Raw meat machine humanoid cutting equipment based on multi-dimensional information perception

Abstract

The present invention relates to the field of intelligent food processing technology, and provides a raw meat machine-simulated humanoid cutting equipment based on multidimensional information perception. The equipment includes: a raw meat multidimensional information sensing unit for obtaining multidimensional information about the raw meat; a raw meat adjustment unit, disposed downstream of the raw meat multidimensional information sensing unit, for at least adjusting the relative position of the raw meat in the moving direction based on the multidimensional information about the meat; a raw meat shaping unit, disposed downstream of the raw meat adjustment unit, for at least adjusting the external shape of the raw meat based on the multidimensional information about the meat; a meat processing unit, disposed downstream of the raw meat shaping unit, for cutting the raw meat into meat products based on the multidimensional information about the meat; and a meat packaging unit, disposed downstream of the meat processing unit. The present invention combines food processing, artificial intelligence algorithms, and the chef's knife skills during the cooking process of Chinese dishes to obtain multidimensional information about the raw meat and formulate corresponding strategies for cutting into slices, strips, or cubes.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent food processing, and in particular to a humanoid cutting device for raw meat based on multi-dimensional information perception. Background Art

[0002] With the development of technology, in order to meet the needs of cutting raw meat in different processing methods of Chinese meat dishes, the raw meat needs to be pre-processed by slicing, cutting into strips, cutting into cubes, etc. before cooking, such as the meat chunks in braised pork, the meat strips in sweet and sour pork tenderloin, the meat cubes in Kung Pao chicken, and the meat slices in boiled pork slices.

[0003] Currently, raw meat is mostly cut manually or mechanically. Manual cutting is labor-intensive, inefficient, and non-standardized, making it difficult to meet the requirements of industrialized dish processing. Mechanical chopping machines or cutting equipment cannot achieve precise quantitative cutting, have low accuracy, and cause high losses, failing to meet the meat industry's needs for raw material loss reduction and intelligent processing.

[0004] Furthermore, due to the diversity and variety of ingredients in Chinese dishes, before cooking, chefs need to choose different cutting methods according to the type, size, and part of the raw meat being cooked, commonly known as "knife skills". For example, for raw meat with coarse muscle fibers such as beef and mutton, it is necessary to cut with a knife perpendicular to the grain when slicing, and cut along the grain when cutting into strips. This can ensure that the muscle fibers of the raw meat are quickly broken after cooking, which is conducive to chewing and digestion; for raw materials with tender textures such as pork and chicken, slicing and cutting into strips should be done as much as possible along the grain, that is, cutting along or obliquely, to ensure that the muscles are not soft and rotten during heat processing and maintain the taste; however, due to the complexity of Chinese cooking techniques, existing cutting technologies and equipment cannot meet the intelligent cutting requirements of traditional Chinese cooking techniques such as steaming, baking, stewing, and stir-frying for quantitative slicing, strip cutting, and dicing of raw meat. Intelligent cutting technology that matches Chinese cooking knife skills is still blank, and special machine-based humanoid cutting equipment suitable for Chinese cooking is in urgent need of breakthroughs. Summary of the Invention

[0005] The present invention provides a human-like cutting equipment for raw meat based on multi-dimensional information perception, which is used to solve the problem that existing cutting technology and equipment cannot meet the requirements of industrialized processing of dishes. Mechanical chopping machines or cutting equipment cannot achieve accurate quantitative cutting, have low precision and high loss, and cannot meet the meat industry's demand for reducing raw material loss and consumption.

[0006] According to the present invention, a raw meat machine-simulated humanoid cutting equipment based on multi-dimensional information perception includes: a raw meat multi-dimensional information perception unit, which is used to obtain multi-dimensional parameters of raw meat, and the multi-dimensional parameters of the meat include at least any one or a combination of several of the weight, position, shape outline, type, fat-lean ratio, moisture content, texture, viscoelasticity and texture distribution of the raw meat; a raw meat adjustment unit, which is arranged on the downstream side of the raw meat multi-dimensional information perception unit, and is at least used to adjust the relative position of the raw meat in the moving direction according to the multi-dimensional parameters of the meat; a raw meat shaping unit, which is arranged on the downstream side of the raw meat adjustment unit, and is at least used to adjust the external shape of the raw meat based on the multi-dimensional parameters of the meat; a meat processing unit, which is arranged on the downstream side of the raw meat shaping unit, and cuts the raw meat into meat products based on the multi-dimensional parameters of the meat to obtain meat products, and the cutting process includes at least any one or a combination of several of slicing, strip cutting and dicing; a meat packaging unit, which is arranged on the downstream side of the meat processing unit, and is used to package the quantitative meat products after cutting.

[0007] According to one embodiment of the present invention, the raw meat multi-dimensional information perception unit includes: a weighing belt, extending along the conveying direction of the raw meat, for providing power for the transportation of the raw meat and obtaining the weight of the raw meat; a first photoelectric sensor, arranged on the side of the weighing belt; an ultrasonic detector, on the side of the weighing belt, spaced apart from the first photoelectric sensor along the conveying direction of the raw meat; a first laser scanner, arranged above the weighing belt; an imaging spectrometer, above the weighing belt, spaced apart from the first laser scanner along the conveying direction of the raw meat; wherein the initial detection position points of the ultrasonic detector, the first laser scanner and the imaging spectrometer are in the same detection plane.

[0008] Specifically, this embodiment provides an implementation method of a raw meat multi-dimensional information perception unit.

[0009] According to one embodiment of the present invention, the raw meat adjustment section is a universal ball conveyor provided on the downstream side of the raw meat multi-dimensional information sensing section.

[0010] Specifically, this embodiment provides an implementation of a raw meat adjustment unit.

[0011] According to one embodiment of the present invention, the raw meat shaping section includes: a shaping support frame, which is arranged on the downstream side of the raw meat adjustment section; a bottom support plate, which is arranged on the shaping support frame; a pre-adjustment transmission belt, which is arranged above the bottom support plate and docked with the raw meat adjustment section, and is used to provide power for the transportation of the raw meat; two shaping mechanisms, which are arranged at intervals along the conveying direction of the pre-adjustment transmission belt, and are used to shape the external shape of the raw meat conveyed by the pre-adjustment transmission belt; an angle adjustment mechanism, which is arranged on the bottom support plate and connected to the bottom of the pre-adjustment transmission belt, and is used to adjust the inclination angle of the pre-adjustment transmission belt to adjust the relative position of the raw meat on the pre-adjustment transmission belt; a second laser scanner, which is arranged at the top of the first shaping mechanism and is arranged corresponding to the outlet end of the first shaping mechanism; a second photoelectric sensor, which is arranged on the upstream side of the first shaping mechanism; and a third photoelectric sensor, which is arranged between the two shaping mechanisms.

[0012] Specifically, this embodiment provides an implementation method of a raw meat shaping section.

[0013] According to one embodiment of the present invention, the shaping mechanism includes: a shaping fixed bracket, connected to the shaping support frame; a driving assembly, arranged above the pre-adjustment transmission belt and connected to the shaping fixed bracket; a shaping assembly, arranged above the pre-adjustment transmission belt and connected to the driving assembly, for shaping the external shape of the raw meat conveyed by the pre-adjustment transmission belt.

[0014] Specifically, this embodiment provides an implementation of a shaping mechanism.

[0015] According to one embodiment of the present invention, the driving assembly includes: a vertical displacement module, which is arranged on the shaping fixed bracket, and a horizontal displacement module, which is connected to the vertical displacement module; wherein, the shaping assembly is arranged on the horizontal displacement module, and the shaping assembly adjusts its relative position on the pre-adjusted transmission belt under the action of the vertical displacement module and the horizontal displacement module.

[0016] Specifically, this embodiment provides an implementation of a drive component.

[0017] According to one embodiment of the present invention, the shaping component includes: a mounting bracket connected to the drive component; a shaping motor connected to the mounting bracket; a transmission gear arranged at the output end of the shaping motor; two shaping gear connecting rods symmetrically arranged on both sides of the shaping motor along the conveying direction of the raw meat, and respectively engaged with the transmission gear for transmission; two shaping modules, respectively and correspondingly connected to the shaping gear connecting rods, for shaping the external shape of the raw meat conveyed by the pre-adjusted transmission belt; a dual-axis electric push rod arranged on the mounting bracket and respectively hingedly connected to the two shaping modules.

[0018] Specifically, this embodiment provides an implementation of a shaping component.

[0019] According to one embodiment of the present invention, the shaping module includes: a roller bracket, which is hingedly connected to the dual-axis electric push rod; a plurality of roller pressure plates, which are arranged at intervals on the roller bracket along the conveying direction of the raw meat; a shaping electric push rod, one end of which is hingedly connected to the shaping gear connecting rod, and the other end of the shaping electric push rod is hingedly connected to the roller adjustment push rod; a roller adjustment push rod, which is arranged on the other side of the roller bracket where the shaping electric push rod is installed, and is hingedly connected to the roller bracket; an angle sensing module, which is arranged on the side of the roller pressure plate close to the dual-axis electric push rod, and is used to detect the motion parameters of the roller pressure plate; a force sensing module, which is arranged inside the roller pressure plate, and is used to detect the pressure parameters of the roller pressure plate on the raw meat.

[0020] Specifically, this embodiment provides an implementation of a shaping module.

