High-precision meat product cutting robot and cutting method

Abstract

The invention discloses a high-precision meat product cutting robot and a cutting method, and relates to the technical field of meat product processing.The high-precision meat product cutting robot comprises a workbench, a supporting plate is horizontally arranged above the workbench, and clamping plates are vertically arranged on the two sides of the upper side of the supporting plate in the width direction; first hydraulic telescopic cylinders are fixedly connected to the opposite sides of the two clamping plates, fixing columns are fixedly connected to the sides, away from the clamping plates, of the first hydraulic telescopic cylinders, first gravity sensors are fixedly connected to the four corners of the lower side of the supporting plate, and a top plate is horizontally arranged above the supporting plate. Connecting columns are fixedly connected to the four corners of the lower side of the top plate, a meat pressing assembly is arranged above the supporting plate, a pushing assembly is additionally arranged above the supporting plate, a cutting assembly is arranged on one side, in the length direction, of the supporting plate, and laser profile measuring instruments are arranged on the two sides, in the width direction of the supporting plate, of the cutting assembly. The method has the characteristic of improving the meat product segmentation accuracy.

Description

Technical Field

[0001] The invention relates to the technical field of meat product processing, and in particular to a high-precision meat product cutting robot and a cutting method. Background Art

[0002] Beef and mutton are the main source of protein for people and an edible animal meat product. With the improvement of people's quality of life, the demand for meat products has also greatly increased. Beef and mutton are the main meat products in people's demand, so the processing of beef and mutton is also a very common thing every year.

[0003] At present, most common meat processing is manual cutting. With the improvement of people's quality of life, people have higher and higher requirements on the freshness, shape and weight of the food they eat. The existing processing methods on the market cannot achieve consistent weight after common meat processing and cutting. Therefore, it is necessary to design a high-precision meat cutting robot and cutting method to improve the accuracy of meat cutting. Summary of the invention

[0004] The purpose of the present invention is to provide a high-precision meat product cutting robot and cutting method to solve the problems raised in the above-mentioned background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a high-precision meat product cutting robot, comprising a workbench, a support plate is horizontally arranged above the workbench, clamping plates are vertically arranged on both sides of the upper side of the support plate in the width direction, a hydraulic telescopic cylinder is fixedly connected to one side of the two clamping plates opposite to each other, a fixed column is fixedly connected to one side of the hydraulic telescopic cylinder away from the clamping plate, a gravity sensor is fixedly connected to the four corners of the lower side of the support plate, a top plate is horizontally arranged above the support plate, and connecting columns are fixedly connected to the four corners of the lower side of the top plate;

[0006] A meat pressing component is arranged above the support plate, a pushing component is arranged above the support plate, a cutting component is arranged on one side of the support plate along the length direction, and laser profile measuring instruments are arranged on both sides of the cutting component along the width direction of the support plate, and the laser profile measuring instrument signal is connected to a processor;

[0007] A weighing assembly is arranged on one side of the support plate close to the cutting assembly, and a shifting assembly is arranged above the weighing assembly;

[0008] A finished product box is arranged below the weighing component, and two slide plates are arranged on both sides of the weighing component along the width direction of the support plate, and a minced meat box and a counterweight box are respectively arranged below the two groups of slide plates away from the weighing component.

[0009] According to the above technical solution, the meat pressing assembly includes a plurality of horizontally arranged pressing rods, the plurality of pressing rods are arranged in a linear array along the width direction of the support plate, and the plurality of pressing rods are located between the two clamping plates;

[0010] A plurality of the pressure rods are fixedly connected to the upper sides of both ends along the axial direction with hydraulic telescopic cylinders 2, and one end of the hydraulic telescopic cylinders 2 away from the pressure rods is fixedly connected to the top plate.

[0011] According to the above technical solution, the pushing assembly includes a plurality of vertically arranged push rods, each of which is located between two adjacent pressure rods, the lower side of the push rod is in direct contact with the support plate, each of the push rods is fixedly connected with a slider 1 and a slider 2, and a slide groove 1 is provided on the lower side of the top plate corresponding to the slider 1;

[0012] A plurality of guide plates are horizontally arranged above the support plate corresponding to the push rod, each guide plate is located between two adjacent hydraulic telescopic cylinders, and each guide plate is provided with a slide groove corresponding to the slide block.

