected meat slice is d, n is not necessarily an integer.

[0138] In one application scenario, if mod(L,d)≥5, the value of d is appropriately reduced. At this time, the value of n gradually increases and can be rounded to n+1, that is, the raw meat is cut into n+1 slices of equal thickness.

[0139] In one application scenario, if mod(L,d) < 5, the value of d should be increased appropriately. At this time, the value of n will gradually decrease and can be rounded to n-1, that is, the raw meat is cut into n-1 pieces of equal thickness.

[0140] Based on the texture of the meat slices, if it is necessary to perform a bevel cut of equal thickness on the meat slices, the bevel cutting angle of the slicing blade 423 can be adjusted to achieve a bevel cut of equal thickness on the meat slices under the same path planning model.

[0141] In some possible embodiments of the present invention, a cutting path planning model is generated based on meat characteristic parameters and cutting methods, specifically including:

[0142] When the raw meat 600 is cut into quantitative slices, the preset cutting weight of the raw meat 600, the thickness of the first slice cut into quantitative slices, the weight parameters of the raw meat 600, the quantitative slicing path of the raw meat 600 in the contour length direction, the conveying speed of the raw meat 600, and the quantitative slicing time interval between two adjacent slices are obtained.

[0143] Based on the preset slitting weight, the first piece fixed-weight slitting thickness, weight parameters, fixed-weight slitting path, conveying speed and fixed-weight slitting time interval, a slitting path planning model is generated.

[0144] Among them, the number of cuts m determined by the preset cut weight and weight parameters is a non-integer, and the non-integer part is greater than or equal to the preset slice base number. The preset cut weight is updated according to the m+1 cut quantities and the outline length.

[0145] If the number of cuts m, determined by the preset cut weight and contour length, is a non-integer and the non-integer part is less than the preset slice base, the preset cut weight is updated based on the m-1 cut quantities and contour length.

[0146] Specifically, this embodiment provides an implementation method in which the slicing form is quantitative slicing, such as... Figure 27 and Figure 28 As shown, when the required slicing parameter is quantitative slicing, such as the weight of each slice of meat being p, and the total weight of the raw meat being M, then in order to ensure quantitative slicing of each slice of meat, quantitative slicing paths X1, X2, X3...X need to be planned in the direction perpendicular to the muscle fibers along the length L of the raw meat outline. m At this point, m is M / p (m is a positive number), and X1 represents the meat slice thickness l1 corresponding to the first fixed-weight meat slice, which is also the location of the quantitative cutting feature point of the first meat slice, given the known pre-adjusted conveyor belt speed V. 传输带 In this case, l1 / V 传输带 Let t represent the time interval between the initial position and the cutting feature point corresponding to the first quantitative meat slice. Let t be the time taken for the slicing blade 423 to make one cut. When the distance between the laser scanner and the slicing blade 423 is S, the response time of the slicing blade 423 is (S+l1) / V. 传输带 -t 分切时间 Similarly, X2, X3...X m The corresponding meat slice thicknesses are l2, l3...l m The response times of the slicer 423 are {(S+l1+l2) / V} 传输带 -t 分切时间 (S+l1+l2+l3) / V 传输带 -t 分切时间 ...(S+l1+l2+l3+....l m ) / V 传输带-t 分切时间 In actual cutting, due to the irregularity of the meat, m is not necessarily an integer.

[0147] In one application scenario, if mod(M,p)≥5, the value of p is appropriately reduced. At this time, the value of m gradually increases and can be rounded to m+1, that is, the raw meat is cut into m+1 pieces of equal weight.

[0148] In one application scenario, if mod(M,p) < 5, the value of p should be increased appropriately. At this time, the value of m will gradually decrease and can be rounded to m-1, that is, the raw meat is cut into m-1 quantitative meat slices.

[0149] Based on the texture of the meat slices, if it is necessary to make a quantitative oblique cut of the meat slices, the oblique cutting angle of the slicing blade 423 can be adjusted to achieve the quantitative oblique cut of the meat slices under the same path planning.

[0150] In some possible embodiments of the present invention, a cutting path planning model is generated based on meat characteristic parameters and cutting methods, specifically including:

[0151] When the raw meat 600 is cut into strips, obtain the width, strip length, strip width, strip thickness, strip chopping frequency, and strip cutting path of the shaped raw meat 600.

[0152] Based on the 600mm width of the shaped raw meat, the length parameters of the meat strip, the width parameters of the meat strip, the thickness parameters of the meat strip, the chopping frequency of the meat strip, and the cutting path of the meat strip, a cutting path planning model is generated;

[0153] Among them, the number of cuts k determined by the meat strip width parameter and the 600 width of the raw meat after shaping is a non-integer, and the non-integer part is greater than or equal to the preset slice base number. The meat strip width parameter is updated according to the k+1 cuts and the 600 width of the raw meat after shaping.

[0154] The meat strip width parameter is updated based on the meat strip width parameter and the 600 width of the shaped raw meat. The number of cuts k is not an integer, and the non-integer part is less than the preset slice base number. The meat strip width parameter is updated based on the k-1 cuts and the 600 width of the shaped raw meat.

[0155] Specifically, this embodiment provides an implementation method for cutting meat into strips, such as... Figure 29 and Figure 30 As shown, when the required cutting parameters are meat strips, such as the length, width, and thickness of the required meat strips being L... 肉条 *W 肉条 *D 肉条 There are two ways to achieve this.

[0156] The first method involves using pre-shaping / secondary shaping, slicing blade 423, and chopping blade 4339, among other components, where the length L of the meat strip is... 肉条 Matching the lateral distance of pre-shaping / secondary shaping, in other words, pre-shaping / secondary shaping determines the length and width W of the cut meat strips. 肉条 The frequency and size of the slashing blade are determined by its corresponding slashing frequency and position. Figure 30 The paths Y1, Y2, Y3...Y n The spacing between the segments, when adjusted during actual slicing, can refer to the methods used during slicing, following the principle of rounding, and the thickness D. 肉条 The planned path of the microtome during quantitative sectioning is X1, X2, X3...X m The distance between them determines the outcome.

[0157] The second method involves using a combination of components such as a slicing blade 423, a chopping blade 4339, and a rolling cutter body 4343, where the length L of the meat strip is... 肉条 Determined by the lateral distance between the hobs, corresponding Figure 30 Z1, Z2, Z3...Z n The distance between them, the width W 肉条 The frequency and size of the slashing blade are determined by its corresponding slashing frequency and position. Figure 30 The paths Y1, Y2, Y3...Y n The spacing between the segments, when adjusted during actual slicing, can refer to the methods used during slicing, following the principle of rounding, and the thickness D. 肉条 The planned paths X1, X2, X3...X of the microtome 423 during quantitative sectioning. m The distance between them determines the outcome.

[0158] In some possible embodiments of the present invention, a cutting path planning model is generated based on meat characteristic parameters and cutting methods, specifically including:

[0159] When the raw meat 600 is cut into meat cubes, obtain the following parameters after shaping: width of raw meat 600, length of meat cube, width of meat cube, thickness of meat cube, cutting frequency of meat cube, cutting position of meat cube, and cutting path of meat cube;

[0160] Based on the parameters of the 600 width of the shaped raw meat, the length of the meat cubes, the width of the meat cubes, the thickness of the meat cubes, the chopping frequency of the meat cubes, the chopping position of the meat cubes, and the cutting path of the meat cubes, a cutting path planning model is generated.

[0161] Among them, the number of cuts p determined by the meat cube width parameter and the 600 width of the raw meat after shaping is a non-integer, and the non-integer part is greater than or equal to the preset slice base number. The meat cube width parameter is updated according to p+1 cuts and the 600 width of the raw meat after shaping.

[0162] If the number of cuts p, determined by the meat cube width parameter and the 600 width of the raw meat after shaping, is a non-integer and the non-integer part is less than the preset slice base number, the meat cube width parameter is updated according to the p-1 cuts and the 600 width of the raw meat after shaping.