[0021] According to one embodiment of the present invention, the meat processing section includes: a slitting transmission belt, which is arranged to connect with the raw meat shaping section; a slicing and dicing mechanism, which is arranged on the conveying path of the slitting transmission belt and close to one side of the raw meat shaping section; a strip cutting and dicing mechanism, which is arranged on the conveying path of the slitting transmission belt and is arranged on the downstream side of the slicing and dicing mechanism; a fourth photoelectric sensor, which is arranged between the slicing and dicing mechanism and the strip cutting and dicing mechanism; wherein the conveying angle of the slitting transmission belt between the fourth photoelectric sensor and the strip cutting and dicing mechanism is adjustable.

[0022] Specifically, this embodiment provides an implementation of a meat processing unit.

[0023] According to one embodiment of the present invention, the slicing and cutting mechanism includes: two rotating gear mounting frames, which are rotatably arranged on both sides of the slicing transmission belt; a cutter fixing plate, which is arranged across the top of the slicing transmission belt to form a channel for the raw meat to pass through, and is fixedly connected to the two rotating gear mounting frames respectively; a slicing knife, which is rotatably connected to the cutter fixing plate and is used to cut the raw meat passing through; a cutter driving motor, which is connected to the slicing knife and is used to drive the slicing knife to rotate; angle adjustment gears, which are respectively arranged in a one-to-one correspondence with the rotating gear mounting frames, and the angle adjustment gears are engaged with the rotating gear mounting frames at the mating points through gear teeth; a rotating shaft, which is respectively connected to the two angle adjustment gears; an angle adjustment motor, which is connected to the rotating shaft and is used to adjust the angle between the cutter fixing plate and the slicing transmission belt.

[0024] Specifically, this embodiment provides an implementation of a slicing and cutting mechanism.

[0025] According to one embodiment of the present invention, the meat processing section further includes: a telescopic mechanism, which is arranged on the side of the slitting and conveying belt close to the raw meat shaping section, and is used to compensate for the distance between the meat slices cut by the slicing and cutting mechanism, so that the cut meat slices can be stacked on the slitting and conveying belt.

[0026] Specifically, this embodiment provides another implementation of a meat processing section.

[0027] According to one embodiment of the present invention, the strip cutting and dicing mechanism includes: a cutting fixed bracket, which is arranged on the downstream side of the fourth photoelectric sensor; a voltage stabilizing component, which is connected to the cutting fixed bracket and is used to stabilize the voltage of the cut meat slices so that the external shape of the stacked meat slices is stable; a strip cutting component, which is connected to the cutting fixed bracket and is arranged on the downstream side of the voltage stabilizing component, and is used to cut the meat slices into meat strips; a dicing component, which is connected to the cutting fixed bracket and is arranged on the downstream side of the cutting component, and is used to cut the meat strips into meat cubes; a power component, which is respectively connected to the strip cutting component and the dicing component, and is used to provide power to the strip cutting component and the dicing component, and to adjust the dicing component to switch between the dicing working position and the strip cutting working position.

[0028] Specifically, this embodiment provides an implementation of a strip cutting and dicing mechanism.

[0029] According to one embodiment of the present invention, the pressure stabilizing assembly includes: a transverse lead screw, which is rotatably connected to the slitting fixed bracket and is arranged along a transport direction perpendicular to the slitting transmission belt; a lead screw motor, which is arranged on the slitting fixed bracket and connected to one end of the transverse lead screw; a transverse thread pair, which is connected to the transverse lead screw; an electric cylinder, which is connected to the transverse thread pair; a pressure roller frame, which is connected to the electric cylinder; a pressure roller, which is connected to the pressure roller frame and is used to stabilize the pressure of the meat slices; wherein, the electric cylinder drives the pressure roller frame to move back and forth along a surface perpendicular to the slitting transmission belt.

[0030] Specifically, this embodiment provides an implementation of a voltage stabilizing component.

[0031] According to one embodiment of the present invention, the power assembly includes: a rolling cutting drive motor, which is arranged on the slitting fixed bracket; a roller shaft, one end of which is connected to the rolling cutting drive motor and is extended perpendicular to the conveying direction of the slitting transmission belt; and two rotating disks, which are arranged at intervals along the extension direction of the roller shaft.

[0032] The slitting assembly comprises: two longitudinal optical axes, which are arranged at intervals along the transport direction perpendicular to the slitting transmission belt and perpendicular to the slitting transmission belt; two lifting pairs, which slide in a one-to-one correspondence with the longitudinal optical axes; a connecting rod, one end of the connecting rod is connected to the rotating disk near the rolling cutting drive motor side, and the other end of the connecting rod is connected to the lifting pair near the rolling cutting drive motor side; a fixed rack is connected to the slitting fixed bracket, and is respectively arranged at intervals with the longitudinal optical axes near the rolling cutting drive motor side; a rolling gear is arranged on the lifting pair near the rolling cutting drive motor side and meshes with the fixed rack for transmission; two flip disks are arranged at intervals along the transport direction perpendicular to the slitting transmission belt and are provided with an inclination angle around the rotation direction, and the flip disk near the rolling cutting drive motor side rotates coaxially with the rolling gear; four guide columns , each two guide columns are connected to the turning disk on the same side; a rolling ball is arranged at the connecting position of the guide column and the turning disk; two chopping knives, each chopping knife is connected to the two guide columns corresponding to the two turning disks, and a serrated blade is provided on the side of the chopping knife facing the slitting transmission belt; wherein the lifting pair, the rotating disk, the connecting rod and the longitudinal optical axis form a crank rocker mechanism; the two turning disks, the four guide columns, the two chopping knives and the rolling balls form a reciprocating motion mechanism; the rolling driving motor drives the lifting pair to reciprocate along the longitudinal optical axis through the connecting rod, and the rolling gear drives the turning disk to rotate under the action of the fixed rack, and the two chopping knives move relative to each other in the horizontal and vertical directions under the action of the turning disk, the rolling balls and the guide columns to cut the meat slices into meat strips.

[0033] Specifically, this embodiment provides an implementation of a power assembly and a strip cutting assembly.

[0034] According to one embodiment of the present invention, the power assembly includes: a rolling cutting drive motor, which is arranged on the slitting fixed bracket; a roller shaft, one end of which is connected to the rolling cutting drive motor and is extended perpendicular to the conveying direction of the slitting transmission belt; two rotating disks, which are arranged at intervals along the extension direction of the roller shaft; and a dicing electric push rod, which is respectively connected to the roller shaft and the rolling cutting drive motor, and is used to adjust the connection between the roller shaft and the rolling cutting drive motor.

[0035] The dicing assembly includes: a mounting plate connected to the slitting fixed bracket; a plurality of roller cutter seats arranged on the mounting plate at intervals along a transport direction perpendicular to the slitting transmission belt; a roller cutter body rotatably connected to the roller cutter shaft and fixedly connected to the roller cutter seats in a one-to-one correspondence, and the roller cutter body extends to the slitting transmission belt for slicing the meat strips into the diced meat; a dicing drive motor provided on the slitting fixed bracket and connected to the mounting plate for driving the mounting plate to switch from the dicing working position to the strip cutting working position when the roller cutter shaft and the rolling cutting drive motor are disconnected.

[0036] Specifically, this embodiment provides an implementation of a power assembly and a dicing assembly.

[0037] According to one embodiment of the present invention, the dicing assembly also includes: an electric slide connected to the dicing drive motor, the mounting plate is arranged on the other side of the electric slide connected to the dicing drive motor, and the electric slide can adjust the position of the mounting plate laterally along the transport direction perpendicular to the slitting transmission belt; a guide plate is arranged parallel to the moving surface of the electric slide, and a plurality of inclined guide grooves are provided on the surface of the guide plate; a roller is connected to the other end of the hob seat where the hob body is provided, and cooperates with the guide groove; a dicing longitudinal drive module is arranged on the electric slide, and is used to adjust the relative position of the guide plate in the vertical direction; wherein the distance between two adjacent guide grooves gradually becomes smaller or larger along the vertical direction.

[0038] Specifically, this embodiment provides an implementation of a dicing component.

[0039] According to one embodiment of the present invention, the meat packaging section includes: a right-angle transfer mechanism, which is arranged below the slitting transmission belt and corresponds to the adjustable inclined conveyor belt at the output end of the slitting transmission belt; a meat slice quantitative packaging mechanism, which is arranged on the downstream side of the right-angle transfer mechanism; and a meat strip and diced meat quantitative packaging mechanism, which is arranged on the downstream side of the slitting transmission belt.

[0040] Specifically, this embodiment provides an implementation of a meat packaging unit.

[0041] The above-mentioned one or more technical solutions in the present invention have at least one of the following technical effects: The present invention provides a kind of raw meat machine imitating human-like cutting equipment based on multi-dimensional information perception, which obtains multi-dimensional information of raw meat by combining food processing, artificial intelligence algorithms and the chef's knife skills experience in the process of cooking Chinese dishes, and formulates corresponding cutting strategies, thereby providing technical support for accurate, quantitative and high-precision cutting of raw meat slices, strips and cubes, effectively reducing the loss in the primary processing of meat, and providing intelligent solutions for improving the quality and efficiency of industrial processing of dishes and the formation of new productivity. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1 This is one of the schematic diagrams of the layout relationship of the raw meat machine humanoid cutting equipment based on multi-dimensional information perception provided by the present invention.

[0044] Figure 2 It is a schematic diagram of the arrangement relationship of the raw meat multi-dimensional information perception unit provided by the present invention.

[0045] Figure 3 This is one of the schematic diagrams of the arrangement relationship of the raw meat shaping section provided by the present invention.