[0013] According to the above technical solution, the slider 1 and the slider 2 are both provided with threaded holes, the slider 1 is screwed with a screw rod 1 through the threaded hole, the slider 2 is screwed with a screw rod 2 through the threaded hole, one end of the screw rod 1 along the axial direction is embedded in the top plate and movably connected to the top plate, and the other end of the screw rod 1 along the axial direction passes through the top plate and is fixedly connected to a driving motor 1;

[0014] One end of the second screw rod along the axial direction is embedded in the guide plate and movably connected to the guide plate, and the other end of the second screw rod along the axial direction passes through the guide plate and is fixedly connected to the connecting block with the second driving motor.

[0015] According to the above technical solution, the cutting assembly includes a cutter, which is slidably connected to a guide bar on both sides along the length direction. A guide groove is provided on one side of the guide bar close to the cutter, and the cutter is slidably connected up and down in cooperation with the guide groove on both sides along the length direction.

[0016] A connecting plate 1 is fixedly connected to the upper side of the cutter, and two groups of hydraulic telescopic cylinders 3 are fixedly connected to the side of the connecting plate 1 facing away from the cutter.

[0017] According to the above technical solution, the weighing assembly includes a support plate, a slide plate 1 is provided on both sides of the support plate along the length direction, a convex strip 1 is integrally provided on both sides of the support plate along the length direction, and a notch 1 is provided on the slide plate 1 corresponding to the convex strip 1;

[0018] A second gravity sensor is fixedly connected to a lower side of each of the two groups of slides, and a support frame is fixedly connected to a side of the second gravity sensor facing away from the first slide;

[0019] The two groups of slide plates are commonly connected with a baffle plate 1, a side of the support plate away from the support plate is fixedly connected with a connecting plate 2, the connecting plate 2 is located on the side of the baffle plate away from the support plate, the side of the connecting plate 2 away from the baffle plate 1 is fixedly connected with a connecting plate 3, a limiting groove is arranged below the connecting plate 3, the lower side part of the connecting plate 3 is located in the notch of the limiting groove, a side of the limiting groove close to the support plate is fixedly connected with a hydraulic telescopic cylinder 4, and the hydraulic telescopic cylinder 4 is fixedly connected to one side of the workbench.

[0020] According to the above technical solution, the shifting assembly includes a vertically arranged shovel plate, the lower side of the shovel plate is in direct contact with the upper side of the support plate, and two groups of hydraulic telescopic cylinders five are fixedly connected to the upper side of the shovel plate. A linear motor is arranged on the side of the two groups of hydraulic telescopic cylinders five away from the shovel plate, and two groups of connecting plates four are fixedly connected to the side of the linear motor away from the shovel plate. The two groups of connecting plates four are respectively fixedly connected to the connecting columns, and the two groups of hydraulic telescopic cylinders five are fixedly connected to the output end of the linear motor.

[0021] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the present invention provides a clamping plate and a meat pressing assembly to limit the pressure on the meat product, thereby preventing displacement during cutting;

[0022] The meat product is pushed under pressure by setting a pushing component, and the meat product is cut by a cutting component;

[0023] By setting up a laser profile measuring instrument and a processor, the meat product pushed out of the support plate is scanned and a three-dimensional image is established to calculate the volume, and the weight is calculated in combination with the density, thereby achieving accurate cutting of the meat product;

[0024] The cut meat products are checked and classified by setting up gravity sensor 2;

[0025] A pair of gravity sensors are provided to detect the weight of the meat products remaining after cutting, and the remaining meat products are cut and classified according to the weight of the meat products. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 It is a schematic diagram of the supporting plate and the related structure of the clamping plate of the present invention;

[0029] Figure 3It is a schematic diagram of the top plate and meat pressing assembly structure of the present invention;

[0030] Figure 4 It is a schematic diagram of the structure of the top plate, guide plate and pushing assembly of the present invention;

[0031] Figure 5 It is a schematic diagram of the cutting assembly and its related structures of the present invention;

[0032] Figure 6 It is a schematic diagram of the structure of the cutting assembly of the present invention;

[0033] Figure 7 It is a schematic diagram of the structure of the weighing assembly of the present invention;

[0034] Figure 8 It is a schematic diagram of the disassembly structure of the weighing component of the present invention;

[0035] Fig. 9 It is a schematic diagram of the shifting assembly, weighing assembly and related structures of the present invention;