[0163] Specifically, this embodiment provides an implementation method for cutting meat into diced pieces, such as... Figure 31 and Figure 32 As shown, when the required cutting parameters are meat cubes, such as the required length, width, and thickness of the meat cubes being L... 肉丁 *W 肉丁 *D 肉丁 This is achieved using components such as a slicing blade 423, a chopping blade 4339, and a rolling blade 4343, where the length L of the diced meat is... 肉丁 Determined by the lateral distance between the hobs, corresponding Figure 32 Z1, Z2, Z3...Z n The distance between them, the width W 肉丁 The frequency and size of the slashing blade are determined by its corresponding slashing frequency and position. Figure 30 The paths Y1, Y2, Y3...Y n The spacing between the segments, when adjusted during actual slicing, can refer to the methods used during slicing, following the principle of rounding, and the thickness D. 肉丁 The planned paths X1, X2, X3...X of the microtome 423 during quantitative sectioning. m The distance between them determines the outcome.

[0164] In an application scenario, such as Figure 33 As shown, after the raw meat 600 is scanned and imaged by the multi-dimensional information sensing unit 100 on the pre-adjustment conveyor belt 330, when the raw meat 600 is transmitted to the third photoelectric sensor 380, the secondary shaping adjustment angle, pressure, distance, and other parameters are adjusted to match the pre-shaping parameters. This ensures that the raw meat 600 is subjected to the same parameters as during the three-dimensional laser scanning imaging after pre-shaping, thus ensuring the consistency of the contour and volume of the raw meat 600 during slicing and imaging. Combining pre-shaping / secondary shaping enables the raw meat 600 to be adaptively and online shaped during transmission, allowing it to be precisely transmitted to the slicing blade 423 position for subsequent slicing operations.

[0165] Furthermore, after the slicing blade 423 completes the equal-thickness or quantitative slicing of the raw meat 600 according to the slicing path planning model, the sliced ​​meat slices are continuously stacked on the slicing conveyor belt 410 under the action of the electric telescopic rod. When it reaches the fourth photoelectric sensor 440, the strip-cutting and dicing mechanism 430 starts to work. If only the stacked meat slices are planned to be cut into strips, the clutch mechanism in the dicing component 434 is first disengaged. The dicing drive motor 4344 drives the entire dicing component 434 to separate from the strip-cutting component 433 and move backward. The crank connecting rod on the rotating disk 4353 only drives the chopping blade 4339 to move up and down to complete the chopping of the stacked meat slices, realizing the precise strip cutting of meat slices of fixed weight. If the strip size needs to be adjusted, the pre-shaping / secondary shaping size, chopping blade 4339 frequency / speed and other parameters can be re-planned on the host computer.

[0166] There are two specific methods to achieve this:

[0167] The first method: Assuming the total weight to be obtained is ni*p 肉片 The meat strips, that is, the quantitatively slit meat slices (ni slices) are further cut into strips. According to the cutting path planning model, the strip length L... 肉条 The width of the raw meat is determined by the adjustment of the raw meat shaping section, and is specifically achieved by the movement of the shaping gear, the shaping gear connecting rod, the shaping electric push rod, and the dual-axis electric push rod.

[0168] Strip width W 肉条 Path planning Y1, Y2, Y3...Y n The spacing between them is determined and achieved by the cutting blade 4339; the thickness D of the cut strips is... 肉条 The slice-like cutting paths X1, X2, X3...X during slicing m The spacing between them is determined. Since the movement of the cutting blade 4339 is determined by the rolling drive motor, in order to achieve precise cutting, the speed R of the rolling drive motor is... 滚切 Satisfy the following formula:

[0169]

[0170] In the formula, H ni切片(max) V represents the largest stack of meat slices before they were piled up. 传输 The speed of the conveyor belt for cutting meat is represented by n, and the number of meat strips to be cut is represented by n.

[0171] The second method is implemented in the same way as the dicing method, and the implementation process is as follows:

[0172] When it is necessary to dice the stacked raw meat 600, the cutter drive motor 424 drives the dicing assembly 434 to reset, and the roller cutting drive motor 4351 drives the roller shaft 4352 to rotate. Under the action of the rotating disk 4353, the crank connecting rod and the chopping blade 4339, the meat slices are chopped while the roller assembly cuts the strip meat into cubes. According to the planned dicing size path cutting model, the belt drive motor drives the moving threaded pair to adjust to different positions, and then the roller 4348 in the guide plate 4346 sets the roller support to different distances, completing the adjustment of the roller cutting size, and realizing the precise quantitative cutting of different meat cube sizes of fixed weight meat slices.

[0173] Assume the length to be cut into cubes is L. 肉丁 Width is W 肉丁 Thickness D 肉丁 The length is determined by the spacing between the hobbing blades; the width is determined by the path of the cutting blade Y1, Y2, Y3...Y n The spacing between them is determined; the thickness is determined by the slice paths X1, X2, X3...X m With the spacing determined, the total weight of the diced meat is the same as the total weight of the sliced ​​meat.

[0174] In some possible embodiments of the present invention, the meat processing unit 400 includes: a slicing and cutting mechanism 420 disposed near the raw meat shaping unit 300, for slicing the raw meat 600 into meat slices; a strip-cutting assembly 433 disposed downstream of the slicing and cutting mechanism 420, for cutting the meat slices into meat strips; a dicing assembly 434 disposed downstream of the slicing and cutting mechanism 420, for cutting the meat strips into meat cubes; and a power assembly 435 connected to the strip-cutting assembly 433 and the dicing assembly 434 respectively, for providing power to the strip-cutting assembly 433 and the dicing assembly 434, and for adjusting the dicing assembly 434 to switch between a dicing working position and a strip-cutting working position.

[0175] Based on the cutting method information, the cutting method of the meat processing unit 400 for cutting the raw meat 600 is adjusted, and the cutting of the raw meat 600 is performed, specifically including:

[0176] The cutting method information indicates that the raw meat 600 is cut into strips. The power component 435 adjusts the relative positions of the strip cutting component 433 and the dicing component 434 so that the dicing component 434 switches to the strip cutting working position.

[0177] The cutting method information indicates that the raw meat 600 is cut into cubes. The power component 435 adjusts the relative positions of the strip cutting component 433 and the dicing component 434 so that the dicing component 434 switches to the dicing working position.

[0178] Specifically, this embodiment provides an implementation method for cutting raw meat 600, such as... Figures 13 to 20 As shown, by setting up the slicing and cutting mechanism 420, the strip cutting assembly 433, the dicing assembly 434 and the power assembly 435, the relative positions of the strip cutting assembly 433 and the dicing assembly 434 are adjusted according to the cutting method information, thereby realizing the switching between strip cutting and dicing.

[0179] In some specific embodiments of the present invention, this solution provides a cutting system that can realize the transformation of the shape of raw meat strips into cubes. When performing intelligent transformation of the shape of raw meat strips into cubes, the above-mentioned cutting method that can realize intelligent transformation of the shape of raw meat strips into cubes is adopted.

[0180] In some specific embodiments of the present invention, such as Figures 1 to 22 As shown, this solution provides a humanoid raw meat slicing machine based on multidimensional information perception, comprising: a raw meat multidimensional information perception unit 100, used to acquire multidimensional information of raw meat 600, the multidimensional information of which includes at least one or a combination of several of the following: weight, position, shape, type, lean-to-fat ratio, moisture content, texture, viscoelasticity, and grain distribution; and a raw meat adjustment unit 200, disposed downstream of the raw meat multidimensional information perception unit 100, used at least to adjust the raw meat 600 during movement based on the multidimensional information. The relative positions in the direction of movement; the raw meat shaping section 300, located downstream of the raw meat adjusting section 200, adjusts the external shape of the raw meat 600 based on at least multi-dimensional information of the meat; the meat processing section 400, located downstream of the raw meat shaping section 300, cuts the raw meat 600 based on multi-dimensional information of the meat to obtain meat products, the cutting process including at least one or a combination of slicing, slicing into strips and dicing; the meat packaging section 500, located downstream of the meat processing section 400, is used to package the cut quantitative meat products.

