Meat boning device for livestock and poultry slaughtering and using method thereof

Abstract

The invention discloses a meat boning device for livestock and poultry slaughtering and a using method thereof, and relates to the technical field of meat processing equipment.The meat boning device comprises a conveying mechanism, a grabbing assembly is arranged on one side of the outer wall of the conveying mechanism, a scanning mechanism is arranged at the top of the conveying mechanism, and a fixing mechanism is arranged at the bottom of the conveying mechanism. The scanning mechanism comprises a shielding box, a motion controller is fixedly mounted at the top of the shielding box and is in signal connection with the first six-axis mechanical arm, and an X-ray source is fixedly mounted on one side of the inner wall of the shielding box. The conveying mechanism, the scanning mechanism and the first six-axis mechanical arm are arranged to be used in cooperation, bone-meat separation operation can be accurately carried out on the marrow bone, X-ray scanning can be carried out on the marrow bone through the scanning mechanism, image collection is carried out, algorithm processing is carried out on the collected image, then the image is transmitted to the motion controller, and the motion controller is connected with the first six-axis mechanical arm. And the motion controller is used for controlling the first six-axis mechanical arm to precisely cut the rod bone.

Description

Technical Field

[0001] The invention relates to the technical field of meat processing equipment, in particular to a meat deboning device for slaughtering livestock and poultry and a use method thereof. Background Art

[0002] When cutting pig shanks mechanically during livestock and poultry slaughter, in order to avoid damage to the cutting knife, the cutting usually avoids the pig shanks. In this way, there are still a lot of meat pieces remaining on the surface of the pig shanks after cutting. In order to avoid the pork on these shanks being discarded and wasted, the pork on the shanks needs to be removed and collected manually. The processing speed is slow, and manual processing is easy to cut the meat on the shanks into pieces, which is not conducive to subsequent processing.

[0003] In the prior art, such as Chinese Patent No.: CN117598344A, a meat deboning device for slaughtering livestock and poultry and its use method belong to the field of meat processing, including a processing table and side panels and pillars respectively installed on the upper and lower surfaces of the processing table, the left and right ends of the bidirectional screw are installed with No. 4 transmission wheels, and the left No. 4 transmission wheel is fixed to the output end of the driving motor, the outer side of the No. 4 transmission wheel is fixedly connected with a one-way bearing, and the outer ring of the one-way bearing is fixed to the near end of the bidirectional screw, and the driving motor cooperates with the one-way bearing to make the No. 4 transmission wheel cooperate with the No. 1 belt to drive the No. 2 transmission wheel on the top to rotate, and then the rectangular sleeve and the No. 1 transmission wheel rotate synchronously with the rectangular rod, and at the same time, the rectangular rod can also drive the reciprocating screw rod to rotate, so that the arc-shaped picking knife can continuously reciprocate and pick meat from various parts of the rotating bone, and the overall processing and picking process not only has a more efficient meat picking efficiency, but also a cleaner meat picking efficiency.

[0004] In the above patent, although the device can continuously remove meat from the rotating bone reciprocatingly through the arc-shaped picking knife, the overall meat removal process is not only more efficient but also cleaner, but each bone has a different shape and size, and the curvature of the bone is also different. The arc-shaped picking knife cannot completely remove the meat adhered to the bone, and in the process of removing, it is easy to scratch the surface of the bone, and then some bone powder will be scraped off, which will be mixed with the meat, thereby affecting the quality of the meat.

[0005] Therefore, we propose a meat deboning device for slaughtering livestock and poultry and a method of using the same to solve the above-mentioned problems. Summary of the invention