[0036] In the figure: 1. workbench; 2. support plate; 3. gravity sensor 1; 4. clamping plate; 5. hydraulic telescopic cylinder 1; 6. fixed column; 7. top plate; 8. connecting column; 9. meat pressing assembly; 10. pressing rod; 11. hydraulic telescopic cylinder 2; 12. pushing assembly; 13. pushing rod; 14. slider 1; 15. slider 2; 16. slide 1; 17. guide plate; 18. slide 2; 19. connecting block; 20. screw rod 1; 21. screw rod 2; 22. drive motor 1; 23. drive motor 2; 24. cutting assembly; 25. cutter; 26. guide strip; 27. guide groove; 2 8. Connecting plate one; 29. ​​Hydraulic telescopic cylinder three; 30. Laser profile measuring instrument; 31. Weighing assembly; 32. Support plate; 33. Slide plate one; 34. Raised strip one; 35. Notch one; 36. Gravity sensor two; 37. Support frame; 38. Finished product box; 39. Baffle one; 40. Connecting plate two; 41. Connecting plate three; 42. Limiting groove; 43. Hydraulic telescopic cylinder four; 44. Slide plate two; 45. Baffle two; 46. Minced meat box; 47. Counterweight box; 48. Shifting assembly; 49. Shovel plate; 50. Hydraulic telescopic cylinder five; 51. Linear motor; 52. Connecting plate four. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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 creative work are within the scope of protection of the present invention.

[0038] See also Figure 1-9The present invention provides a technical solution: a high-precision meat product cutting robot, comprising a workbench 1, a support plate 2 is horizontally arranged above the workbench 1, gravity sensors 3 are fixedly connected to the four corners of the lower side of the support plate 2, and the gravity sensors 3 are fixedly connected to the workbench 1, and the weight of the meat product on the support plate 2 is detected by the gravity sensors 3;

[0039] like Figure 2 , clamping plates 4 are vertically arranged on both sides of the upper side of the support plate 2 along the width direction, and the two clamping plates 4 are symmetrically arranged with the center line of the support plate 2 as the center, and the two clamping plates 4 are fixedly connected to the hydraulic telescopic cylinder 5 on the opposite sides of each other, and the side of the hydraulic telescopic cylinder 5 away from the clamping plate 4 is fixedly connected to the fixed column 6, and the fixed column 6 is fixedly connected to the workbench 1;

[0040] The clamping plate 4 is controlled to slide on the supporting plate 2 by a hydraulic telescopic cylinder 5, so as to limit the meat product on the supporting plate 2 by pressure.

[0041] A top plate 7 is horizontally arranged above the support plate 2 , and connecting columns 8 are fixedly connected to the four corners of the lower side of the top plate 7 , and the connecting columns 8 are fixedly connected to the workbench 1 .

[0042] like Figure 3 A meat pressing assembly 9 is arranged above the support plate 2, and the meat pressing assembly 9 includes a plurality of horizontally arranged pressing rods 10, the plurality of pressing rods 10 are arranged in a linear array along the width direction of the support plate 2, and the plurality of pressing rods 10 are located between the two clamping plates 4;

[0043] A plurality of compression rods 10 are fixedly connected to hydraulic telescopic cylinders 11 at both ends along the axial direction, and one end of the hydraulic telescopic cylinder 11 away from the compression rod 10 is fixedly connected to the top plate 7;

[0044] The pressure rod 10 is controlled by the hydraulic telescopic cylinder 11 to limit the pressure of the meat product on the support plate 2.

[0045] like Figure 4 A pushing assembly 12 is further provided above the support plate 2, and the pushing assembly 12 includes a plurality of vertically arranged push rods 13, each of which is located between two adjacent pressure rods 10, and the lower side of the push rod 13 is in direct contact with the support plate 2;

[0046] Each push rod 13 is fixedly connected with a slider 14 and a slider 2 15, wherein the slider 14 is located above the slider 2 15 and is fixedly connected to the end of the push rod 13, and a slide groove 16 is provided on the lower side of the top plate 7 corresponding to the slider 14, and the slider 14 slides in the slide groove 16;

[0047] A plurality of guide plates 17 are horizontally arranged above the support plate 2 corresponding to the push rod 13, each guide plate 17 is located between two adjacent hydraulic telescopic cylinders 11, each guide plate 17 is provided with a slide groove 18 corresponding to the slider 15, the slider 15 slides in the slide groove 18, and a plurality of guide plates 17 are fixedly connected with connecting blocks 19 at both ends along the length direction, the connecting blocks 19 are "L"-shaped, and the side of the connecting block 19 away from the guide plate 17 is fixedly connected to the top plate 7.