[0181] It should be noted that, as Figure 1 As shown, this invention, by sequentially arranging a raw meat multidimensional information sensing unit 100, a raw meat adjustment unit 200, a raw meat shaping unit 300, a meat processing unit 400, and a meat packaging unit 500, realizes a fully automated process for information sensing, posture adjustment, shape processing, meat cutting, and finished product packaging of raw meat 600. This achieves machine replacement of human labor, improves cutting accuracy and efficiency, and reduces losses, which is of great significance for improving the level of intelligent meat processing and promoting the industrial upgrading of the meat industry.

[0182] In some possible embodiments of the present invention, the raw meat multidimensional information sensing unit 100 includes: a weighing belt 110, extending along the conveying direction of the raw meat 600, for providing power for the transport of the raw meat 600 and for obtaining the weight of the raw meat 600; a first photoelectric sensor 120, disposed on the side of the weighing belt 110; an ultrasonic detector 130, disposed on the side of the weighing belt 110, spaced apart from the first photoelectric sensor 120 along the conveying direction of the raw meat 600; a first laser scanner 140, disposed above the weighing belt 110; and an imaging spectrometer 150, disposed above the weighing belt 110, spaced apart from the first laser scanner 140 along the conveying direction of the raw meat 600; wherein the initial detection positions of the ultrasonic detector 130, the first laser scanner 140, and the imaging spectrometer 150 are in the same detection plane.

[0183] Specifically, this embodiment provides an implementation of a multi-dimensional information sensing unit 100 for raw meat, such as... Figure 2 As shown, the weighing belt 110 provides power for conveying the raw meat 600 and obtains the weight of the raw meat 600. The first photoelectric sensor 120, the ultrasonic detector 130, the first laser scanner 140 and the imaging spectrometer 150 constitute the equipment for collecting information on the raw meat 600, which is used to obtain the multi-dimensional parameters of the raw meat 600 conveyed on the weighing belt 110.

[0184] In a possible embodiment, the initial detection positions of the ultrasonic detector 130, the first laser scanner 140, and the imaging spectrometer 150 are on the same detection plane. The fact that the three are on the same detection plane can ensure that the multidimensional information of the raw meat 600 is collected multiple times at different positions, and the average value after multiple collections is used as the effective information of the raw meat 600.

[0185] In a possible embodiment, the distance between the first photoelectric sensor 120 and the detection plane can be set as needed to ensure that the raw meat multidimensional information sensing unit 100 of the raw meat 600 completes initialization and sets the start-up time within this distance time, ensuring that the unit component can completely collect multidimensional information of the raw meat 600, such as weight, position, shape, type of raw meat 600, lean-to-fat ratio, moisture content, texture, viscoelasticity, and texture distribution.

[0186] In a possible embodiment, the weighing belt 110 in the raw meat multidimensional information sensing unit 100 is used to sense the weight information of the raw meat 600, the ultrasonic detector 130 is used to sense the viscoelasticity of the raw meat 600, the first laser scanner 140 is used to sense the position and shape of the raw meat 600, and the imaging spectrometer 150 is used to sense information such as the lean-to-fat ratio, moisture content, texture, and texture distribution of the raw meat 600.

[0187] In some possible embodiments of the present invention, the raw meat adjustment unit 200 is a universal ball conveyor located downstream of the raw meat multidimensional information sensing unit 100.

[0188] Specifically, this embodiment provides an implementation of the raw meat adjustment section 200, such as... Figure 1 As shown, by setting the raw meat adjustment unit 200 as a universal ball conveyor, the relative position adjustment of the raw meat 600 passing through is realized.

[0189] In a possible embodiment, the raw meat adjustment unit 200 is close to the weighing belt 110 and is arranged at the same height as the upper end surface of the weighing belt 110, so as to ensure that the raw meat 600 is smoothly transferred from the weighing belt 110 to the raw meat adjustment unit 200, and can be rotated, adjusted and transferred in any direction in the two-dimensional plane.

[0190] In a possible embodiment, the specific adjustment parameters of the raw meat adjustment unit 200 will be based on the information such as the type, texture direction, position and size of the raw meat 600 obtained by the raw meat multidimensional information sensing unit 100, combined with the traditional chef's knife skills and techniques for cutting different raw meats 600 and the specific requirements for oblique, horizontal and vertical cutting of different dishes, so as to realize the rotational adjustment of the raw meat 600 in any direction of the two-dimensional plane, and provide a basis for subsequent raw meat 600 pre-shaping, three-dimensional imaging and machine-imitating human cutting (slicing, slicing, dicing) and other steps.

[0191] In some possible embodiments of the present invention, the raw meat shaping unit 300 includes: a shaping support frame 310 disposed downstream of the raw meat adjusting unit 200; a bottom support plate 320 disposed on the shaping support frame 310; a pre-adjustment conveyor belt 330 disposed above the bottom support plate 320 and connected to the raw meat adjusting unit 200, for providing power for transporting the raw meat 600; and two shaping mechanisms 340 disposed at intervals along the conveying direction of the pre-adjustment conveyor belt 330, for shaping the external shape of the raw meat 600 conveyed by the pre-adjustment conveyor belt 330. Shaping; An angle adjustment mechanism 350 is set on the bottom support plate 320 and connected to the bottom of the pre-adjustment conveyor belt 330 to adjust the tilt angle of the pre-adjustment conveyor belt 330 to adjust the relative position of the raw meat 600 on the pre-adjustment conveyor belt 330; A second laser scanner 360 is set on the top of the first shaping mechanism 340 and is set corresponding to the outlet end of the first shaping mechanism 340; A second photoelectric sensor 370 is set on the upstream side of the first shaping mechanism 340; A third photoelectric sensor 380 is set between the two shaping mechanisms 340.

[0192] Specifically, this embodiment provides an implementation of the raw meat shaping section 300, such as... Figure 3As shown, by setting two shaping mechanisms 340, the external shape of the raw meat 600 is adjusted twice, which solves the problem that the external shape of the raw meat 600 is unstable and rebounds after one adjustment due to reasons such as springback.

[0193] Furthermore, the second laser scanner 360, the second photoelectric sensor 370, and the third photoelectric sensor 380 provide data support for the shaping mechanism 340 to adjust the external shape of the raw meat 600 and for the meat processing unit 400 to cut the raw meat 600.

[0194] It should be noted that the third photoelectric sensor 380 is configured such that when it detects the pre-shaped raw meat 600, in order to avoid the impact of changes in the viscoelasticity and elastic recovery of the raw meat 600 during the period from pre-shaping to cutting on the accuracy of precise cutting, the second shaping is performed using the same adjustment parameters as the pre-shaping. This not only ensures the consistency of the contour shape of the raw meat 600 during cutting with that after pre-shaping, but also fixes the position of the raw meat 600, which is beneficial to improving the cutting stability of the blade and providing a guarantee for high-precision quantitative cutting of the raw meat 600.

[0195] In a possible embodiment, the angle adjustment mechanism 350 is installed at the center of the bottom front end of the pre-adjustment conveyor belt and fixed on the bottom support plate 320. This allows one end of the pre-adjustment conveyor belt to be raised and tilted at a certain angle, ensuring that it is in close contact with the slicing and cutting mechanism 420 of the raw meat 600. This ensures that the raw meat 600 is more easily stacked neatly on the cutting conveyor belt 410 after the first cutting is completed.

[0196] In some possible embodiments of the present invention, the shaping mechanism 340 includes: a shaping fixing bracket 341 connected to the shaping support frame 310; a driving component 342 disposed above the pre-adjustment conveyor belt 330 and connected to the shaping fixing bracket 341; and a shaping component 343 disposed above the pre-adjustment conveyor belt 330 and connected to the driving component 342, for shaping the external shape of the raw meat 600 conveyed by the pre-adjustment conveyor belt 330.