[0006] The purpose of the present invention is to provide a meat deboning device for slaughtering livestock and poultry and a method for using the same, so as to solve the problem that the method of using an arc-shaped picking knife to remove meat from the bone cannot completely remove the meat adhered to the bone, and in the process of removing meat, the surface of the bone is easily scratched, and some bone powder is scraped off, which is mixed with the meat and affects the quality of the meat.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a meat deboning device for slaughtering livestock and poultry, comprising: a conveying mechanism, a grabbing assembly is arranged on one side of the outer wall of the conveying mechanism, a scanning mechanism is arranged on the top of the conveying mechanism, and a fixing mechanism is arranged on the bottom of the conveying mechanism, characterized in that: the conveying mechanism comprises a base frame, two fixing frames are fixedly installed on the top of the base frame, and gears are arranged on the tops of the two fixing frames, and a first motor is fixedly installed on the bottom of one of the fixing frames, and the output end of the first motor is fixedly connected to one of the gears, a chain is transmission-connected between the outer walls of the two gears, and a group of fixed lining plates are fixedly installed on one side of the outer wall of the chain, and a group of grabbing assemblies are fixedly installed on the bottoms of several adjacent fixed lining plates, a first six-axis mechanical arm is arranged on one side of the outer wall of the conveying mechanism, and a cutting knife assembly is fixedly installed on the output end of the first six-axis mechanical arm;

[0008] The scanning mechanism includes a shielding box, a motion controller is fixedly installed on the top of the shielding box, and the motion controller is connected to the first six-axis robotic arm signal, an X-ray source is fixedly installed on one side of the inner wall of the shielding box, two linear X-ray detectors are fixedly installed on the other side of the inner wall of the shielding box, and the two linear X-ray detectors are electrically connected to the motion controller, and a display is fixedly installed on one side of the outer wall of the shielding box, and the display is electrically connected to the two linear X-ray detectors.

[0009] Preferably, the cutter assembly includes a handle, and the handle is fixedly mounted on the output end of the first six-axis robot arm, an ultrasonic transducer is fixedly mounted inside the handle, and the input end of the ultrasonic transducer is electrically connected to an ultrasonic generator, an amplitude rod is arranged at the bottom of the ultrasonic transducer, and the cutter is fixedly mounted on the inner surface wall of the amplitude rod.

[0010] Preferably, the amplitude rod is forged from a titanium alloy material, and the cutter is forged from a titanium alloy material.

[0011] Preferably, the fixing mechanism includes a slide rail, a threaded rod is movably inserted into the inner wall of the slide rail, and a fourth motor is fixedly installed on one side of the outer wall of the slide rail, and the output end of the fourth motor is fixedly connected to one end of the outer wall of the threaded rod, and two sliding blocks are movably sleeved on the outer wall of the threaded rod, and hydraulic rods are fixedly installed on the top of the two sliding blocks, and U-shaped frames are fixedly installed on the top of the two hydraulic rods, and electric push rods are arranged on both sides of the outer walls of the two U-shaped frames.

[0012] Preferably, a slide groove is provided at the bottom of the two sliding blocks, and a group of pulleys are provided on the inner surface walls of the two slide grooves.

[0013] Preferably, a second six-axis robotic arm is arranged on one side of the outer wall of the first six-axis robotic arm, and the second six-axis robotic arm is connected to the motion controller signal, and a hydraulic clamp is fixedly installed on the output end of the second six-axis robotic arm.

[0014] Preferably, the grabbing assembly includes a connecting plate, a connecting frame is fixedly installed on the bottom of the connecting plate by bolts, a protective plate is movably provided on the bottom of the connecting frame, a second motor is fixedly installed on the bottom of the inner wall of the connecting frame, and the output end of the second motor is fixedly connected to the top of the protective plate, two clamping jaws are movably installed inside the protective plate, and the two clamping jaws are meshed with each other, and a driven gear is fixedly installed on one side of the outer wall of one of the clamping jaws, a third motor is fixedly installed on one side of the outer wall of the protective plate, and a driving gear is fixedly sleeved on the output end of the third motor, and the driving gear is meshed with the driven gear.

[0015] Preferably, two groups of support frames are fixedly installed on the top of the base frame, and support sleeves are fixedly installed on the tops of the two groups of support frames, and the two support sleeves are movably sleeved on the outer surface wall of the chain.

[0016] Preferably, the ultrasonic generator is fixedly mounted on one side of the outer wall of the shielding box, and the slide rail is located at the bottom of the base frame.