[0048] Slider 1 14 and slider 2 15 are both provided with threaded holes, and slider 1 14 is screwed with screw rod 1 20 through the threaded holes, and slider 2 15 is screwed with screw rod 21 through the threaded holes;

[0049] The screw rod 20 is located in the slide groove 16, one end of the screw rod 20 along the axial direction is embedded in the top plate 7 and is movably connected to the top plate 7, and the other end of the screw rod 20 along the axial direction passes through the top plate 7 and is fixedly connected to a drive motor 22, which is fixedly connected to one side of the top plate 7;

[0050] The second screw rod 21 is located in the second slide groove 18, and one end of the second screw rod 21 along the axial direction is embedded in the guide plate 17 and movably connected to the guide plate 17, and the other end of the second screw rod 21 along the axial direction passes through the guide plate 17 and is fixedly connected to the connecting block 19 with the second drive motor 23, and the second drive motor 23 is fixedly connected to the connecting block 19.

[0051] like Figure 5 , Figure 6 A cutting assembly 24 is provided on one side of the support plate 2 along the length direction, and the cutting assembly 24 includes a cutter 25. The cutter 25 is slidably connected to guide bars 26 on both sides along the length direction. The upper side of the guide bar 26 is fixedly connected to the top plate 7, and the lower side of the guide bar 26 is fixedly connected to the workbench 1. A guide groove 27 is provided on one side of the guide bar 26 close to the cutter 25. The cutter 25 is slidably connected up and down in cooperation with the guide groove 27 on both sides along the length direction.

[0052] A connecting plate 28 is fixedly connected to the upper side of the cutter 25, and two sets of hydraulic telescopic cylinders 3 29 are fixedly connected to the side of the connecting plate 28 facing away from the cutter 25. The two sets of hydraulic telescopic cylinders 3 29 are respectively fixedly connected to the two ends of the connecting plate 28 along the length direction, and the two sets of hydraulic telescopic cylinders 3 29 are fixedly connected to the lower side of the top plate 7 on the side facing away from the connecting plate 28;

[0053] The cutter 25 is controlled by the hydraulic telescopic cylinder 29 to slide up and down along the guide bar 26, thereby cutting the meat product.

[0054] The cutting assembly 24 is provided with laser profile measuring instruments 30 on both sides along the width direction of the support plate 2. The laser profile measuring instruments 30 are fixedly connected to the workbench 1. The signal of the laser profile measuring instruments 30 is connected to a processor (not shown in the figure). The output end of the laser profile measuring instrument 30 is located on the same vertical plane as the blade of the cutter 25. The laser profile measuring instrument 30 is an existing conventional technology. It irradiates a strip laser to the surface of the target object and receives the change of its reflected light through a photosensitive element, thereby scanning the contour of the meat product on a certain vertical plane in a non-contact manner.

[0055] When the push rod 13 pushes the meat product out from one side of the support plate 2, the two groups of laser profile measuring instruments 30 continuously scan the profile of the portion of the meat product exposed from the support plate 2, and establish a three-dimensional profile stereogram through the processor, thereby calculating the volume of the portion of the meat product exposed from the support plate 2, and then combining the density of the meat product to further calculate the weight of the portion of the meat product exposed from the support plate 2. When the weight of the portion of the meat product exposed from the support plate 2 reaches the requirement for cutting the finished product, the cutting component 24 is controlled to cut the portion of the meat product exposed from the support plate 2.

[0056] like Figure 7 , Figure 8 A weighing assembly 31 is provided on one side of the support plate 2 close to the cutting assembly 24. The weighing assembly 31 includes a support plate 32. Slide plates 33 are provided on both sides of the support plate 32 along the length direction. A convex strip 34 is integrally provided on both sides of the support plate 32 along the length direction. A notch 35 is provided on the slide plate 33 corresponding to the convex strip 34, so that the slide plate 33 supports the support plate 32.

[0057] The lower sides of the two sets of slide plates 33 are fixedly connected with gravity sensors 36. The cut meat products fall on the supporting plate 32. The cut meat products are checked by gravity sensors 36 to ensure that the weight of the cut meat products meets the cutting requirements.

[0058] A support frame 37 is fixedly connected to the side of the second gravity sensor 36 facing away from the first slide plate 33. The support frame 37 is a rectangular frame. The second gravity sensor 36 is fixedly connected to the four corners of the upper side of the rectangular frame.

[0059] like Fig. 9 A finished product box 38 is provided below the weighing assembly 31, and the box opening of the finished product box 38 corresponds to the rectangular opening of the support frame 37, and is used to hold the cut meat products that meet the cutting requirements.