[0197] Specifically, this embodiment provides an implementation of the shaping mechanism 340, such as... Figure 4 and Figure 5 As shown, the shaping fixing bracket 341 is connected to the shaping support bracket 310, providing an installation position for the shaping component 343 above the pre-adjustment transmission belt 330. The drive component 342 is connected to the shaping component 343 and is used to adjust the relative position between the shaping component 343 and the pre-adjustment transmission belt 330.

[0198] In some possible embodiments of the present invention, the drive component 342 includes: a vertical displacement module 3421 disposed on the shaping and fixing bracket 341; and a horizontal displacement module 3422 connected to the vertical displacement module 3421; wherein, the shaping component 343 is disposed on the horizontal displacement module 3422, and the shaping component 343 adjusts its relative position on the pre-adjustment transmission belt 330 under the action of the vertical displacement module 3421 and the horizontal displacement module.

[0199] Specifically, this embodiment provides an implementation method for the driving component 342, such as... Figure 4 and Figure 5 As shown, the drive component 342, by setting the vertical displacement module 3421 and the horizontal displacement module 3422, realizes the adjustment of the horizontal and vertical positions of the shaping component 343 above the pre-adjustment transmission belt 330.

[0200] In possible embodiments, the vertical displacement module 3421 and the horizontal displacement module 3422 can be equipped with components such as stepper motors, sliders, pulleys, belts, lead screws, and optical axes in practical applications to achieve adjustment of the relative position of the shaping component 343 in both horizontal and numerical directions.

[0201] In some possible embodiments of the present invention, the shaping component 343 includes: a mounting bracket 3431 connected to the drive component 342; a shaping motor 3432 connected to the mounting bracket 3431; a transmission gear 3433 disposed at the output end of the shaping motor 3432; two shaping gear connecting rods 3434 symmetrically disposed on both sides of the shaping motor 3432 along the conveying direction of the raw meat 600, and respectively meshing with the transmission gear 3433 for transmission; two shaping modules 3435 respectively connected to the shaping gear connecting rods 3434 for shaping the external shape of the raw meat 600 conveyed by the pre-adjustment conveyor belt 330; and a dual-axis electric push rod 3436 disposed on the mounting bracket 3431 and respectively hinged to the two shaping modules 3435.

[0202] Specifically, this embodiment provides an implementation of the shaping component 343, such as... Figures 6 to 8 As shown, the mounting bracket 3431 provides the mounting base, and the shaping motor 3432, the transmission gear 3433 and the two shaping gear connecting rods 3434 are connected to form a transmission mechanism to drive the two shaping modules 3435, thereby shaping the external shape of the raw meat 600 once or twice.

[0203] In some possible embodiments of the present invention, the shaping module 3435 includes: a roller support 34351, hingedly connected to a dual-axis electric push rod 3436; a plurality of roller pressure plates 34352, spaced apart along the conveying direction of the raw meat 600 on the roller support 34351; a shaping electric push rod 34353, one end of which is hingedly connected to a shaping gear connecting rod 3434, and the other end of which is hingedly connected to a roller adjusting push rod 34354; and a roller adjusting... The push rod 34354 is located on the other side of the roller support 34351 where the shaping electric push rod 34353 is installed, and is hinged to the roller support 34351; the angle sensing module 34355 is located on the side of the roller pressure plate 34352 near the dual-axis electric push rod 3436, and is used to detect the motion parameters of the roller pressure plate 34352; the force sensing module 34356 is located inside the roller pressure plate 34352, and is used to detect the pressure parameters of the roller pressure plate 34352 on the raw meat 600.

[0204] Specifically, this embodiment provides an implementation method for the shaping module 3435, such as... Figures 6 to 8 As shown, the roller bracket 34351 provides an installation position for the roller pressure plate 34352, while the shaping electric push rod 34353 and the roller adjustment push rod 34354 adjust the relative position of the roller bracket 34351, thereby enabling the shaping surface of the roller pressure plate 34352 to form different shaping angles.

[0205] It should be noted that when the shaping motor 3432 rotates, the transmission gear 3433 drives the shaping electric push rod 34353 via the shaping gear connecting rod 3434 to adjust the roller pressure plate 34352 at different angles. Furthermore, the dual-axis electric push rod 3436, under the rotation of the transmission gear 3433, adjusts the lateral spacing of the adaptive shaping structure in the left-right direction. The roller adjustment push rod 34354 can adjust the roller direction horizontally via the roller bracket 34351. Finally, the shaping gear connecting rod 3434, the shaping electric push rod 34353, and the roller adjustment... The combined action of the push rod 34354 drives the roller pressure plate 34352 to shape the raw meat 600 to a certain angle during the conveying process. The host computer can obtain the shaping angle and pressure data of the raw meat 600 in real time by combining the force sensing module 34356 and the angle sensing module 34355. The dual-axis electric push rod 3436 and the shaping electric push rod 34353 adjust the amount of compression on the meat in real time when the shaping angle is reached, so as to avoid the large friction between the raw meat 600 and the roller pressure plate 34352 due to different viscoelasticity, which prevents the meat from being self-adaptively shaped during movement.

[0206] In a possible embodiment, the angle sensing module 34355 is disposed on the side of the roller press plate 34352 near the dual-axis electric push rod 3436, and is used to detect the shaping angle of the roller press plate 34352 on the raw meat 600 in real time, and to report to the host computer that the set shaping angle for the meat product has been reached.

[0207] In a possible embodiment, the force sensing module 34356 is a thin-film flexible pressure sensor, which is attached to the gap inside the single roller of the roller press plate 34352. It is used to detect in real time whether the force between the roller press plate 34352 and the raw meat 600 exceeds the maximum pressure set by the host computer for shaping the meat product, and feeds back to the host computer to realize adaptive adjustment of the shaping pressure.

[0208] In some possible embodiments of the present invention, the meat processing unit 400 includes: a slitting conveyor belt 410, which is connected to the raw meat shaping unit 300; a slicing and slitting mechanism 420, which is disposed on the conveying path of the slitting conveyor belt 410 and close to the side of the raw meat shaping unit 300; a strip-cutting and dicing mechanism 430, which is disposed on the conveying path of the slitting conveyor belt 410 and downstream of the slitting and slitting mechanism 420; and a fourth photoelectric sensor 440, which is disposed between the slitting and slitting mechanism 420 and the strip-cutting and dicing mechanism 430; wherein the conveying angle of the slitting conveyor belt 410 between the fourth photoelectric sensor 440 and the strip-cutting and dicing mechanism 430 is adjustable.

[0209] Specifically, this embodiment provides an implementation of a meat processing unit 400, such as... Figures 9 to 20 As shown, the raw meat 600 conveyed by the pre-adjusted conveyor belt 330 is received by the slitting conveyor belt 410. At the same time, the slicing and cutting mechanism 420 and the strip-cutting and dicing mechanism 430 are set to cut the shaped raw meat 600. According to different cutting requirements, the raw meat 600 is sliced, cut into strips and diced.

[0210] Furthermore, a fourth photoelectric sensor 440 is arranged at a distance from the front end of the slicing and dicing mechanism 430 to serve as a trigger signal to start the slicing and dicing machine from the start of operation.

[0211] In some possible embodiments of the present invention, the slicing and cutting mechanism 420 includes: two rotating gear mounting brackets 421, rotatably disposed on both sides of the cutting conveyor belt 410; a cutter fixing plate 422, spanning above the cutting conveyor belt 410, forming a channel for the raw meat 600 to pass through, and fixedly connected to the two rotating gear mounting brackets 421 respectively; a slicing blade 423, rotatably connected to the cutter fixing plate 422, for slicing the passing raw meat 600; a cutter drive motor 424, connected to the slicing blade 423, for driving the slicing blade 423 to rotate; angle adjusting gears 425, respectively corresponding to the rotating gear mounting brackets 421, and the engagement points of the angle adjusting gears 425 and the rotating gear mounting brackets 421 are meshed by gear teeth; a rotating shaft 426, respectively connected to the two angle adjusting gears 425; and an angle adjusting motor 427, connected to the rotating shaft 426, for adjusting the angle between the cutter fixing plate 422 and the cutting conveyor belt 410.