[0046] Figure 4 This is the second schematic diagram of the arrangement relationship of the raw meat shaping section provided by the present invention.

[0047] Figure 5 This is the third schematic diagram of the arrangement relationship of the raw meat shaping section provided by the present invention.

[0048] Figure 6 This is one of the schematic diagrams of the arrangement relationship of the shaping components in the raw meat shaping section provided by the present invention.

[0049] Figure 7 This is the second schematic diagram of the arrangement relationship of the shaping components in the raw meat shaping section provided by the present invention.

[0050] Figure 8 This is the third schematic diagram of the arrangement relationship of the shaping components in the raw meat shaping section provided by the present invention.

[0051] Figure 9 This is one of the schematic diagrams of the arrangement of the meat processing section provided by the present invention.

[0052] Figure 10 This is one of the schematic diagrams of the arrangement relationship of the slicing and cutting mechanism in the meat processing section provided by the present invention.

[0053] Figure 11 It is a schematic diagram of the optimized slicing knife profile design of the present invention.

[0054] Figure 12 It is a schematic diagram of the arrangement relationship between the slitting transmission belt and the telescopic mechanism in the meat processing section provided by the present invention.

[0055] Figure 13 This is the second schematic diagram of the arrangement of the meat processing section provided by the present invention.

[0056] Figure 14 This is the second schematic diagram of the arrangement of the strip cutting and dicing mechanism in the meat processing section provided by the present invention.

[0057] Figure 15 This is the third schematic diagram of the arrangement of the strip cutting and dicing mechanism in the meat processing section provided by the present invention.

[0058] Figure 16 This is the fourth schematic diagram of the arrangement relationship of the strip cutting and dicing mechanism in the meat processing section provided by the present invention.

[0059] Figure 17 This is the fifth schematic diagram of the arrangement relationship of the strip cutting and dicing mechanism in the meat processing section provided by the present invention.

[0060] Figure 18 This is the sixth schematic diagram of the arrangement relationship of the strip cutting and dicing mechanism in the meat processing section provided by the present invention.

[0061] Figure 19 This is the seventh schematic diagram of the arrangement relationship of the strip cutting and dicing mechanism in the meat processing section provided by the present invention.

[0062] Figure 20 This is the eighth schematic diagram of the arrangement relationship of the strip cutting and dicing mechanism in the meat processing section provided by the present invention.

[0063] Figure 21 This is one of the schematic diagrams of the arrangement of the meat packaging unit provided by the present invention.

[0064] Figure 22 This is the second schematic diagram of the arrangement relationship of the meat packaging unit provided by the present invention.

[0065] Reference numerals:

[0066] 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;

[0067] 200. Raw meat adjustment department;

[0068] 300, raw meat shaping section; 310, shaping support frame; 320, bottom support plate; 330, pre-adjusted transmission belt; 340, shaping mechanism; 341, shaping fixed bracket; 342, drive assembly; 3421, vertical displacement module; 3422, horizontal displacement module; 343, shaping assembly; 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;

[0069] 400, meat processing unit; 410, slitting conveyor belt; 411, adjustable tilt conveyor belt; 420, slicing and dicing mechanism; 421, rotating gear mounting bracket; 422, cutter fixing plate; 423, slicing knife; 424, cutter drive motor; 425, angle adjustment gear; 426, rotating shaft; 427, angle adjustment motor; 430, stripping and dicing mechanism; 431, slitting fixing bracket; 432, voltage stabilizing assembly; 4321, transverse lead screw; 4322, lead screw motor; 4323, transverse thread pair; 4324, electric cylinder; 4325, pressure roller bracket; 4326, pressure roller; 433, stripping assembly; 4331, longitudinal optical axis; 4332, lifting 4333, connecting rod; 4334, fixed rack; 4335, rolling gear; 4336, flip plate; 4337, guide column; 4338, chopping knife; 434, dicing assembly; 4341, mounting plate; 4342, hob seat; 4343, hob 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, hob drive motor; 4352, hob shaft; 4353, rotating disk; 4354, dicing electric push rod; 440, fourth photoelectric sensor; 450, telescopic mechanism;

[0070] 500, meat packaging department; 510, right-angle transfer mechanism; 520, meat slice quantitative packaging mechanism; 530, meat strips and diced meat quantitative packaging mechanism;

[0071] 600. Raw meat. DETAILED DESCRIPTION

[0072] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0073] The present invention will be described in detail below with reference to specific embodiments.

[0074] In some specific embodiments of the present invention, Figures 1 to 22 As shown, the present invention provides a raw meat machine-simulated humanoid cutting equipment based on multi-dimensional information perception, including: a raw meat multi-dimensional information perception unit 100, used to obtain multi-dimensional information of the raw meat 600, the multi-dimensional information of the meat at least including any one or a combination of the weight, position, shape outline, type, fat-to-lean ratio, moisture content, texture, viscoelasticity and texture distribution of the raw meat 600; a raw meat adjustment unit 200, arranged on the downstream side of the raw meat multi-dimensional information perception unit 100, at least used to adjust the raw meat 600 in the movement according to the multi-dimensional information of the meat. The raw meat shaping section 300 is provided on the downstream side of the raw meat adjusting section 200, and adjusts the external shape of the raw meat 600 based on at least the multi-dimensional information of the meat product; the meat processing section 400 is provided on the downstream side of the raw meat shaping section 300, and cuts the raw meat 600 based on the multi-dimensional information of the meat product to obtain meat products, and the cutting process includes at least any one or a combination of slicing, cutting into strips and cutting into cubes; the meat packaging section 500 is provided on the downstream side of the meat processing section 400, and is used to package the quantitative meat products after cutting.

[0075] It should be noted that if Figure 1 As shown, the present invention realizes a fully automated process of information perception, posture adjustment, shape processing, meat cutting and finished product packaging of raw meat 600 by sequentially arranging a raw meat multi-dimensional information perception 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, thereby realizing machine replacement, improving cutting accuracy and cutting efficiency, and reducing losses, which is of great significance to improving the level of intelligent meat processing and promoting industrial upgrading of the meat industry.

[0076] In some possible embodiments of the present invention, the raw meat multi-dimensional information perception unit 100 includes: a weighing belt 110, which extends along the conveying direction of the raw meat 600, for providing power for the transportation of the raw meat 600 and obtaining the weight of the raw meat 600; a first photoelectric sensor 120, which is arranged on the side of the weighing belt 110; an ultrasonic detector 130, which is arranged on the side of the weighing belt 110, along the conveying direction of the raw meat 600, and is spaced apart from the first photoelectric sensor 120; a first laser scanner 140, which is arranged above the weighing belt 110; an imaging spectrometer 150, which is above the weighing belt 110, along the conveying direction of the raw meat 600, and is spaced apart from the first laser scanner 140; wherein the initial detection position points of the ultrasonic detector 130, the first laser scanner 140 and the imaging spectrometer 150 are in the same detection plane.

[0077] Specifically, this embodiment provides an implementation of a raw meat multi-dimensional information sensing unit 100, such as Figure 2 As shown, the weighing belt 110 provides power for the transportation 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 of the raw meat 600, which is used to obtain the multi-dimensional parameters of the raw meat 600 transported on the weighing belt 110.

[0078] 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 three can ensure that the multi-dimensional information of the raw meat 600 is collected multiple times at different positions on the same detection plane, and the average value after multiple times is used as the valid information of the raw meat 600.

[0079] In a possible embodiment, the distance between the first photoelectric sensor 120 and the detection plane can be set according to needs to ensure that the raw meat multi-dimensional information perception unit 100 of the raw meat 600 completes initialization within the distance time and sets the start time, ensuring that the unit component can fully collect the weight, position, shape contour, type of raw meat 600, fat-to-lean ratio, moisture content, texture, viscoelasticity, texture distribution and other multi-dimensional information of the raw meat 600 of the dish.

[0080] In a possible embodiment, the weighing belt 110 in the raw meat multi-dimensional information perception unit 100 is used to perceive the weight information of the raw meat 600, the ultrasonic detector 130 is used to perceive the viscoelasticity of the raw meat 600, the first laser scanner 140 is used to perceive the position and outer contour of the raw meat 600, and the imaging spectrometer 150 is used to perceive the fat-to-lean ratio, moisture content, texture, texture distribution and other information of the raw meat 600.

[0081] In some possible embodiments of the present invention, the raw meat adjustment section 200 is a universal ball conveyor disposed on the downstream side of the raw meat multi-dimensional information sensing section 100 .

[0082] Specifically, this embodiment provides an implementation of a raw meat adjustment unit 200, such as Figure 1 As shown, by providing the raw meat adjustment section 200 as a universal ball conveyor, relative position adjustment of the raw meat 600 passing through the passage is achieved.

[0083] In a possible embodiment, the raw meat adjustment section 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, ensuring that the raw meat 600 is smoothly transferred from the weighing belt 110 to the raw meat adjustment section 200, and can be rotated, adjusted and transferred in any direction in a two-dimensional plane.

[0084] 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 multi-dimensional information perception unit 100, and combined with the traditional chef's knife skills and techniques for cutting different raw meats 600 and the specific requirements for oblique cutting, horizontal cutting and straight cutting of different dishes, and finally realize the rotation adjustment of the raw meat 600 in any direction in the two-dimensional plane, providing a basis for subsequent pre-shaping, three-dimensional imaging and machine-simulated cutting (slicing, strip cutting, dicing) of the raw meat 600.