[0017] A method for using a meat deboning device for slaughtering livestock and poultry, comprising the following steps:

[0018] Step 1: First, manually fix the bone to be deboned on the conveying mechanism and fix it through the grabbing component;

[0019] Step 2: After fixation is completed, the bone rod is transported forward by the transport mechanism. During the transport process, the bone rod will be scanned by an X-ray device to collect images;

[0020] Step 3: After the image acquisition is completed, the first six-axis robot arm is controlled by the motion controller, and the first six-axis robot arm can manipulate the cutter assembly to accurately cut the bone through the acquired image;

[0021] Step 4: During the cutting process, the fixing mechanism at the bottom will clamp and fix the bone to prevent it from shaking during the cutting process, thereby affecting the cutting effect;

[0022] Step 5: After the cutting is completed, the conveying mechanism and the fixing mechanism will continue to convey the bone forward until it is conveyed to the front end of the second six-axis robot arm;

[0023] Step 6: At this time, the second six-axis robotic arm will control the hydraulic gripper to pull out the bones in the bone bar, thereby completing the bone and flesh separation work of the bone bar.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The present invention can accurately perform bone-meat separation operations on bar bones by setting a conveying mechanism, a scanning mechanism and a first six-axis robotic arm for coordinated use. The bar bones can be scanned by X-rays and image acquisition can be performed through the scanning mechanism. The acquired images are transmitted to the motion controller after algorithm processing, and the motion controller controls the first six-axis robotic arm to accurately cut the bar bones. In this way, not only can different types of bar bones be separated from each other, but also the cutting efficiency and accuracy can be greatly improved. The first six-axis robotic arm will strictly perform bone-meat separation and cutting operations on the bar bones according to the acquired images, so as to avoid cutting the bar bones, thereby avoiding the mixing of bone powder and meat, and greatly improving the quality of the cut meat.

[0026] 2. In the present invention, the cutting knife assembly is an ultrasonic cutting knife. Compared with the traditional mechanical cutting method, the noise and mechanical vibration generated by ultrasonic cutting are smaller. The high-speed vibration and low cutting resistance make the ultrasonic cutting speed faster and improve the cutting efficiency. Since ultrasonic cutting reduces friction and heat accumulation, the cutting edge is smoother and the quality of the meat is improved. The ultrasonic cutting knife can achieve very delicate and precise cutting, so it can avoid cutting bones.

[0027] 3. In the present invention, by setting a fixing mechanism, not only can the bone stick be fixed during the bone stick cutting process to improve the accuracy of bone and meat cutting, but also in the subsequent bone and meat separation process, the fixing mechanism can fix the meat block, making it convenient for the second six-axis robot arm to separate the meat block and the bone, greatly improving the portability and practicality of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a structural stereogram of a meat deboning device for slaughtering livestock and poultry and a method of using the device according to the present invention;

[0029] Figure 2 It is a structural stereogram of a conveying mechanism in a meat deboning device for slaughtering livestock and poultry and a method for using the same according to the present invention;

[0030] Figure 3 It is a structural stereogram of a grabbing assembly in a meat deboning device for slaughtering livestock and poultry and a method for using the same according to the present invention;

[0031] Figure 4 It is a structural stereogram of the interior of a grabbing assembly in a meat deboning device for slaughtering livestock and poultry and a method for using the same according to the present invention;

[0032] Figure 5 It is a structural stereogram of a scanning mechanism in a meat deboning device for slaughtering livestock and poultry and a method for using the same according to the present invention;

[0033] Figure 6 It is a structural stereogram of a front view of a fixing mechanism in a meat deboning device for slaughtering livestock and poultry and a method for using the same according to the present invention;

[0034] Figure 7 It is a structural stereogram of the bottom side of the fixing mechanism in a meat deboning device for slaughtering livestock and poultry and a method for using the same according to the present invention;

[0035] Figure 8 It is a structural stereogram of a cutting mechanism in a meat deboning device for slaughtering livestock and poultry and a method for using the same according to the present invention;

[0036] Fig. 9 The present invention discloses a meat deboning device for slaughtering livestock and poultry and a use method thereof, and a structural stereoscopic diagram of a cutter assembly.