[0060] The two groups of slide plates 33 are commonly connected with a baffle plate 1 39, and a connecting plate 2 40 is fixedly connected to the side of the support plate 32 away from the support plate 2. The connecting plate 2 40 is located on the side of the baffle plate 1 39 away from the support plate 2, and a connecting plate 3 41 is fixedly connected to the side of the connecting plate 2 40 away from the baffle plate 1 39. The connecting plate 3 41 is in an inverted "L" shape, and a limiting groove 42 is arranged below the connecting plate 3 41. The limiting groove 42 is "concave" shaped, and the lower side of the connecting plate 3 41 is located in the notch of the limiting groove 42. A hydraulic telescopic cylinder 43 is fixedly connected to the side of the limiting groove 42 close to the support plate 2, and the hydraulic telescopic cylinder 43 is fixedly connected to the workbench 1.

[0061] In the initial state, the connecting plate three 41 does not contact the limit groove 42 to avoid affecting the verification effect of the gravity sensor two 36 on the meat product. When the cut meat product passes the detection of the gravity sensor two 36, the limit groove 42 is controlled to move by the hydraulic telescopic cylinder four 43. After the limit groove 42 contacts the connecting plate three 41, the connecting plate three 41 is pulled to move, so that the support plate 32 moves along the slide plate one 33 to the side away from the support plate 2. The meat product on the support plate 32 falls downward through the rectangular opening of the support frame 37 into the finished product box 38 under the action of the baffle one 39, completing the collection of the cut meat products.

[0062] The weighing assembly 31 is provided with two slide plates 44 on both sides along the width direction of the support plate 2. The two sets of slide plates 44 are inclined to the side away from the slide plate 1 33. The two sets of slide plates 44 are fixedly connected with two baffle plates 45 on both sides along the width direction.

[0063] A minced meat box 46 and a counterweight box 47 are respectively disposed below the two sets of slide plates 44 on the side away from the weighing assembly 31 .

[0064] A shifting assembly 48 is arranged above the weighing assembly 31, and the shifting assembly 48 includes a vertically arranged shovel plate 49, the lower side of the shovel plate 49 is in direct contact with the upper side of the support plate 32, and two groups of hydraulic telescopic cylinders five 50 are fixedly connected to the upper side of the shovel plate 49, and a linear motor 51 is arranged on the side of the two groups of hydraulic telescopic cylinders five 50 away from the shovel plate 49, and two groups of connecting plates four 52 are fixedly connected on the side of the linear motor 51 away from the shovel plate 49, and the two groups of connecting plates four 52 are respectively fixedly connected to the connecting column 8, and the two groups of hydraulic telescopic cylinders five 50 are fixedly connected to the output end of the linear motor 51.

[0065] The gravity sensor 1 3 and the gravity sensor 2 36 are both connected to the processor signal.

[0066] The processor presets the standard weight of the meat product after cutting as G, and the actual weight of the meat product after cutting as Y;

[0067] The processor is set to allow the weight of the meat product after cutting to float within 10% of the standard weight G, which meets the finished product requirements, that is, when G≤Y≤1.1G, the meat product is moved into the finished product box 38;

[0068] When the weight of the meat product after cutting is set by the processor to be lower than 50% of the standard weight G, that is, Y<0.5G, the shifting assembly 48 is controlled to move the meat product into the minced meat box 46;

[0069] When the weight of the meat product after cutting is set by the processor to be lower than the standard weight G but higher than 50% of the standard weight G, that is, 0.5G≤Y<G, the shifting component 48 is controlled to move the meat product into the counterweight box 47.

[0070] In this embodiment, the meat product is placed on the support plate 2 from one side of the clamping plate 4, and the extension degree of the hydraulic telescopic cylinder 5 is manually controlled according to the shape of the meat product, thereby controlling the clamping plate 4 to limit the pressure on the meat product;

[0071] According to the space between the two groups of clamping plates 4, the hydraulic telescopic cylinder 11 at the corresponding position is controlled to extend, so that the pressure rod 10 is lowered to limit the downward pressure of the meat product;

[0072] At the same time, the driving motor 1 22 and the driving motor 2 23 at the corresponding position are controlled to operate according to the space between the two groups of clamping plates 4, so that the push rod 13 at the corresponding position moves and pushes the meat product to move to the side of the cutting component 24.