[0085] In some possible embodiments of the present invention, the raw meat shaping section 300 includes: a shaping support frame 310, which is arranged on the downstream side of the raw meat adjustment section 200; a bottom support plate 320, which is arranged on the shaping support frame 310; a pre-adjustment transmission belt 330, which is arranged above the bottom support plate 320 and docked with the raw meat adjustment section 200, and is used to provide power for the transportation of the raw meat 600; two shaping mechanisms 340, which are arranged at intervals along the conveying direction of the pre-adjustment transmission belt 330, and are used to shape the external shape of the raw meat 600 conveyed by the pre-adjustment transmission belt 330. shaping; an angle adjustment mechanism 350, which is arranged on the bottom support plate 320 and is connected to the bottom of the pre-adjustment transmission belt 330, and is used to adjust the inclination angle of the pre-adjustment transmission belt 330 to adjust the relative position of the raw meat 600 on the pre-adjustment transmission belt 330; a second laser scanner 360, which is arranged on the top of the first shaping mechanism 340 and is arranged corresponding to the outlet end of the first shaping mechanism 340; a second photoelectric sensor 370, which is arranged on the upstream side of the first shaping mechanism 340; a third photoelectric sensor 380, which is arranged between the two shaping mechanisms 340.

[0086] Specifically, this embodiment provides an implementation of a raw meat shaping unit 300, such as Figure 3As shown, by setting up 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 or rebounds after one adjustment due to reasons such as rebound of the raw meat 600.

[0087] Furthermore, the arrangement of the second laser scanner 360 , the second photoelectric sensor 370 and the third photoelectric sensor 380 provides data support for the shaping mechanism 340 to adjust the external shape of the raw meat 600 and the meat processing section 400 to cut the raw meat 600 .

[0088] It should be noted that the setting of the third photoelectric sensor 380 allows for the detection of the raw meat 600 after pre-shaping. In order to avoid the influence of the changes in the viscoelasticity and elastic recovery of the raw meat 600 from the pre-shaping to the cutting period on the precise cutting accuracy, the secondary shaping is performed on the raw meat 600 using the same adjustment parameters as the pre-shaping. This not only ensures the consistency of the contour morphology of the raw meat 600 when cutting with that after pre-shaping, but also has the effect of fixing the position of the raw meat 600, which is beneficial to improving the cutting stability of the tool and providing a guarantee for high-precision quantitative cutting of the raw meat 600.

[0089] In a possible embodiment, the angle adjustment mechanism 350 is installed at the bottom center of the front end of the pre-adjustment transmission belt and fixed on the bottom support plate 320, so that one end of the pre-adjustment transmission belt can be lifted and tilted at a certain angle to ensure that it is in close contact with the slicing and cutting mechanism 420 of the raw meat 600 near one end, ensuring that the raw meat 600 is easier to stack neatly on the cutting transmission belt 410 after the first cutting is completed.

[0090] In some possible embodiments of the present invention, the shaping mechanism 340 includes: a shaping fixed bracket 341, which is connected to the shaping support frame 310; a driving component 342, which is arranged above the pre-adjustment transmission belt 330 and connected to the shaping fixed bracket 341; a shaping component 343, which is arranged above the pre-adjustment transmission belt 330 and connected to the driving component 342, and is used to shape the external shape of the raw meat 600 transported by the pre-adjustment transmission belt 330.

[0091] Specifically, this embodiment provides an implementation of a shaping mechanism 340, such as Figure 4 and Figure 5 As shown, the shaping fixing bracket 341 is connected to the shaping support frame 310, providing an installation position for the shaping component 343 above the pre-adjustment transmission belt 330, and the driving component 342 is connected to the shaping component 343 for adjusting the relative position between the shaping component 343 and the pre-adjustment transmission belt 330.

[0092] In some possible embodiments of the present invention, the driving component 342 includes: a vertical displacement module 3421, which is arranged on the shaping fixed bracket 341; a horizontal displacement module 3422, which is connected to the vertical displacement module 3421; wherein, the shaping component 343 is arranged 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 3422.

[0093] Specifically, this embodiment provides an implementation of a drive component 342, such as Figure 4 and Figure 5 As shown, the driving component 342 realizes the adjustment of the horizontal position and vertical position of the shaping component 343 above the pre-adjusted transmission belt 330 by setting a vertical displacement module 3421 and a horizontal displacement module 3422.

[0094] In a possible embodiment, in actual application, the vertical displacement module 3421 and the horizontal displacement module 3422 can be equipped with stepper motors, sliders, pulleys, belts, screws, optical axes and other components to achieve the adjustment of the relative position of the shaping component 343 in the horizontal and numerical directions.

[0095] 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, arranged at the output end of the shaping motor 3432; two shaping gear connecting rods 3434, symmetrically arranged on both sides of the shaping motor 3432 along the conveying direction of the raw meat 600, and respectively engaged 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 transmission belt 330; a dual-axis electric push rod 3436, arranged on the mounting bracket 3431, and respectively hingedly connected to the two shaping modules 3435.

[0096] Specifically, this embodiment provides an implementation of a shaping component 343, such as Figures 6 to 8 As shown, the mounting bracket 3431 provides an installation 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 performing a primary or secondary shaping on the external shape of the raw meat 600.

[0097] In some possible embodiments of the present invention, the shaping module 3435 includes: a roller bracket 34351, which is hingedly connected to the double-axis electric push rod 3436; a plurality of roller pressing plates 34352, which are arranged at intervals on the roller bracket 34351 along the conveying direction of the raw meat 600; a shaping electric push rod 34353, one end of the shaping electric push rod 34353 is hingedly connected to the shaping gear connecting rod 3434, and the other end of the shaping electric push rod 34353 is hingedly connected to the roller adjustment push rod 34354; the roller The adjustment push rod 34354 is arranged on the other side of the roller bracket 34351 where the shaping electric push rod 34353 is installed, and is hingedly connected to the roller bracket 34351; the angle sensing module 34355 is arranged on the side of the roller pressure plate 34352 close to the dual-axis electric push rod 3436, and is used to detect the movement parameters of the roller pressure plate 34352; the force sensing module 34356 is arranged 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.

[0098] Specifically, this embodiment provides an implementation of a 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, and the shaping electric push rod 34353 and the roller adjustment push rod 34354 adjust the relative position of the roller bracket 34351, thereby making the shaping surface of the roller pressure plate 34352 form different shaping angles.

[0099] It should be noted that when the shaping motor 3432 rotates, the transmission gear 3433 drives the shaping electric push rod 34353 through the shaping gear connecting rod 3434 to drive the roller pressure plate 34352 to be telescopically adjusted at different angles, and the dual-axis electric push rod 3436 adjusts the lateral spacing of the adaptive shaping structure in the left and right directions under the rotation of the transmission gear 3433, and the roller adjustment push rod 34354 can adjust the direction of the roller in the horizontal direction through the roller bracket 34351. Finally, the shaping gear connecting rod 3434, the shaping electric push rod 34353, the roller adjustment push rod 34354 and the roller adjustment push rod 34353 are connected to each other. The whole push rod 34354 drives the roller pressure plate 34352 to shape the raw meat 600 to a certain angle during the conveying process. The upper computer can combine the force sensing module 34356 and the angle sensing module 34355 to obtain the angle and pressure data of the raw meat 600 in real time. The dual-axis electric push rod 3436 and the shaping electric push rod 34353 adjust the compression amount of the meat product when the shaping angle is reached in real time to avoid the large friction between the raw meat 600 and the roller pressure plate 34352 due to different viscoelasticity, which makes it impossible to adaptively shape during movement.

[0100] In a possible embodiment, the angle sensing module 34355 is arranged on the side of the roller pressure plate 34352 close to the dual-axis electric push rod 3436, and is used to detect the shaping angle of the roller pressure plate 34352 on the raw meat 600 in real time, and to feedback to the upper computer that the specified shaping angle setting for the meat has been reached.

[0101] In a possible embodiment, the force sensing module 34356 is a thin film flexible pressure sensor, which is attached to the gap inside a single roller of the roller pressure plate 34352. It is used to detect in real time whether the force between the roller pressure plate 34352 and the raw meat 600 exceeds the maximum shaping pressure set by the upper computer for the meat product, and to provide feedback to the upper computer to achieve adaptive adjustment of the shaping pressure.

[0102] In some possible embodiments of the present invention, the meat processing section 400 includes: a slitting transmission belt 410, which is connected to the raw meat shaping section 300; a slicing and dicing mechanism 420, which is arranged on the conveying path of the slitting transmission belt 410 and is close to one side of the raw meat shaping section 300; a strip cutting and dicing mechanism 430, which is arranged on the conveying path of the slitting transmission belt 410 and is arranged on the downstream side of the slicing and dicing mechanism 420; a fourth photoelectric sensor 440, which is arranged between the slicing and dicing mechanism 420 and the strip cutting and dicing mechanism 430; wherein, the conveying angle of the slitting transmission belt 410 between the fourth photoelectric sensor 440 and the strip cutting and dicing mechanism 430 is adjustable.

[0103] Specifically, this embodiment provides an implementation of a meat processing unit 400, such as Figures 9 to 20 As shown, by setting up a slitting transmission belt 410, it is possible to receive the raw meat 600 transported by the pre-adjusted transmission belt 330. At the same time, the slicing and slitting mechanism 420 and the strip cutting and dicing mechanism 430 are set up to achieve the cutting of the shaped raw meat 600. According to different cutting requirements, the raw meat 600 can be sliced, stripped and diced.