[0212] Specifically, this embodiment provides an implementation of a slicing and cutting mechanism 420. By setting up a rotating gear mounting bracket 421, a cutter fixing plate 422, a slicing blade 423, a cutter drive motor 424, an angle adjustment gear 425, a rotating shaft 426, and an angle adjustment motor 427, the slicing blade 423 is driven to cut the raw meat 600 passing through.

[0213] In possible embodiments, such as Figures 9 to 11As shown, the slicing blade 423 and the slicing blade drive motor 424 are fixed on the front and back sides of the slicing blade fixing plate 422, respectively. The slicing blade drive motor 424 is used to control the clockwise / counterclockwise rotation of the slicing blade 423. The slicing blade drive motor 424 is a servo motor, and a torque sensor is installed on its output shaft to detect the torque change of the slicing blade 423 in real time. This allows for the generation of stress change curves when slicing different raw meats 600, which can then guide the design of the slicing blade 423. Different slicing torques can also be selected for slicing different raw meats 600. The two ends of the slicing blade fixing plate 422 are fixed together with two rotating gear mounting brackets 421. The plane where the slicing blade fixing plate 422 is initially located is perpendicular to the transmission direction of the slicing conveyor belt 410. The plane where the rotating gear mounting brackets 421 are located is perpendicular to the transmission direction of the slicing conveyor belt 410. The surface is parallel to the transmission direction of the slicing conveyor belt 410. The end of the rotating gear mounting bracket 421 is meshed with the angle adjustment gear 425. The angle adjustment gear 425 is installed at both ends of the rotating shaft 426 and is located below the rotating gear mounting bracket 421. The middle part of the rotating shaft 426 is connected to the angle adjustment motor 427, which controls the rotation of the rotating shaft 426 to drive the angle adjustment gear 425 to rotate, thereby adjusting the tilt angle of the slicing blade 423. In addition, the slicing angle and slicing speed can be adjusted according to the raw meat 600 type, texture distribution, physical properties, slicing requirements, quantitative slicing model and slicing path obtained by the raw meat multidimensional information sensing unit 100, so as to meet the quantitative slicing requirements of the raw meat 600 for vertical and horizontal slicing and different oblique slicing angles.

[0214] In some possible embodiments of the present invention, the meat processing unit 400 further includes: a telescopic mechanism 450 disposed on the side of the slitting conveyor belt 410 near the raw meat shaping unit 300, for compensating the distance between meat slices after being slitting by the slicing and cutting mechanism 420, so that the slitting meat slices are stacked on the slitting conveyor belt 410.

[0215] Specifically, this embodiment provides another implementation of the meat processing unit 400, such as... Figure 12 As shown, by setting the telescopic mechanism 450, the relative displacement between each slice of meat is compensated, so that the meat slices are stacked neatly.

[0216] In a possible embodiment, the telescopic mechanism 450 includes at least an electrically operated telescopic rod and a corresponding drive motor.

[0217] In some possible embodiments of the present invention, the slicing and dicing mechanism 430 includes: a slicing fixing bracket 431, disposed downstream of the fourth photoelectric sensor 440; a pressure stabilizing component 432, connected to the slicing fixing bracket 431, for stabilizing the pressure on the sliced ​​meat to stabilize the external shape of the stacked meat slices; a slicing component 433, connected to the slicing fixing bracket 431 and disposed downstream of the pressure stabilizing component 432, for slicing the meat slices into strips; a dicing component 434, connected to the slicing fixing bracket 431 and disposed downstream of the slicing component 433, for slicing the meat strips into diced meat; and a power component 435, connected to the slicing component 433 and the dicing component 434 respectively, for providing power to the slicing component 433 and the dicing component 434, and for adjusting the dicing component 434 to switch between the dicing working position and the slicing working position.

[0218] Specifically, this embodiment provides an implementation of a strip-cutting and dicing mechanism 430, such as... Figures 13 to 20 As shown, the cutting and fixing bracket 431 provides the installation position, and the pressure stabilizing component 432, the strip cutting component 433, and the dicing component 434 are arranged in sequence to realize the stabilization, strip cutting, and dicing of the sliced ​​meat. At the same time, the setting of the power component 435 realizes the adjustment of the cooperation between the strip cutting component 433 and the dicing component 434 to achieve the adjustment of the meat slices being cut into meat strips or meat cubes.

[0219] In some possible embodiments of the present invention, the pressure stabilizing assembly 432 includes: a transverse lead screw 4321, rotatably connected to the slitting fixed bracket 431 and arranged along a transport direction perpendicular to the slitting conveyor belt 410; a lead screw motor 4322, disposed on the slitting fixed bracket 431 and connected to one end of the transverse lead screw 4321; a transverse threaded pair 4323, connected to the transverse lead screw 4321; an electric cylinder 4324, connected to the transverse threaded pair 4323; a pressure roller frame 4325, connected to the electric cylinder 4324; and a pressure roller 4326, connected to the pressure roller frame 4325, for stabilizing the pressure of the meat slices; wherein the electric cylinder 4324 drives the pressure roller frame 4325 to reciprocate along a surface perpendicular to the slitting conveyor belt 410.

[0220] Specifically, this embodiment provides an implementation of a voltage regulator component 432, such as... Figures 13 to 20 As shown, the lead screw motor 4322 is coaxially and fixedly connected to the transverse lead screw and is installed on the upper part. The transverse threaded pair 4323 is threadedly installed on the transverse lead screw 4321. The electric cylinder 4324 is fixed on the transverse threaded pair 4323. The lower end of the electric cylinder 4324 is connected to the pressure roller frame 4325. The pressure roller 4326 on the pressure roller frame 4325 is a non-powered roller.

[0221] It should be noted that the pressure stabilizing component 432 is mainly used to fix and stabilize the neatly stacked meat slices of a certain weight, preventing the stacked meat slices from falling apart during subsequent slicing and dicing, thus affecting the quantitative slicing accuracy. At the same time, since the pressure roller 4326 is a non-powered roller, it does not affect the normal conveying of the meat slices on the slicing conveyor belt 410.

[0222] In some possible embodiments of the present invention, the power assembly 435 includes: a rolling drive motor 4351, which is disposed on the slitting fixed bracket 431; a rolling cutter shaft 4352, one end of which is connected to the rolling drive motor 4351 and extends along the conveying direction perpendicular to the slitting conveyor belt 410; and two rotating disks 4353, which are spaced apart along the extending direction of the rolling cutter shaft 4352.

[0223] The slitting assembly 433 includes: two longitudinal optical axes 4331, spaced apart along a transport direction perpendicular to the slitting conveyor belt 410, and perpendicular to the slitting conveyor belt 410; two lifting pairs 4332, slidingly engaged with the longitudinal optical axes 4331 one-to-one; and a connecting rod 4333, one end of which is connected to a rotating disk 4353 near the side of the rolling drive motor 4351, and the other end of which is connected to the lifting pair 4332 near the side of the rolling drive motor 4351. Connections include: a fixed rack 4334 connected to a slitting fixed bracket 431, spaced apart from the longitudinal optical axis 4331 on the side near the slitting drive motor 4351; a rolling gear 4335 located on a lifting pair 4332 on the side near the slitting drive motor 4351, meshing with the fixed rack 4334 for transmission; and two rotating discs 4336 spaced apart along the transport direction perpendicular to the slitting conveyor belt 410, with an inclination angle around the rotation direction, located near the slitting drive motor 4351. A rotating disc 4336 on one side rotates coaxially with a rolling gear 4335; four guide posts 4337 are connected to the rotating disc 4336 on the same side in pairs; a ball 4338 is positioned at the connection point between the guide posts 4337 and the rotating disc 4336; two cutting blades 4339 are connected to the corresponding two guide posts 4337 on the two rotating discs 4336, and the cutting blades 4339 have serrated blades on the side facing the cutting conveyor belt 410. The blade; the connecting rod 4333 and the longitudinal optical axis 4331 form a crank rocker mechanism; the rolling drive motor 4351 drives the lifting pair 4332 to reciprocate along the longitudinal optical axis 4331 through the connecting rod 4333; the rolling gear 4335 drives the rotating disk 4336 to rotate under the action of the fixed rack 4334; the two cutting blades 4339 move relative to each other in the horizontal and vertical directions under the action of the rotating disk 4336, the rolling ball 4338 and the guide column 4337, so as to cut the meat slices into meat strips.