[0073] The meat product is exposed from the side of the support plate 2 close to the cutting assembly 24 under the action of the push rod 13, and the exposed part of the meat product is continuously scanned by two sets of laser profile measuring instruments 30, and a three-dimensional profile stereogram is established by the processor, so as to calculate the volume of the part of the meat product exposed from the support plate 2;

[0074] The density of the meat product is set in the processor, and combined with the calculated volume of the meat product, the weight of the portion of the meat product exposed from the support plate 2 is calculated;

[0075] The processor presets the standard weight of the meat product after cutting as G, the actual weight of the meat product after cutting as Y, and the remaining weight of the meat product on the support plate 2 as Z;

[0076] The processor is set to allow the weight of the meat product after cutting to float within 10% of the standard weight G, which meets the finished product requirements, that is, when G≤Y≤1.1G, the meat product is moved into the finished product box 38;

[0077] When the weight of the meat product after cutting is set by the processor to be lower than 50% of the standard weight G, that is, Y<0.5G, the shifting assembly 48 is controlled to move the meat product into the minced meat box 46;

[0078] When the weight of the meat product after cutting is set by the processor to be lower than the standard weight G but higher than 50% of the standard weight G, that is, 0.5G≤Y<G, the shifting component 48 is controlled to move the meat product into the counterweight box 47.

[0079] When the weight of the portion of the meat product exposed from the support plate 2 reaches the standard weight G, the cutting assembly 24 is controlled to cut the meat product, and the cut meat product falls onto the support plate 32, and the actual weight Y of the cut meat product is verified by the gravity sensor 2 36;

[0080] Specifically, during the cutting process when the remaining weight Z of the meat product on the support plate 2 detected by the gravity sensor 1 3 is not less than 2G, there is no situation where Y is less than 0.5G;

[0081] When G≤Y≤1.1G, it indicates that the meat product meets the finished product requirements, and the hydraulic telescopic cylinder 43 is controlled to extend, so that the support plate 32 moves away from the support plate 2, and the meat product falls into the finished product box 38;

[0082] When 0.5G≤Y<G, it indicates that the meat product does not meet the finished product requirements, and the shifting assembly 48 is controlled to make the shovel plate 49 push the meat product on the support plate 32 to the side of the counterweight box 47, and the meat product falls into the counterweight box 47 through the slide plate 2 44;

[0083] When the gravity sensor 3 detects that the remaining weight Z of the meat product is greater than or equal to G but less than 2G, the processor performs the following settings:

[0084] When Z≤1.1G, the remaining meat products are no longer cut. After the push rod 13 pushes the remaining meat products onto the support plate 32, the hydraulic telescopic cylinder 43 is controlled to extend to move the support plate 32 away from the support plate 2, and the meat products fall into the finished product box 38.

[0085] When 1.1G<Z<1.5G, the remaining meat product is cut once more, and the remaining meat product is pushed onto the support plate 32, and the shifting assembly 48 is controlled to make the shovel plate 49 push the meat product on the support plate 32 to one side of the minced meat box 46, and the meat product falls into the minced meat box 46 through the slide plate 2 44, waiting for the counterweight treatment;

[0086] When 1.5G≤Z<2G, the remaining meat products are cut once more, and the remaining meat products are pushed onto the support plate 32, and the shifting assembly 48 is controlled to make the shovel plate 49 push the meat products on the support plate 32 to the side of the counterweight box 47, and the meat products fall into the counterweight box 47 through the slide plate 2 44, waiting to be counterweighted with the meat products in the minced meat box 46, and the total weight T after counterweighting is within G-1.1G;

[0087] After the weighting process of the meat products in the weighting box 47 is completed, if there is excess meat products in the minced meat box 46, the excess meat products are subjected to other processing;

[0088] If there is no minced meat in the minced meat box 46 for weighting the meat products in the weight-balancing box 47 during weighting, the meat products in the weight-balancing box 47 are manually cut for weighting so that all the meat products in the weight-balancing box 47 are weighted.

[0089] A segmentation method of a high-precision meat segmentation robot:

[0090] S1: placing the meat product to be cut on the support plate 2, and limiting the position of the meat product by the clamping plate 4 and the pressure rod 10;

[0091] S2: The meat product after being limited is pushed by the push rod 13 to move toward the side of the cutting component 24;

[0092] S3: Preset the standard weight of the meat product after cutting as G, the actual weight of the meat product after cutting as Y, and the remaining weight of the meat product on the support plate 2 as Z through the processor;

[0093] S4: The processor calculates the weight of the meat product removed from the support plate 2 based on the volume of the meat product removed from the support plate 2 scanned by the laser profile measuring instrument 30 and the density of the meat product. When the weight of the meat product removed reaches the standard mass G of the finished product, the meat product is cut by the cutting component 24.