[0104] Furthermore, a fourth photoelectric sensor 440 is arranged at a distance from the front end of the strip cutting and dicing mechanism 430 and serves as a trigger signal to start the working time of the strip cutting and dicing machine.

[0105] In some possible embodiments of the present invention, the slicing and cutting mechanism 420 includes: two rotating gear mounting frames 421, which are rotatably arranged on both sides of the slicing transmission belt 410; a cutter fixing plate 422, which is arranged across the top of the slicing transmission belt 410 to form a channel for the raw meat 600 to pass through, and is respectively fixedly connected to the two rotating gear mounting frames 421; a slicing knife 423, which is rotatably connected to the cutter fixing plate 422 and is used to cut the raw meat 600 passing through; a cutter drive motor 424, which is connected to the slicing knife 423 and is used to drive the slicing knife 423 to rotate; an angle adjustment gear 425, which is respectively arranged in a one-to-one correspondence with the rotating gear mounting frames 421, and the angle adjustment gear 425 is engaged with the rotating gear mounting frame 421 through gear teeth; a rotating shaft 426, which is respectively connected to the two angle adjustment gears 425; an angle adjustment motor 427, which is connected to the rotating shaft 426 and is used to adjust the angle between the cutter fixing plate 422 and the slicing transmission belt 410.

[0106] Specifically, this embodiment provides an implementation method of a slicing and cutting mechanism 420, which realizes driving the slicing knife 423 to cut the raw meat 600 passing through the passage by setting a rotating gear mounting frame 421, a cutter fixing plate 422, a slicing knife 423, a cutter drive motor 424, an angle adjustment gear 425, a rotating shaft 426 and an angle adjustment motor 427.

[0107] In a possible embodiment, Figures 9 to 11As shown, the slicing knife 423 and the slicing knife driving motor 424 are respectively fixed on the positive and negative sides of the slicing knife fixing plate 422, and the slicing knife driving motor 424 is used to control the clockwise / counterclockwise rotation of the slicing knife 423. The slicing knife driving motor 424 is a servo motor, and a torque sensor is installed on its output shaft, which can detect the torque change of the slicing knife 423 in real time, and then obtain the stress change curve when cutting different raw meat 600 to guide the design of the slicing knife 423. At the same time, different cutting torques can be selected for cutting different raw meat 600. The two ends of the slicing knife fixing plate 422 are fixed together with two rotating gear mounting frames 421. The plane where the initial position of the slicing knife fixing plate 422 is located is perpendicular to the transmission direction of the slicing transmission belt 410, and the plane where the rotating gear mounting frame 421 is located is perpendicular to the transmission direction of the slicing transmission belt 410. The surface is parallel to the transmission direction of the slitting transmission belt 410, and the end of the rotating gear mounting frame 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 arranged below the rotating gear mounting frame 421. The middle part of the rotating shaft 426 is connected to the angle adjustment motor 427, and the rotating shaft 426 is controlled by the motor to rotate to drive the angle adjustment gear 425 to rotate to adjust the tilt angle of the slicing knife 423. Then, the slicing angle and slicing speed can be adjusted according to the type, texture distribution, physical properties, slicing requirements, quantitative slicing model and slicing path of the raw meat 600 obtained by the raw meat multi-dimensional information perception unit 100 to meet the quantitative slicing requirements of vertical and horizontal cutting and different oblique cutting angles of the raw meat 600.

[0108] In some possible embodiments of the present invention, the meat processing section 400 further includes: a telescopic mechanism 450, which is arranged on the side of the slitting conveyor belt 410 close to the raw meat shaping section 300, and is used to compensate for the distance between the meat slices cut by the slicing and cutting mechanism 420, so that the cut meat slices can be stacked on the slitting conveyor belt 410.

[0109] Specifically, this embodiment provides another implementation of the meat processing unit 400, such as Figure 12 As shown, by providing a telescopic mechanism 450, the relative displacement between the cut meat slices is compensated so that the meat slices are stacked neatly.

[0110] In a possible embodiment, the telescopic mechanism 450 includes at least an electric telescopic rod and a corresponding drive motor.

[0111] In some possible embodiments of the present invention, the strip cutting and dicing mechanism 430 includes: a cutting fixed bracket 431, which is arranged on the downstream side of the fourth photoelectric sensor 440; a voltage stabilizing component 432, which is connected to the cutting fixed bracket 431, and is used to stabilize the pressure of the cut meat slices so that the external shape of the stacked meat slices is stable; a strip cutting component 433, which is connected to the cutting fixed bracket 431 and is arranged on the downstream side of the voltage stabilizing component 432, and is used to cut the meat slices into meat strips; a dicing component 434, which is connected to the cutting fixed bracket 431 and is arranged on the downstream side of the strip cutting component 433, and is used to cut the meat strips into meat cubes; a power component 435, which is respectively connected to the strip cutting component 433 and the dicing component 434, and is used to provide power to the strip cutting component 433 and the dicing component 434, and to adjust the dicing component 434 to switch between the dicing working position and the strip cutting working position.

[0112] Specifically, this embodiment provides an implementation of a slicing and dicing mechanism 430, such as Figures 13 to 20 As shown, the slicing fixed bracket 431 provides an installation position, and the voltage stabilizing component 432, the strip cutting component 433 and the dicing component 434 are arranged in sequence to achieve voltage stabilization, strip cutting and dicing of the sliced ​​meat slices. At the same time, through the setting of the power component 435, the coordination between the strip cutting component 433 and the dicing component 434 is adjusted to achieve the adjustment of cutting the meat slices into strips or dices.

[0113] In some possible embodiments of the present invention, the pressure stabilizing assembly 432 includes: a transverse screw 4321, which is rotatably connected to the slitting fixed bracket 431 and is arranged along the transportation direction perpendicular to the slitting transmission belt 410; a screw motor 4322, which is arranged on the slitting fixed bracket 431 and connected to one end of the transverse screw 4321; a transverse thread pair 4323, which is connected to the transverse screw 4321; an electric cylinder 4324, which is connected to the transverse thread pair 4323; a pressure roller frame 4325, which is connected to the electric cylinder 4324; and a pressure roller 4326, which is connected to the pressure roller frame 4325 and is used to stabilize the pressure of the meat slices; wherein the electric cylinder 4324 drives the pressure roller frame 4325 to move back and forth along the surface perpendicular to the slitting transmission belt 410.

[0114] Specifically, this embodiment provides an implementation of a voltage stabilizing component 432, such as Figures 13 to 20 As shown, the screw motor 4322 is coaxially fixedly connected with the transverse screw and installed on the upper part, the transverse thread pair 4323 is threadedly installed on the transverse screw 4321, the electric cylinder 4324 is fixed on the transverse thread pair 4323, and the lower end of the electric cylinder 4324 is connected to the pressure roller frame 4325, and the pressure roller 4326 on the pressure roller frame 4325 is an unpowered roller.

[0115] It should be noted that the pressure stabilizing component 432 is mainly used to fix neatly stacked meat slices of a certain weight and play a stabilizing role to prevent the stacked meat slices from falling apart during subsequent cutting into strips or cubes, thereby affecting the quantitative cutting accuracy. At the same time, since the pressure roller 4326 is a non-powered roller, it does not affect the normal transportation of the meat slices on the cutting transmission belt 410.

[0116] In some possible embodiments of the present invention, the power assembly 435 includes: a rolling and cutting drive motor 4351, which is arranged on the slitting fixed bracket 431; a roller shaft 4352, one end of which is connected to the rolling and cutting drive motor 4351 and extends along a direction perpendicular to the conveying direction of the slitting transmission belt 410; and two rotating disks 4353, which are arranged at intervals along the extension direction of the roller shaft 4352.

[0117] The slitting assembly 433 includes: two longitudinal optical axes 4331, which are spaced apart and perpendicular to the transport direction of the slitting transmission belt 410; two lifting pairs 4332, which are slidably matched with the longitudinal optical axes 4331; a connecting rod 4333, one end of which is connected to the rotating disk 4353 near the side of the rolling drive motor 4351, and the other end of which is connected to the lifting pair 4333 near the side of the rolling drive motor 4351. 2 connection; fixed rack 4334, connected to the slitting fixed bracket 431, respectively, and the longitudinal optical axis 4331 near the side of the rolling drive motor 4351 is spaced apart; rolling gear 4335, provided on the lifting pair 4332 near the side of the rolling drive motor 4351, and meshing with the fixed rack 4334 for transmission; two flip discs 4336, spaced apart along the transport direction perpendicular to the slitting transmission belt 410, and provided with an inclination angle around the rotation direction, near the rolling drive motor 435 The turning disc 4336 on one side rotates coaxially with the rolling gear 4335; four guide posts 4337, each two of which are connected to the turning disc 4336 on the same side; a rolling ball 4338, which is set at the connection position between the guide post 4337 and the turning disc 4336; two chopping knives 4339, each of which is connected to the two corresponding guide posts 4337 on the two turning discs 4336, and a saw blade is set on the side of the chopping knives 4339 facing the slitting transmission belt 410 Toothed 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, and the rolling gear 4335 drives the flip disk 4336 to rotate on the fixed rack 4334. The two chopping knives 4339 move relative to each other in the horizontal and vertical directions under the action of the flip disk 4336, the rolling ball 4338 and the guide column 4337, so as to realize cutting the meat slices into meat strips.

[0118] Specifically, this embodiment provides an implementation of a power component 435 and a strip cutting component 433 , wherein the power component 435 and the strip cutting component 433 cooperate with each other to achieve the purpose of cutting meat slices into meat strips.