[0037] In the figure: 1, conveying mechanism; 10, chassis; 11, fixed frame; 12, gear; 13, first motor; 14, chain; 15, fixed lining plate; 16, grab assembly; 160, connecting plate; 161, connecting frame; 162, protective plate; 163, second motor; 164, clamping claw; 165, driven gear; 166, third motor; 167, driving gear; 17, support frame; 18, support sleeve; 2, scanning mechanism; 20, shielding box; 21, motion controller; 2 2. X-ray source; 23. Linear X-ray detector; 24. Display; 3. Fixing mechanism; 30. Slide rail; 31. Threaded rod; 32. Fourth motor; 33. Sliding block; 34. Hydraulic rod; 35. U-shaped frame; 36. Electric push rod; 37. Slide groove; 38. Pulley; 4. First six-axis robotic arm; 5. Cutter assembly; 50. Knife handle; 51. Ultrasonic transducer; 52. Amplitude rod; 53. Cutter; 54. Ultrasonic generator; 6. Second six-axis robotic arm; 7. Hydraulic clamp. DETAILED DESCRIPTION

[0038] 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 implementation regulations described 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.

[0039] Example 1: Please refer to Figure 1-Figure 9As shown, the present invention provides a technical solution: a meat deboning device for slaughtering livestock and poultry, a conveying mechanism 1, a grabbing assembly 16 is arranged on one side of the outer wall of the conveying mechanism 1, and a scanning mechanism 2 is arranged on the top of the conveying mechanism 1, and a fixing mechanism 3 is arranged on the bottom of the conveying mechanism 1, characterized in that: the conveying mechanism 1 includes a base frame 10, two fixing frames 11 are fixedly installed on the top of the base frame 10, and gears 12 are arranged on the tops of the two fixing frames 11, and a first motor 13 is fixedly installed on the bottom of one of the fixing frames 11, and the output end of the first motor 13 is fixedly connected to one of the gears 12, a chain 14 is transmission-connected between the outer walls of the two gears 12, and a group of fixed lining plates 15 are fixedly installed on one side of the outer wall of the chain 14, and a group of grabbing assemblies 16 are fixedly installed on the bottoms of several adjacent fixed lining plates 15, a first six-axis mechanical arm 4 is arranged on one side of the outer wall of the conveying mechanism 1, and a cutter assembly 5 is fixedly installed on the output end of the first six-axis mechanical arm 4;

[0040] The scanning mechanism 2 includes a shielding box 20, a motion controller 21 is fixedly installed on the top of the shielding box 20, and the motion controller 21 is signal-connected to the first six-axis robot 4, an X-ray source 22 is fixedly installed on one side of the inner wall of the shielding box 20, two linear X-ray detectors 23 are fixedly installed on the other side of the inner wall of the shielding box 20, and the two linear X-ray detectors 23 are electrically connected to the motion controller 21, and a display 24 is fixedly installed on one side of the outer wall of the shielding box 20, and the display 24 is electrically connected to the two linear X-ray detectors 23.

[0041] The effect achieved by the entire embodiment 1 is that the bar bone to be deboned is first manually placed at the bottom of the grasping component 16 for fixing. After the fixing is completed, the first motor 13 is started to drive the gear 12 to rotate. Under the action of the chain 14, the bar bone will be transported forward. During the transportation process, the bar bone will pass through the scanning mechanism 2. Starting the X-ray source 22 will emit X-rays. X-rays have a strong penetrating ability. Different substances have different degrees of absorption and scattering of X-rays. Generally, the higher the density and the larger the atomic number of the material, the more X-rays are absorbed, and the darker the image presented. The lower the density of the material, the less X-rays are absorbed, and the brighter the image presented. The X-rays that pass through the bar bone are received by the linear X-ray detector 23. The linear X-ray detector 23 converts the X-ray signal into visible light or electrical signal. These signals are processed to generate an image, and then the rough straightening angle is calculated by matching the shape contour template. The motion controller 21 is used to control the first six-axis robot 4 to make a corresponding motion trajectory. In combination with the cutter component 5, the accurate cutting of the bar bone can be completed to completely separate the bone and flesh.