[0094] S5: When Z is in all cutting processes not less than 2G, the quality of the cut meat products is checked by the gravity sensor 2 36 and the meat products are distributed;

[0095] S6: When G<Z<2G, the remaining meat product on the support plate 2 is processed;

[0096] S51: When G≤Y≤1.1G, it indicates that the meat product meets the finished product requirements, and the meat product is moved into the finished product box 38;

[0097] S52: When 0.5G≤Y<G, it indicates that the meat product does not meet the finished product requirements, and the meat product is moved into the counterweight box 47;

[0098] S61: When Z≤1.1G, the remaining meat product is no longer cut and the meat product is moved into the finished product box 38.

[0099] S62: When 1.1G<Z<1.5G, the remaining meat product is cut once more, and then the remaining meat product is moved into the minced meat box 46 to wait for the weight-balancing process;

[0100] S63: When 1.5G≤Z<2G, the remaining meat product is cut once more and then moved into the counterweight box 47 to wait for counterweighting with the meat product in the minced meat box 46. The total counterweighted weight T is within G-1.1G.

[0101] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0102] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A high-precision meat cutting robot, comprising a workbench (1), characterized in that: A support plate (2) is horizontally arranged above the workbench (1), and clamping plates (4) are vertically arranged on both sides of the upper side of the support plate (2) along the width direction. A hydraulic telescopic cylinder (5) is fixedly connected to one side of the two clamping plates (4) opposite to each other, and a fixed column (6) is fixedly connected to one side of the hydraulic telescopic cylinder (5) away from the clamping plate (4). A gravity sensor (3) is fixedly connected to the four corners of the lower side of the support plate (2). A top plate (7) is horizontally arranged above the support plate (2), and connecting columns (8) are fixedly connected to the four corners of the lower side of the top plate (7); A meat pressing component (9) is arranged above the support plate (2), a pushing component (12) is also arranged above the support plate (2), a cutting component (24) is arranged on one side of the support plate (2) in the length direction, and laser profile measuring instruments (30) are arranged on both sides of the cutting component (24) in the width direction of the support plate (2), and the laser profile measuring instrument (30) is signal-connected to a processor; A weighing assembly (31) is disposed on one side of the support plate (2) close to the cutting assembly (24), and a shifting assembly (48) is disposed above the weighing assembly (31); A finished product box (38) is arranged below the weighing assembly (31), and two slide plates (44) are arranged on both sides of the weighing assembly (31) along the width direction of the support plate (2), and a minced meat box (46) and a counterweight box (47) are respectively arranged below the two sets of slide plates (44) on the side facing away from the weighing assembly (31).

2. The high-precision meat cutting robot according to claim 1, characterized in that: The meat pressing assembly (9) comprises a plurality of horizontally arranged pressing rods (10), wherein the plurality of pressing rods (10) are arranged in a linear array along the width direction of the support plate (2), and the plurality of pressing rods (10) are located between the two clamping plates (4); A plurality of the pressure rods (10) are fixedly connected to hydraulic telescopic cylinders (11) above both ends along the axial direction, and one end of the hydraulic telescopic cylinder (11) away from the pressure rods (10) is fixedly connected to the top plate (7).

3. The high-precision meat cutting robot according to claim 2, characterized in that: The pushing assembly (12) comprises a plurality of vertically arranged push rods (13), each of the push rods (13) being located between two adjacent pressure rods (10), the lower side of the push rods (13) being in direct contact with the support plate (2), each of the push rods (13) being fixedly connected with a slide block 1 (14) and a slide block 2 (15), and a slide groove 1 (16) being provided on the lower side of the top plate (7) corresponding to the slide block 1 (14); A plurality of groups of guide plates (17) are horizontally arranged above the support plate (2) corresponding to the push rod (13), each group of the guide plates (17) is located between two adjacent groups of hydraulic telescopic cylinders (11), and each group of the guide plates (17) is provided with a slide groove (18) corresponding to the slide block (15).

4. The high-precision meat cutting robot according to claim 3, characterized in that: The slider 1 (14) and the slider 2 (15) are both provided with threaded holes, the slider 1 (14) is screwed with a screw rod 1 (20) through the threaded hole, the slider 2 (15) is screwed with a screw rod 2 (21) through the threaded hole, one end of the screw rod 1 (20) along the axial direction is embedded in the top plate (7) and is movably connected to the top plate (7), and the other end of the screw rod 1 (20) along the axial direction passes through the top plate (7) and is fixedly connected to a drive motor 1 (22); One end of the second screw rod (21) along the axial direction is embedded in the guide plate (17) and is movably connected to the guide plate (17), and the other end of the second screw rod (21) along the axial direction passes through the guide plate (17) and is fixedly connected to the connecting block (19) with the second drive motor (23).