[0224] Specifically, this embodiment provides an implementation of a power assembly 435 and a strip-cutting assembly 433, which cooperate with each other to cut meat slices into meat strips.

[0225] It should be noted that, as Figures 13 to 20 As shown, the lifting pair 4332 is installed below the top optical axis support, the longitudinal optical axis 4331 is installed below the lifting pair 4332, and the lowest end is supported by the bottom optical axis support. A fixed rack 4334 is installed on the longitudinal optical axis 4331, and a rolling gear 4335 is meshed with the fixed rack 4334. The lifting pair 4332 and the rolling gear 4335 are fixedly installed together, which can realize synchronous movement.

[0226] In possible embodiments, such as Figures 13 to 20 As shown, the reciprocating motion mechanism consists of components such as a rotating disk 4336, two guide posts 4337, and a ball 4338. The rotating disk 4336 is coaxially mounted with the rolling gear 4335. The two guide posts 4337 are respectively mounted on the upper and lower parts of the rotating disk 4336. The ball 4338 is embedded in one end of the two guide posts 4337 near the rotating disk 4336, and the other end is fixedly connected to the cutting blade 4339. Each guide post 4337 is equipped with a cutting blade 4339. The two cutting blades 4339 are close to each other, and the ends of the two cutting blades 4339 are designed to be serrated. The two cutting blades 4339 face the same direction.

[0227] In possible embodiments, such as Figures 13 to 20 As shown, the lifting pair 4332, longitudinal optical axis 4331, rotating disk 4336, and connecting rod 4333 in the slicing assembly 433 form a crank-connecting rod mechanism. When the turntable rotates, the crank-connecting rod drives the rolling gear 4335 to reciprocate up and down on the fixed rack 4334. At the same time, the rotation of the rolling gear 4335 drives the rotating disk 4336 to rotate clockwise or counterclockwise. Then, under the action of the rolling ball 4338, it drives the two chopping blades 4339 to move relative to each other in the horizontal and vertical directions, realizing the synchronous execution of the chopping and shearing actions of the stacked raw meat 600 slices. Finally, the raw meat 600 is sliced ​​into strips, and the frequency and speed of the two chopping blades 4339 are matched with the slicing path planning model of the raw meat 600.

[0228] In some possible embodiments of the present invention, the power assembly 435 includes: a slitting drive motor 4351, disposed on the slitting fixed bracket 431; a slitting shaft 4352, one end of which is connected to the slitting drive motor 4351 and extends along the conveying direction perpendicular to the slitting conveyor belt 410; two rotating disks 4353, spaced apart along the extending direction of the slitting shaft 4352; and a dicing electric push rod 4354, which is connected to the slitting shaft 4352 and the slitting drive motor 4351 respectively, for adjusting the connection between the slitting shaft 4352 and the slitting drive motor 4351.

[0229] The dicing assembly 434 includes: a mounting plate 4341 connected to a slitting bracket 431; a plurality of roller cutter seats 4342 spaced apart on the mounting plate 4341 along a transport direction perpendicular to the slitting conveyor belt 410; a roller cutter body 4343 rotatably connected to a roller cutter shaft 4352 and fixedly connected to each roller cutter seat 4342, with the roller cutter body 4343 extending to the slitting conveyor belt 410 for dicing meat strips into the diced meat; and a dicing drive motor 4344 disposed on the slitting bracket 431 and connected to the mounting plate 4341 for driving the mounting plate 4341 to switch from a dicing working position to a strip-cutting working position when the roller cutter shaft 4352 and the roller cutting drive motor 4351 are disconnected.

[0230] Specifically, this embodiment provides an implementation of the power assembly 435 and the cutting assembly 434, such as... Figures 13 to 20 As shown, the power assembly 435 and the dicing assembly 434 cooperate with each other to switch the dicing assembly 434 between the dicing working position and the strip-cutting working position, thereby cutting meat strips into meat cubes, or simply cutting meat slices into meat strips.

[0231] In possible embodiments, such as Figures 13 to 20 As shown, the mounting plate 4341 is mounted on the rotary gear mounting bracket 421 via an electric slide 4345, which is controlled by a dicing drive motor 4344 and is used to fix and move the dicing assembly 434 back and forth.

[0232] In a possible embodiment, a horizontal rail is arranged in the middle of the mounting plate 4341, and several horizontal sliders are arranged on the horizontal rail. The belt drive motor is arranged on the leftmost side of the mounting plate 4341 and is coaxially fixed with the drive pulley. The drive pulley drives the driven pulley to rotate by a belt. The lower end of the driven pulley is connected to the longitudinal lead screw. The longitudinal lead screw is fitted with a movable threaded pair by a threaded engagement. The movable threaded pair, the guide plate 4346, and the longitudinal sliders are fixedly connected in sequence from front to back. The movable threaded pair is fixed together with the left side of the guide plate 4346. The left and right rear ends of the guide plate 4346 are arranged on the longitudinal sliders. The longitudinal sliders are embedded in the longitudinal rail, ensuring that when the belt drive motor drives the drive pulley to rotate, the movable threaded pair moves back and forth up and down on the longitudinal lead screw, thereby driving the guide plate 4346 to move back and forth up and down under the action of the longitudinal sliders.

[0233] In possible embodiments, such as Figures 13 to 20 As shown, one end of the electric dicing push rod 4354 is connected to the support seat of the roller shaft 4352, and the other end of the electric dicing push rod 4354 is connected to the roller shaft 4352. A rotating disk 4353 is installed at the end of the electric dicing push rod 4354 near the support seat of the roller shaft 4352. One end of the electric dicing push rod 4354 on the right side is connected to the roller shaft 4352, and the other end of the electric dicing push rod 4354 is connected to the roller cutting drive motor 4351. The same rotating disk 4353 is installed at the end near the roller cutting drive motor 4351. Crank connecting rods 4333 are installed on the rotating disks 4353 at a certain distance from the axis. One end of the connecting rod 4333 is connected to the rotating disk 4353, and the other end of the connecting rod 4333 is connected to the lifting pair 4332 in the slicing assembly 433.

[0234] In some possible embodiments of the present invention, the dicing assembly 434 further includes: an electric slide table 4345 connected to a dicing drive motor 4344, a mounting plate 4341 disposed on the other side of the electric slide table 4345 connected to the dicing drive motor 4344, the electric slide table 4345 being able to laterally adjust the position of the mounting plate 4341 along the transport direction perpendicular to the slitting conveyor belt 410; a guide plate 4346 disposed parallel to the moving surface of the electric slide table 4345, and the surface of the guide plate 4346 being provided with a plurality of inclined guide grooves 4347; a roller 4348 connected to the other end of the roller cutter holder 4342 provided with a roller cutter body 4343, and cooperating with the guide grooves 4347; and a dicing longitudinal drive module 4349 disposed on the electric slide table 4345 for adjusting the relative position of the guide plate 4346 in the vertical direction; wherein the distance between two adjacent guide grooves 4347 gradually decreases or increases along the vertical direction.