[0119] It should be noted that if Figures 13 to 20 As shown, the lifting pair 4332 is installed under the top optical axis support, the longitudinal optical axis 4331 is installed below the lifting pair 4332, and the lower 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 installed in meshing with the fixed rack 4334. The lifting pair 4332 and the rolling gear 4335 are fixed together to achieve synchronous movement.

[0120] In a possible embodiment, Figures 13 to 20 As shown, the reciprocating motion mechanism is composed of a flip disk 4336, two guide columns 4337 and a ball 4338. The flip disk 4336 is coaxially installed with the rolling gear 4335. The two guide columns 4337 are respectively installed on the upper and lower parts of the flip disk 4336, and the two guide columns 4337 are embedded with a ball 4338 at one end close to the flip disk 4336, and the other end is fixedly connected to the chopping knife 4339. Each guide column 4337 is respectively installed with a chopping knife 4339. The two chopping knives 4339 are abutted against each other, and the ends of the two chopping knives 4339 are designed to be serrated, and the two chopping knives 4339 are facing the same direction.

[0121] In a possible embodiment, Figures 13 to 20 As shown, the lifting pair 4332, the longitudinal optical axis 4331, the flip disk 4336, and the connecting rod 4333 in the strip cutting 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 flip disk 4336 to rotate clockwise or counterclockwise, and then drives the two chopping knives 4339 to move relative to each other in the horizontal and vertical directions under the action of the rolling ball 4338, thereby realizing the synchronous execution of the chopping and shearing actions of the stacked raw meat 600 slices, and finally completing the cutting of the slicing raw meat 600, and the frequency and speed of the two chopping knives 4339 match the strip cutting path planning model of the raw meat 600.

[0122] In some possible embodiments of the present invention, the power assembly 435 includes: a rolling and cutting drive motor 4351, which is arranged on the slitting fixed bracket 431; a roller shaft 4352, one end of which is connected to the rolling and cutting drive motor 4351 and extends along a direction perpendicular to the conveying direction of the slitting transmission belt 410; two rotating disks 4353, which are arranged at intervals along the extension direction of the roller shaft 4352; and a dicing electric push rod 4354, which is respectively connected to the roller shaft 4352 and the rolling and cutting drive motor 4351, and is used to adjust the connection between the roller shaft 4352 and the rolling and cutting drive motor 4351.

[0123] The dicing assembly 434 includes: a mounting plate 4341, connected to the slitting fixed bracket 431; a plurality of roller seats 4342, arranged at intervals on the mounting plate 4341 along the transport direction perpendicular to the slitting transmission belt 410; a roller body 4343, rotatably connected to the roller shaft 4352, and fixedly connected to the roller seats 4342 in a one-to-one correspondence, and the roller body 4343 extends to the slitting transmission belt 410, and is used to cut the meat strips into the said dices; a dicing drive motor 4344, arranged on the slitting fixed bracket 431, and connected to the mounting plate 4341, and is used to drive the mounting plate 4341 to switch from the dicing working position to the strip cutting working position when the roller shaft 4352 and the rolling driving motor 4351 are disconnected.

[0124] Specifically, this embodiment provides an implementation of a power component 435 and a dicing component 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 the meat strips into meat cubes, or only cutting the meat slices into meat strips.

[0125] In a possible embodiment, Figures 13 to 20 As shown, the mounting plate 4341 is mounted on the rotating gear mounting frame 421 via an electric slide 4345 , and the electric slide 4345 is controlled by a dicing drive motor 4344 for fixing and moving the dicing assembly 434 back and forth.

[0126] In a possible embodiment, a horizontal rail is arranged in the middle of the mounting plate 4341, and a number of horizontal sliders are arranged on the horizontal rail. The belt-driven motor is arranged on the leftmost side of the mounting plate 4341 and is fixed coaxially with the driving pulley. The driving pulley drives the driven pulley to rotate in a belt manner. The lower end of the driven pulley is connected to the longitudinal screw. The longitudinal screw is installed with a movable thread pair in a threaded manner. The movable thread pair, the guide plate 4346, and the longitudinal slider are fixedly connected in sequence from front to back. The movable thread 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 slider. The longitudinal slider is embedded in the longitudinal rail to ensure that when the belt-driven motor drives the driving pulley to rotate, the movable thread pair moves back and forth up and down on the longitudinal screw, thereby driving the guide plate 4346 to move back and forth up and down under the action of the longitudinal slider.

[0127] In a possible embodiment, Figures 13 to 20 As shown, one end of the dicing electric push rod 4354 is connected to the support seat of the hob shaft 4352, and the other end of the dicing electric push rod 4354 is connected to the hob shaft 4352, and a rotating disk 4353 is installed at the connection point of the dicing electric push rod 4354 near one end of the support seat of the hob shaft 4352, wherein one end of the dicing electric push rod 4354 on the right is connected to the hob shaft 4352, and the other end of the dicing electric push rod 4354 is connected to the rolling cutting drive motor 4351, and the same rotating disk 4353 is installed near one end of the rolling cutting drive motor 4351, and a crank connecting rod 4333 is installed on the left and right end 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 strip cutting assembly 433.

[0128] In some possible embodiments of the present invention, the dicing assembly 434 further includes: an electric slide 4345 connected to the dicing drive motor 4344, a mounting plate 4341 being arranged on the other side of the electric slide 4345 connected to the dicing drive motor 4344, the electric slide 4345 being capable of laterally adjusting the position of the mounting plate 4341 along a transport direction perpendicular to the slitting transmission belt 410; a guide plate 4346 being arranged parallel to the moving surface of the electric slide 4345, and a plurality of inclined guide grooves 4347 being provided on the surface of the guide plate 4346; a roller 4348 being connected to the other end of the hob seat 4342 provided with the hob body 4343, and cooperating with the guide groove 4347; a dicing longitudinal drive module 4349 being arranged on the electric slide 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.

[0129] Specifically, this embodiment provides an implementation of a dicing component 434, such as Figures 13 to 20As shown, by providing the electric slide 4345, the guide plate 4346, the roller 4348 and the dicing longitudinal drive module 4349, the distance between two adjacent guide grooves 4347 is gradually reduced or increased in the vertical direction.

[0130] In a possible embodiment, Figures 13 to 20 As shown, the roller 4348, the hob seat 4342, and the transverse slider are fixedly connected in sequence from front to back, and the roller 4348 can roll in the guide groove 4347 on the guide plate 4346 in which it is embedded. The guide plate 4346 is provided with a number of fan-shaped inclined grooves, and the spacing between adjacent inclined grooves increases from bottom to top. Each inclined groove is embedded with a roller 4348 and is fixedly mounted 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. A hob seat 4342 is integrally installed at the lower part of each transverse slider, and a hob body 4343 is fixed in the cutter groove at the lower end of each hob seat 4342. The transverse slider, the hob seat 4342, and the hob body 4343 move at the same frequency and in a coordinated manner.

[0131] Furthermore, the movement of the transverse slider depends on the up and down movement of the guide plate 4346 on the longitudinal slider. At this time, the transverse spacing of the balls in the inclined groove of the guide plate 4346 is constantly changing, thereby driving the equal distance adjustment of the transverse spacing of the hob seat 4342 fixed thereto, thereby realizing the equal spacing adjustment of multiple hob bodies 4343.

[0132] In a possible embodiment, Figure 20 As shown, several hob cutter bodies 4343 are driven to rotate by a hob cutter shaft 4352. A spline groove is opened in the center of each hob cutter body 4343. The hob cutter shaft 4352 is a spline transmission shaft. The spline groove and the hob cutter shaft 4352 are installed with an axial clearance to ensure that when the hob cutter seat 4342 moves in the lateral distance, the spacing between multiple hob cutter bodies 4343 can also be adjusted at will without affecting the rotation of the hob cutter. The rotation of the hob cutter body 4343 depends on the hob cutter drive motor 4351 arranged on the right side of the hob cutter shaft 4352. Dicing electric push rods 4354 are arranged on both sides of the hob cutter shaft 4352. The dicing electric push rods 4354 are used to realize clutching and connection and disconnection at the connection between the shaft end and the rotating disk 4353, thereby realizing the control of the movement state of multiple hob cutter bodies 4343. Among them, the dicing electric push rods 4354 are connected to the hob cutter drive motor 4351 to increase the power source for the rotation of the entire hob cutter body 4343.

[0133] In an application scenario, when it is necessary to cut the stacked meat slices into strips individually, the dicing electric push rod 4354 is actuated, the rotating shaft of the hob shaft 4352 and the rotating disk 4353 are disconnected at the connection, that is, the clutch mechanism is disconnected, the dicing assembly 434 and the strip cutting assembly 433 are disconnected, and the dicing drive motor 4344 drives the electric slide 4345 to work, driving the entire dicing mechanism to move backward. At this time, the rolling drive motor 4351 no longer drives the hob body 4343 to work, but only drives the connecting rod on the rotating disk 4353 to drive the rolling gear 4335 to rotate, and then drives the reciprocating structure to rotate, realizing the up and down reciprocating shearing action of the chopping knife 4339, completing the chopping of the stacked meat slices. At the same time, according to the strip cutting path planning model, meat strips of different sizes can be accurately and quantitatively cut out. The backward movement of the dicing mechanism provides sufficient space for the individual cutting of meat slices to avoid blockage of the strip cutting mechanism.