5. The high-precision meat cutting robot according to claim 4, characterized in that: The cutting assembly (24) comprises a cutter (25), wherein the cutter (25) is slidably connected to a guide bar (26) on both sides along the length direction, a guide groove (27) is provided on a side of the guide bar (26) close to the cutter (25), and the cutter (25) is slidably connected to the guide groove (27) on both sides along the length direction; A connecting plate 1 (28) is fixedly connected to the upper side of the cutter (25), and two groups of hydraulic telescopic cylinders 3 (29) are fixedly connected to the side of the connecting plate 1 (28) facing away from the cutter (25).

6. The high-precision meat cutting robot according to claim 5, characterized in that: The weighing assembly (31) comprises a support plate (32), the support plate (32) being provided with slide plates (33) on both sides along the length direction, the support plate (32) being provided with convex strips (34) on both sides along the length direction, and the slide plates (33) being provided with notches (35) corresponding to the convex strips (34); The lower sides of the two groups of slide plates (33) are both fixedly connected with gravity sensors (36), and the side of the gravity sensors (36) facing away from the slide plate (33) is fixedly connected with a support frame (37); The two groups of slide plates (33) are commonly connected to a baffle plate (39); a side of the support plate (32) away from the support plate (2) is fixedly connected to a connecting plate (40); the connecting plate (40) is located on a side of the baffle plate (39) away from the support plate (2); a side of the connecting plate (40) away from the baffle plate (39) is fixedly connected to a connecting plate (41); a limiting groove (42) is provided below the connecting plate (41); a lower part of the connecting plate (41) is located in a notch of the limiting groove (42); a side of the limiting groove (42) close to the support plate (2) is fixedly connected to a hydraulic telescopic cylinder (43); and the hydraulic telescopic cylinder (43) is fixedly connected to one side of the workbench (1).

7. The high-precision meat cutting robot according to claim 6, characterized in that: The shifting assembly (48) includes a vertically arranged shovel plate (49), the lower side of the shovel plate (49) is in direct contact with the upper side of the support plate (32), and the upper side of the shovel plate (49) is fixedly connected with two groups of hydraulic telescopic cylinders (50), and the two groups of hydraulic telescopic cylinders (50) are provided with a linear motor (51) on the side away from the shovel plate (49), and the linear motor (51) is fixedly connected with two groups of connecting plates (52) on the side away from the shovel plate (49), and the two groups of connecting plates (52) are respectively fixedly connected to the connecting column (8), and the two groups of hydraulic telescopic cylinders (50) are fixedly connected to the output end of the linear motor (51).

8. The cutting method of a high-precision meat cutting robot according to claim 7, characterized in that: S1: placing the meat product to be cut on the support plate (2), and limiting the position of the meat product by means of the clamping plate (4) and the pressure rod (10); S2: pushing the meat product after being limited by the push rod (13) to move toward the side of the cutting component (24); S3: Preset, by the processor, the standard weight of the meat product after cutting as G, the actual weight of the meat product after cutting as Y, and the remaining weight of the meat product on the support plate (2) as Z; S4: the processor calculates the weight of the portion of the meat product removed from the support plate (2) based on the volume of the portion of the meat product removed from the support plate (2) scanned by the laser profile measuring instrument (30) and the density of the meat product. When the weight of the meat product removed reaches the standard mass G of the finished product, the meat product is cut by the cutting component (24); S5: When Z is at or above 2G in all the cutting processes, the quality of the cut meat products is checked by gravity sensor 2 (36) and the meat products are distributed; S6: When G<Z<2G, the remaining meat product on the support plate (2) is processed.

9. The cutting method of a high-precision meat cutting robot according to claim 8, characterized in that: The specific steps of S5 are as follows: S51: When G≤Y≤1.1G, it indicates that the meat product meets the finished product requirements, and the meat product is moved into the finished product box (38); S52: When 0.5G≤Y<G, it indicates that the meat product does not meet the finished product requirements, and the meat product is moved into the counterweight box (47).

10. The cutting method of a high-precision meat cutting robot according to claim 8, characterized in that: The specific steps of S6 are as follows: S61: When Z≤1.1G, the remaining meat product is no longer cut and the meat product is moved into the finished product box (38); S62: When 1.1G<Z<1.5G, the remaining meat product is cut once more, and then the remaining meat product is moved into the minced meat box (46) to wait for the weight-balancing process; S63: When 1.5G≤Z<2G, the remaining meat product is cut once more and then moved into the weight balancing box (47) to wait for the meat product in the minced meat box (46) to be weighed, and the total weight T after weighing is within G-1.1G.

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