[0235] Specifically, this embodiment provides an implementation of the dicing component 434, such as... Figures 13 to 20As shown, by setting up an electric slide table 4345, a guide plate 4346, a roller 4348, and a longitudinal drive module 4349 for cutting, the distance between two adjacent guide grooves 4347 can be gradually reduced or increased in the vertical direction.

[0236] In possible embodiments, such as Figures 13 to 20 As shown, the roller 4348, the cutter holder 4342, and the transverse slider are fixedly connected from front to back. The roller 4348 can roll in the guide groove 4347 embedded in the guide plate 4346. The guide plate 4346 has several fan-shaped inclined grooves, and the distance between adjacent inclined grooves increases from bottom to top. Each inclined groove is embedded with a roller 4348 and is fixedly installed on the transverse slider at the rear end of the guide plate 4346. The transverse slider is nested on the transverse rail and can move left and right on the transverse rail. Each transverse slider has a cutter holder 4342 integrally installed at the lower part. Each cutter holder 4342 has a cutter body 4343 fixed in the cutter groove at the lower end of the cutter. When the transverse slider, the cutter holder 4342, and the cutter body 4343 move, they move in unison and in a synchronized manner.

[0237] Furthermore, the movement of the transverse slider depends on the guide plate 4346 moving up and down in the longitudinal slider state. At this time, the transverse spacing of the balls in the inclined groove of the guide plate 4346 changes continuously, thereby driving the equal adjustment of the transverse spacing of the hob holder 4342 fixed thereto, thereby realizing the equal spacing adjustment of multiple hob bodies 4343.

[0238] In possible embodiments, such as Figure 20 As shown, several hobbing cutter bodies 4343 are driven to rotate by a hobbing cutter shaft 4352. Each hobbing cutter body 4343 has a spline groove at its center. The hobbing cutter shaft 4352 is a spline drive shaft. The spline groove and the hobbing cutter shaft 4352 are installed with an axial clearance fit to ensure that the distance between multiple hobbing cutter bodies 4343 can be adjusted at will without affecting the rotation of the hobbing cutter when the hobbing cutter holder 4342 moves laterally. The rotation of the hobbing cutter body 4343 depends on the hobbing drive motor 4351 located on the right side of the hobbing cutter shaft 4352. Dicing electric push rods 4354 are arranged on both the left and right sides of the hobbing cutter shaft 4352. The dicing electric push rods 4354 are used to achieve the engagement and disengagement at the connection between the shaft end and the rotating disk 4353, thereby realizing the control of the motion state of multiple hobbing cutter bodies 4343. The dicing electric push rods 4354 are connected to the hobbing drive motor 4351, which provides a power source for the rotation of the entire hobbing cutter body 4343.

[0239] In one application scenario, when stacked meat slices need to be individually cut into strips, the electric dicing push rod 4354 is activated, the rotating shafts of the roller blade shaft 4352 and the rotating disk 4353 are disconnected at the connection point, the dicing component 434 and the strip-cutting component 433 are disconnected, the dicing drive motor 4344 drives the electric slide table 4345 to work, driving the entire dicing mechanism to move backward. At this time, the roller cutting drive motor 4351 no longer drives the roller blade 4343 to work, but only drives the connecting rod on the rotating disk 4353 to drive the rolling gear 4335 to rotate, thereby driving the reciprocating structure to rotate, realizing the up and down reciprocating shearing action of the chopping blade 4339, completing the chopping of the stacked meat slices. At the same time, according to the strip-cutting path planning model, different sizes of meat strips can be accurately cut quantitatively. The backward movement of the dicing mechanism provides sufficient space for the individual cutting of meat slices, avoiding blockage of the strip-cutting mechanism.

[0240] In one application scenario, when it is necessary to dice the stacked raw meat 600, the dicing drive motor 4344 drives the electric slide table 4345 to work, moving the entire dicing mechanism forward and returning to its original position. The rotating shafts of the roller shaft 4352 and the rotating disk 4353 are engaged at the connection point, and the dicing assembly 434 and the strip-cutting assembly 433 are connected. The roller cutting drive motor 4351 drives the roller shaft 4352 to rotate. Under the action of the rotating disk 4353, the connecting rod 4333 and the chopping blade 4339, the meat slices are chopped while the roller assembly cuts the strip meat into cubes. At the same time, based on the cutting path planning model of different meat cube sizes established by the raw meat multi-dimensional information sensing unit 100, the belt drive motor drives the moving threaded pair to adjust to different positions. Then, the rollers 4348 in the guide plate 4346 set the roller holder 4342 to different distances, ultimately realizing the adjustment of the roller cutting size and achieving precise quantitative cutting of different meat cube sizes.

[0241] In some possible embodiments of the present invention, the meat packaging section 500 includes: a right-angle transfer mechanism 510, disposed below the cutting conveyor belt 410 and corresponding to the adjustable inclined conveyor belt 411 at the output end of the cutting conveyor belt 410; a meat slice quantitative packaging mechanism 520, disposed downstream of the right-angle transfer mechanism 510; and a meat strip / dic quantitative packaging mechanism 530, disposed downstream of the cutting conveyor belt 410.

[0242] Specifically, this embodiment provides an implementation of a meat packaging section 500, such as... Figure 21 As shown in Figure 22, the packaging of meat slices, meat strips and meat cubes is achieved through the right-angle transfer mechanism 510, the meat slice quantitative packaging mechanism 520 and the meat strip and meat cube quantitative packaging mechanism 530.

[0243] In a possible embodiment, the meat slice quantitative packaging mechanism 520 and the meat strip / dic quantitative packaging mechanism 530 are respectively arranged below the cutting conveyor belt 410 and the strip / dicing mechanism 430, and are connected at the same height to both ends of the right-angle conveyor also arranged below. Based on the pre-designed cutting shape and quantitative value of the raw meat 600 by the raw meat multi-dimensional information sensing unit 100,

[0244] In a possible embodiment, if the meat to be packaged is a fixed quantity of meat slices, after the cutting is completed, when the meat is transported to the fourth photoelectric sensor 440 by the cutting conveyor belt 410, the adjustable inclined conveyor belt 411 drops at a certain angle, which will transport a certain weight of meat slices to the right-angle conveyor and then to the meat slice quantitative packaging unit for subsequent packaging of the fixed quantity of meat slices.

[0245] In a possible embodiment, if the meat needs to be packaged as meat strips or meat cubes, the slitting conveyor belt 410 transports normally, the adjustable inclined conveyor belt 411 does not change angle, and the meat strips or meat cubes after slitting are transported to the meat strip and meat cube quantitative packaging unit in another direction via a right-angle conveyor for subsequent quantitative packaging of meat strips and meat cubes.

[0246] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cutting method capable of intelligently converting the shape of raw meat strips into cubes, characterized in that, Applied to a server, it includes: a raw meat multidimensional information sensing unit (100), a raw meat adjustment unit (200), a raw meat shaping unit (300), and a meat processing unit (400) connected in sequence; The method includes: In response to the raw meat (600) cutting signal, the cutting method information of the raw meat (600) is obtained, and the meat multidimensional information of the raw meat (600) is obtained through the raw meat multidimensional information sensing unit (100). The cutting method information includes at least one or a combination of slices, strips and cubes of the raw meat (600). The meat multidimensional information includes at least one or a combination of weight, position, shape, type, lean-to-fat ratio, moisture content, texture, viscoelasticity and texture distribution of the raw meat (600). Based on the multidimensional information of the meat, the raw meat adjustment unit (200) adjusts the relative position of the raw meat (600) in the transport direction; Based on the multidimensional information of the meat, the raw meat shaping unit (300) shapes the external shape of the raw meat (600) after the relative position has been adjusted; Based on the cutting method information, the cutting method of the meat processing unit (400) is adjusted to cut the raw meat (600), and the cutting of the raw meat (600) is performed; Based on the multidimensional information of the meat, the raw meat adjustment unit (200) adjusts the relative position of the raw meat (600) in the transportation direction, specifically including: Based on the multidimensional information of the meat product, it is determined that the raw meat (600) belongs to the first type of meat product, the first muscle fiber direction of the raw meat (600) is obtained, and the first muscle fiber direction is adjusted to be parallel to the transport direction of the raw meat (600), wherein the texture distribution of the first type of meat product is greater than or equal to a preset texture threshold. Based on the multidimensional information of the meat product, it is determined that the raw meat (600) belongs to the second type of meat product. The direction of the second muscle fiber of the raw meat (600) is obtained and adjusted to be perpendicular to the transport direction of the raw meat (600). The texture distribution of the second type of meat product is less than a preset texture threshold.