[0134] In an application scenario, when it is necessary to dice the stacked raw meat 600, the dicing drive motor 4344 drives the electric slide 4345 to work, driving the entire dicing mechanism to move forward and return to its original position, and the rotating shaft of the hob shaft 4352 and the rotating shaft of the rotating disk 4353 are engaged at the connection, that is, the clutch mechanism is engaged, the dicing assembly 434 and the strip cutting assembly 433 are connected, and the rolling drive motor 4351 drives the hob shaft 4352 to rotate. Under the action of the rotating disk 4353, the connecting rod 4333 and the chopping knife 4339, the meat slices are chopped while the hob assembly cuts the strip meat into dices. At the same time, according to the cutting path planning model for different meat dice sizes established by the raw meat multi-dimensional information perception unit 100, the belt drive motor drives the moving thread pair to adjust to different positions, and then the roller 4348 in the guide plate 4346 sets the hob seat 4342 to different distances, finally realizing the adjustment of the hob cutting size and realizing accurate quantitative cutting of different meat dice sizes.

[0135] In some possible embodiments of the present invention, the meat packaging section 500 includes: a right-angle transfer mechanism 510, which is arranged below the slitting conveyor belt 410 and is arranged corresponding to the adjustable inclined conveyor belt 411 at the output end of the slitting conveyor belt 410; a meat slice quantitative packaging mechanism 520, which is arranged on the downstream side of the right-angle transfer mechanism 510; and a meat strip and diced meat quantitative packaging mechanism 530, which is arranged on the downstream side of the slitting conveyor belt 410.

[0136] Specifically, this embodiment provides an implementation of a meat packaging unit 500, such as Figure 21 As shown in FIG22 , the packaging of meat slices, meat strips and meat cubes is achieved through a right-angle transfer mechanism 510 , a meat slice quantitative packaging mechanism 520 and a meat strip and meat cube quantitative packaging mechanism 530 .

[0137] In a possible embodiment, the meat slice quantitative packaging mechanism 520 and the meat strip and diced quantitative packaging mechanism 530 are respectively arranged below the slitting and conveying belt 410 and the slitting and dicing mechanism 430, and are connected to the two ends of the right-angle conveyor arranged below at the same height. According to the pre-designed cutting shape and quantitative value of the raw meat 600 by the raw meat multi-dimensional information sensing unit 100,

[0138] In a possible embodiment, if the meat to be packaged is quantitative meat slices, after the slitting is completed and the slitting conveyor belt 410 is transmitted to the fourth photoelectric sensor 440, the adjustable inclined conveyor belt 411 drops a certain angle to transfer meat slices of a certain weight to the right-angle transfer mechanism 510 and to the meat slice quantitative packaging mechanism 520 for subsequent packaging of quantitative meat slices.

[0139] In a possible embodiment, if the meat to be packaged is meat strips or meat dices, the slitting conveyor belt 410 is transported normally, and the adjustable tilt conveyor belt 411 does not change its angle. After slitting, the meat strips or meat dices are transported through the right-angle transfer mechanism 510 to the meat strip and meat dice quantitative packaging mechanism 530 in the other direction for subsequent quantitative packaging of meat strips and meat dices.

[0140] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units. That is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

Claims

1. A humanoid cutting device for raw meat based on multi-dimensional information perception, characterized in that: include: a raw meat multi-dimensional information sensing unit (100) for acquiring multi-dimensional information of the raw meat (600), wherein the multi-dimensional information includes at least one or a combination of the weight, position, shape, type, fat-to-lean ratio, moisture content, texture, viscoelasticity, and grain distribution of the raw meat (600); a raw meat adjustment unit (200), arranged on the downstream side of the raw meat multi-dimensional information sensing unit (100), and at least used to adjust the relative position of the raw meat (600) in the moving direction according to the multi-dimensional information of the meat product; a raw meat shaping section (300) disposed on the downstream side of the raw meat adjusting section (200), and adjusting the external shape of the raw meat (600) based at least on the multi-dimensional information of the meat product; The meat processing section (400) is arranged at the downstream side of the raw meat shaping section (300), and performs a cutting process on the raw meat (600) based on the multi-dimensional information of the meat to obtain meat products, wherein the cutting process includes at least any one of slicing, strip cutting and dicing or a combination of several of them; A meat packaging section (500) is provided on the downstream side of the meat processing section (400) and is used to package the cut quantitative meat; The raw meat shaping section (300) comprises: A shaping support frame (310) is provided on the downstream side of the raw meat adjustment portion (200); A bottom support plate (320) is provided on the shaping support frame (310); a pre-adjustment transmission belt (330), disposed above the bottom support plate (320) and docked with the raw meat adjustment portion (200), for providing power for transporting the raw meat (600); Two shaping mechanisms (340) are arranged at intervals along the conveying direction of the pre-adjusting transmission belt (330) and are used to shape the external shape of the raw meat (600) conveyed by the pre-adjusting transmission belt (330); an angle adjustment mechanism (350) disposed on the bottom support plate (320) and connected to the bottom of the pre-adjustment transmission belt (330), for adjusting the inclination angle of the pre-adjustment transmission belt (330) to adjust the relative position of the raw meat (600) on the pre-adjustment transmission belt (330); a second laser scanner (360) disposed on the top of the first shaping mechanism (340) and corresponding to the outlet end of the first shaping mechanism (340); a second photoelectric sensor (370) disposed on the upstream side of the first shaping mechanism (340); The third photoelectric sensor (380) is arranged between the two shaping mechanisms (340).

2. The raw meat machine-simulated humanoid cutting equipment based on multi-dimensional information perception according to claim 1 is characterized in that: The raw meat multi-dimensional information sensing unit (100) comprises: a weighing belt (110) extending along the conveying direction of the raw meat (600) and used for providing power for the transportation of the raw meat (600) and obtaining the weight of the raw meat (600); A first photoelectric sensor (120) is provided on a side of the weighing belt (110); an ultrasonic detector (130) disposed on a side of the weighing belt (110) and 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); an imaging spectrometer (150) disposed above the weighing belt (110) and spaced apart from the first laser scanner (140) along the conveying direction of the raw meat (600); The initial detection positions of the ultrasonic detector (130), the first laser scanner (140), and the imaging spectrometer (150) are within the same detection plane.

3. The raw meat machine-simulated humanoid cutting equipment based on multi-dimensional information perception according to claim 1 is characterized in that: The raw meat adjustment section (200) is a universal ball conveyor arranged on the downstream side of the raw meat multi-dimensional information sensing section (100).

4. The raw meat machine-simulated humanoid cutting equipment based on multi-dimensional information perception according to any one of claims 1 to 3, characterized in that: The shaping mechanism (340) comprises: A shaping fixing bracket (341) connected to the shaping support bracket (310); A driving assembly (342) is disposed above the pre-adjusting transmission belt (330) and is connected to the shaping fixing bracket (341); A shaping component (343) is arranged above the pre-adjustment transmission belt (330) and is connected to the driving component (342) for shaping the external shape of the raw meat (600) conveyed by the pre-adjustment transmission belt (330).

5. The raw meat machine-simulated humanoid cutting equipment based on multi-dimensional information perception according to claim 4 is characterized in that: The drive assembly (342) includes: A vertical displacement module (3421) is provided on the shaping and fixing bracket (341); A horizontal displacement module (3422) connected to the vertical displacement module (3421); The shaping component (343) is arranged 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 (3422).

6. The humanoid cutting equipment for raw meat based on multi-dimensional information perception according to claim 4 is characterized in that: The shaping component (343) includes: A mounting bracket (3431) connected to the drive assembly (342); A shaping motor (3432) is connected to the mounting bracket (3431); A transmission gear (3433) is provided at the output end of the shaping motor (3432); Two shaping gear connecting rods (3434) are symmetrically arranged on both sides of the shaping motor (3432) along the conveying direction of the raw meat (600), and are respectively engaged with the transmission gear (3433) for transmission; Two shaping modules (3435) are respectively connected to the shaping gear connecting rod (3434) and are used to shape the external shape of the raw meat (600) conveyed by the pre-adjusting transmission belt (330); A dual-axis electric push rod (3436) is arranged on the mounting bracket (3431) and is hingedly connected to the two shaping modules (3435) respectively.

7. The raw meat machine-simulated humanoid cutting equipment based on multi-dimensional information perception according to claim 6 is characterized in that: The shaping module (3435) includes: The roller bracket (34351) is hingedly connected to the dual-axis electric push rod (3436); A plurality of roller pressing plates (34352) are arranged at intervals on the roller support (34351) along the conveying direction of the raw meat (600); A shaping electric push rod (34353), one end of which is hingedly connected to the shaping gear connecting rod (3434), and the other end of which is hingedly connected to the roller adjustment push rod (34354); A roller adjustment push rod (34354) is arranged on the other side of the roller bracket (34351) on which the shaping electric push rod (34353) is installed, and is hingedly connected to the roller bracket (34351); An angle sensing module (34355) is provided on a side of the roller pressure plate (34352) close to the dual-axis electric push rod (3436) and is used to detect motion parameters of the roller pressure plate (34352); The force sensing module (34356) is arranged 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).

8. The raw meat machine-simulated humanoid cutting equipment based on multi-dimensional information perception according to any one of claims 1 to 3, characterized in that: The meat processing unit (400) includes: A slitting transmission belt (410) is connected to the raw meat shaping section (300); a slicing and cutting mechanism (420) disposed on the conveying path of the slicing and conveying belt (410) and close to one side of the raw meat shaping section (300); A strip cutting and dicing mechanism (430) is provided on the conveying path of the slitting transmission belt (410) and is provided on the downstream side of the slicing and dicing mechanism (420); a fourth photoelectric sensor (440), disposed between the slicing and cutting mechanism (420) and the strip cutting and dicing mechanism (430); The conveying angle of the slitting transmission belt (410) between the fourth photoelectric sensor (440) and the slitting and dicing mechanism (430) is adjustable.

9. The humanoid cutting equipment for raw meat based on multi-dimensional information perception according to claim 8 is characterized in that: The slicing and cutting mechanism (420) comprises: Two rotating gear mounting frames (421) are rotatably arranged on both sides of the slitting transmission belt (410); A cutter fixing plate (422) is arranged across the cutting transmission belt (410) to form a passage for the raw meat (600) to pass through, and is fixedly connected to the two rotating gear mounting frames (421) respectively; a slicing knife (423) rotatably connected to the slicing knife fixing plate (422) and used for slicing the raw meat (600) passing through; A cutter drive motor (424), connected to the slicing knife (423), for driving the slicing knife (423) to rotate; Angle adjustment gears (425) are respectively provided in one-to-one correspondence with the rotating gear mounting frames (421), and the angle adjustment gears (425) and the rotating gear mounting frames (421) are meshed at their respective locations through gear teeth; A rotating shaft (426) is connected to the two angle adjustment gears (425) respectively; An angle adjustment motor (427) is connected to the rotating shaft (426) and is used to adjust the angle between the cutter fixing plate (422) and the slitting transmission belt (410).

10. The humanoid cutting equipment for raw meat based on multi-dimensional information perception according to claim 8 is characterized in that: The meat processing section (400) further includes: The telescopic mechanism (450) is arranged on a side of the slitting and conveying belt (410) close to the raw meat shaping section (300) and is used to compensate for the distance between the meat slices cut by the slicing and cutting mechanism (420) so that the cut meat slices can be stacked on the slitting and conveying belt (410).

11. The humanoid cutting equipment for raw meat based on multi-dimensional information perception according to claim 8, characterized in that: The strip cutting and dicing mechanism (430) comprises: A slitting and fixing bracket (431) is provided on the downstream side of the fourth photoelectric sensor (440); A pressure stabilizing component (432) is connected to the cutting fixing bracket (431) and is used to stabilize the pressure of the cut meat slices so that the outer shape of the stacked meat slices is stable; a strip cutting assembly (433), connected to the cutting fixed bracket (431) and arranged on the downstream side of the voltage stabilizing assembly (432), for cutting the meat slices into meat strips; a dicing assembly (434), connected to the slicing fixed bracket (431) and arranged on the downstream side of the strip cutting assembly (433), for slicing the meat strips into diced meat; A power assembly (435) is connected to the strip cutting assembly (433) and the dicing assembly (434) respectively, and is used to provide power to the strip cutting assembly (433) and the dicing assembly (434), and to adjust the dicing assembly (434) to switch between the dicing working position and the strip cutting working position.

12. The humanoid cutting equipment for raw meat based on multi-dimensional information perception according to claim 11 is characterized in that: The voltage stabilizing component (432) includes: A transverse lead screw (4321) is rotatably connected to the slitting fixed bracket (431) and is arranged perpendicular to the transport direction of the slitting transmission belt (410); A lead screw motor (4322) is provided on the slitting fixed bracket (431) and is connected to one end of the transverse lead screw (4321); A transverse thread pair (4323) connected to the transverse lead screw (4321); An electric cylinder (4324) connected to the transverse thread pair (4323); A pressure roller frame (4325) is connected to the electric cylinder (4324); A pressing roller (4326) is connected to the pressing roller frame (4325) and is used to stabilize the meat slices; The electric cylinder (4324) drives the pressure roller frame (4325) to move back and forth along a surface perpendicular to the slitting transmission belt (410).

13. The raw meat machine-simulated humanoid cutting equipment based on multi-dimensional information perception according to claim 11 is characterized in that: The power assembly (435) includes: A rolling cutting drive motor (4351) is provided on the slitting fixed bracket (431); A hob shaft (4352), one end of which is connected to the hobbing drive motor (4351) and is extended perpendicular to the conveying direction of the slitting transmission belt (410); Two rotating disks (4353) are arranged at intervals along the extension direction of the hob shaft (4352); The strip cutting assembly (433) comprises: Two longitudinal optical axes (4331) are spaced apart and arranged along a transport direction perpendicular to the slitting transmission belt (410), and are perpendicular to the slitting transmission belt (410); Two lifting pairs (4332) are slidably engaged with the longitudinal optical axis (4331) in a one-to-one correspondence; a connecting rod (4333), one end of the connecting rod (4333) being connected to the rotating disk (4353) on one side close to the rolling drive motor (4351), and the other end of the connecting rod (4333) being connected to the lifting pair (4332) on one side close to the rolling drive motor (4351); A fixed rack (4334) is connected to the slitting fixed bracket (431) and is spaced apart from the longitudinal optical axis (4331) on one side close to the rolling cutting drive motor (4351); A rolling gear (4335) is provided on the lifting pair (4332) close to the side of the rolling drive motor (4351) and is meshed with the fixed rack (4334) for transmission; Two turning discs (4336) are spaced apart and arranged perpendicular to the transport direction of the slitting transmission belt (410), and are provided with an inclination angle around the rotation direction, and the turning disc (4336) on the side close to the rolling drive motor (4351) rotates coaxially with the rolling gear (4335); Four guide posts (4337), with every two of the guide posts (4337) being connected to the flip disc (4336) on the same side; A rolling ball (4338) is arranged at the connection position between the guide column (4337) and the flip plate (4336); Two chopping knives (4339), each of the chopping knives (4339) is connected to the two corresponding guide posts (4337) on the two turning discs (4336), and a serrated blade is provided on the side of the chopping knives (4339) facing the slitting transmission belt (410); The lifting pair (4332), the rotating disk (4353), the connecting rod (4333) and the longitudinal optical axis (4331) form a crank rocker mechanism; The two flip disks (4336), the four guide posts (4337), the two chopping knives (4339) and the rolling ball (4338) form a reciprocating motion mechanism; The rolling drive motor (4351) drives the lifting pair (4332) to reciprocate along the longitudinal optical axis (4331) through the connecting rod (4333), and the rolling gear (4335) drives the flip plate (4336) to rotate under the action of the fixed rack (4334). The two chopping knives (4339) move relative to each other in the horizontal and vertical directions under the action of the flip plate (4336), the rolling ball (4338) and the guide column (4337) to achieve the cutting of the meat slices into meat strips.

14. The raw meat machine-simulated humanoid cutting equipment based on multi-dimensional information perception according to claim 11, characterized in that: The power assembly (435) includes: A rolling cutting drive motor (4351) is provided on the slitting fixed bracket (431); A hob shaft (4352), one end of which is connected to the hobbing drive motor (4351) and is extended perpendicular to the conveying direction of the slitting transmission belt (410); Two rotating disks (4353) are arranged at intervals along the extension direction of the hob shaft (4352); A dicing electric push rod (4354) is connected to the hob shaft (4352) and the hobbing drive motor (4351) respectively, and is used to adjust the connection between the hob shaft (4352) and the hobbing drive motor (4351); The dicing assembly (434) includes: A mounting plate (4341) connected to the slitting and fixing bracket (431); A plurality of roller cutter seats (4342) are arranged on the mounting plate (4341) at intervals along a transport direction perpendicular to the slitting transmission belt (410); A roller cutter body (4343) is rotatably connected to the roller cutter shaft (4352) and is fixedly connected to the roller cutter seat (4342) in a one-to-one correspondence, and the roller cutter body (4343) extends to the slitting transmission belt (410) and is used to cut the meat strips into the diced meat; A dicing drive motor (4344) is provided on the slitting fixed bracket (431) and connected to the mounting plate (4341), and is used to drive the mounting plate (4341) to switch from a dicing working position to a strip cutting working position when the hob shaft (4352) and the hobbing drive motor (4351) are disconnected.

15. The raw meat machine-simulated humanoid cutting equipment based on multi-dimensional information perception according to claim 14 is characterized in that: The dicing assembly (434) further includes: An electric slide (4345) is connected to the dicing drive motor (4344), and the mounting plate (4341) is provided on the other side of the electric slide (4345) where the electric slide is connected to the dicing drive motor (4344). The electric slide (4345) is capable of adjusting the position of the mounting plate (4341) laterally along a transport direction perpendicular to the slitting transmission belt (410); A guide plate (4346) is arranged parallel to the moving surface of the electric slide (4345), and a surface of the guide plate (4346) is provided with a plurality of inclined guide grooves (4347); A roller (4348) is connected to the other end of the hob seat (4342) provided with the hob body (4343), and cooperates with the guide groove (4347); A dicing longitudinal drive module (4349), provided on the electric slide (4345), is used to adjust the relative position of the guide plate (4346) in the vertical direction; The distance between two adjacent guide grooves (4347) gradually decreases or increases along the vertical direction.

16. The humanoid cutting equipment for raw meat based on multi-dimensional information perception according to claim 8, characterized in that: The meat packaging unit (500) includes: A right-angle transfer mechanism (510) is provided below the slitting and transmission belt (410) and is provided corresponding to the adjustable inclined transmission belt (411) at the output end of the slitting and transmission belt (410); A meat slice quantitative packaging mechanism (520) is provided on the downstream side of the right-angle transfer mechanism (510); The meat strip and diced meat quantitative packaging mechanism (530) is arranged on the downstream side of the slitting and conveying belt (410).

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