2. The cutting method for intelligently converting the shape of raw meat strips into cubes according to claim 1, characterized in that, Based on the multidimensional information of the meat, the raw meat shaping unit (300) shapes the external morphology of the raw meat (600) after adjusting its relative position, specifically including: Based on the multidimensional information of the meat products, a multimodal information data model of the raw meat (600) is constructed; Based on the cutting method information and the multimodal information data model, the external morphology of the raw meat (600) is shaped, and a cutting path planning model is generated.

3. The cutting method for intelligently converting the shape of raw meat strips into cubes according to claim 2, characterized in that, The generated split path planning model includes: Based on the cutting method information, the meat characteristic parameters and the cutting form of the shaped raw meat (600) are obtained. The meat characteristic parameters include at least one or a combination of the following: weight parameters, contour parameters, tangent angle of contour boundary, meat viscoelasticity, texture direction, color value, lean-to-fat ratio and texture of the shaped raw meat (600). Based on the meat product characteristic parameters and the cutting method, the cutting path planning model is generated.

4. The cutting method for intelligently converting the shape of raw meat strips into cubes according to claim 3, characterized in that, The step of generating the cutting path planning model based on the meat product characteristic parameters and the cutting method specifically includes: When the raw meat (600) is cut into slices of equal thickness, the preset cutting thickness of the raw meat (600), the fixed-thickness cutting path of the raw meat (600) in the contour length direction, the conveying speed of the raw meat (600) and the fixed-thickness cutting time interval between two adjacent slices are obtained. Based on the preset slicing thickness, the fixed-thickness slicing path, the conveying speed, and the fixed-thickness slicing time interval, the slicing path planning model is generated; Wherein, the number of cuts n determined by the preset cutting thickness and the contour length is a non-integer, and the non-integer part is greater than or equal to the preset slice base number, and the preset cutting thickness is updated according to n+1 cutting numbers and the contour length; If the number of cuts n, determined by the preset cutting thickness and the contour length, is a non-integer and the non-integer portion is less than the preset slice base, the preset cutting thickness is updated based on the n-1 cutting quantities and the contour length.

5. The cutting method for intelligently converting the shape of raw meat strips into cubes according to claim 3, characterized in that, The step of generating the cutting path planning model based on the meat product characteristic parameters and the cutting method specifically includes: When the raw meat (600) is cut into quantitative slices, the preset cutting weight, the thickness of the first slice, the weight parameters of the raw meat (600), the quantitative slicing path of the raw meat (600) in the contour length direction, the conveying speed of the raw meat (600) and the quantitative slicing time interval between two adjacent slices are obtained. Based on the preset slicing weight, the first piece fixed-weight slicing thickness, the weight parameters, the fixed-weight slicing path, the conveying speed, and the fixed-weight slicing time interval, the slicing path planning model is generated; Wherein, the number of cuts m determined by the preset cutting weight and the weight parameter is a non-integer, and the non-integer part is greater than or equal to the preset slice base number, the preset cutting weight is updated according to m+1 cutting quantities and the contour length; If the number of cuts m determined by the preset cutting weight and the contour length is a non-integer and the non-integer part is less than the preset slice base, the preset cutting weight is updated according to m-1 cutting quantities and the contour length.

6. The cutting method for intelligently converting the shape of raw meat strips into cubes according to claim 3, characterized in that, The step of generating the cutting path planning model based on the meat product characteristic parameters and the cutting method specifically includes: When the raw meat (600) is cut into strips, the following parameters are obtained: the width of the raw meat after shaping, the length of the strip, the width of the strip, the thickness of the strip, the cutting frequency of the strip, and the cutting path of the strip. Based on the width of the shaped raw meat, the length parameter of the meat strip, the width parameter of the meat strip, the thickness parameter of the meat strip, the chopping frequency of the meat strip, and the cutting path of the meat strip, the cutting path planning model is generated; Wherein, the number of cuts k determined by the meat strip width parameter and the width of the shaped raw meat is a non-integer, and the non-integer part is greater than or equal to the preset slice base number, and the meat strip width parameter is updated according to the k+1 cuts and the width of the shaped raw meat; If the number of cuts k determined by the meat strip width parameter and the width of the shaped raw meat is a non-integer and the non-integer part is less than the preset slice base number, the meat strip width parameter is updated according to the k-1 cuts and the width of the shaped raw meat.

7. The cutting method for intelligently converting the shape of raw meat strips into cubes according to claim 3, characterized in that, The step of generating the cutting path planning model based on the meat product characteristic parameters and the cutting method specifically includes: When the raw meat (600) is cut into meat cubes, the following parameters are obtained: the width of the raw meat after shaping, the length of the meat cube, the width of the meat cube, the thickness of the meat cube, the cutting frequency of the meat cube, the cutting position of the meat cube, and the cutting path of the meat cube. Based on the width of the shaped raw meat, the length parameter of the meat cube, the width parameter of the meat cube, the thickness parameter of the meat cube, the chopping frequency of the meat cube, the chopping position of the meat cube, and the cutting path of the meat cube, the cutting path planning model is generated; Wherein, the number of cuts p determined by the meat cube width parameter and the shaped raw meat width is a non-integer, and the non-integer part is greater than or equal to the preset slice base number, the meat cube width parameter is updated according to p+1 cuts and the shaped raw meat width; If the number of cuts p determined by the meat cube width parameter and the width of the shaped raw meat is a non-integer and the non-integer part is less than the preset slice base number, the meat cube width parameter is updated according to the number of cuts p-1 and the width of the shaped raw meat.

8. The cutting method for intelligently converting the shape of raw meat strips into cubes according to any one of claims 1 to 7, characterized in that, The meat processing unit (400) includes: A slicing and cutting mechanism (420) is disposed on the side near the raw meat shaping section (300) for cutting the raw meat (600) into meat slices; A strip-cutting assembly (433) is disposed downstream of the slicing and cutting mechanism (420) for cutting the meat slices into meat strips; A dicing assembly (434) is disposed downstream of the slicing and cutting mechanism (420) for cutting the meat strips into diced meat. A power assembly (435) is connected to the slicing assembly (433) and the dicing assembly (434) respectively, for providing power to the slicing assembly (433) and the dicing assembly (434), and for adjusting the dicing assembly (434) to switch between the dicing working position and the slicing working position; The step of adjusting the cutting method of the meat processing unit (400) to cut the raw meat (600) based on the cutting method information, and performing the cutting of the raw meat (600), specifically includes: The cutting method information indicates that the raw meat (600) is cut into strips. The power component (435) adjusts the relative positions of the strip cutting component (433) and the dicing component (434) so ​​that the dicing component (434) switches to the strip cutting position. The cutting method information indicates that the raw meat (600) is cut into cubes. The power component (435) adjusts the relative positions of the strip cutting component (433) and the dicing component (434) so ​​that the dicing component (434) switches to the dicing working position.

9. A cutting system capable of intelligently converting the shape of raw meat strips into cubes, characterized in that, When performing the intelligent transformation of the shape of raw meat strips into cubes, the cutting method described in any one of claims 1 to 8 that enables the intelligent transformation of the shape of raw meat strips into cubes is adopted.

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