[0042] Embodiment 2: According to Figure 3 , Figure 4 and Figure 8 , Fig. 9 As shown, the cutter assembly 5 includes a handle 50, and the handle 50 is fixedly installed at the output end of the first six-axis robot arm 4, an ultrasonic transducer 51 is fixedly installed inside the handle 50, and the input end of the ultrasonic transducer 51 is electrically connected to an ultrasonic generator 54, an amplitude rod 52 is arranged at the bottom of the ultrasonic transducer 51, a cutter 53 is fixedly installed on the inner surface wall of the amplitude rod 52, the amplitude rod 52 is forged from a titanium alloy material, and the cutter 53 is forged from a titanium alloy material, the grabbing assembly 16 includes a connecting plate 160, a connecting frame 161 is fixedly installed at the bottom of the connecting plate 160 by bolts, and the connecting frame 161 A protective plate 162 is movably provided at the bottom, a second motor 163 is fixedly installed at the bottom of the inner wall of the connecting frame 161, and the output end of the second motor 163 is fixedly connected to the top of the protective plate 162, two clamping jaws 164 are movably installed inside the protective plate 162, and the two clamping jaws 164 are meshed with each other, and a driven gear 165 is fixedly installed on one side of the outer wall of one of the clamping jaws 164, a third motor 166 is fixedly installed on one side of the outer wall of the protective plate 162, and a driving gear 167 is fixedly sleeved on the output end of the third motor 166, and the driving gear 167 is meshed with the driven gear 165.

[0043] The effect achieved by the entire second embodiment is that the ultrasonic generator 54 converts ordinary power into high-frequency, high-voltage electrical energy, the ultrasonic transducer 51 converts the high-frequency electrical energy provided by the ultrasonic generator 54 into mechanical vibration, and the amplitude rod 52 is connected between the ultrasonic transducer 51 and the cutter 53. Its function is to amplify the vibration amplitude generated by the ultrasonic transducer 51 and transmit it to the cutter 53, so that it can effectively cut under high-frequency vibration. During the cutting process, the cutter 53 reduces the friction resistance and shear force of the material through high-frequency vibration, and the vibration makes the cutter 53 It can penetrate the meat block more easily and produce a clean and precise cutting effect. At the same time, the cutter 53 is forged from titanium alloy material. Titanium alloy has high strength and good corrosion resistance, and its density is low, which makes it perform well in high-frequency ultrasonic applications and can also reduce the wear of the cutter 53. At this time, the third motor 166 is started, and under the meshing action of the driving gear 167 and the driven gear 165, the clamping jaws 164 will be driven to rotate, and the two clamping jaws 164 are meshed with each other. At this time, the two clamping jaws 164 are closed inward to fix the bone.

[0044] Embodiment 3: According to Figure 1 and Figure 6-Figure 8As shown, the fixing mechanism 3 includes a slide rail 30, a threaded rod 31 is movably inserted into the inner surface wall of the slide rail 30, and a fourth motor 32 is fixedly installed on one side of the outer wall of the slide rail 30, and the output end of the fourth motor 32 is fixedly connected to one end of the outer wall of the threaded rod 31, and two sliders 33 are movably sleeved on the outer wall of the threaded rod 31, and hydraulic rods 34 are fixedly installed on the tops of the two sliders 33, and U-shaped frames 35 are fixedly installed on the tops of the two hydraulic rods 34, and electric push rods 36 are arranged on both sides of the outer walls of the two U-shaped frames 35, and slide grooves 37 are provided at the bottoms of the two sliders 33, and the two sliders 33 are fixedly installed on the tops of the two hydraulic rods 34. A group of pulleys 38 are arranged on the inner surface wall of the groove 37, a second six-axis robot 6 is arranged on one side of the outer wall of the first six-axis robot 4, and the second six-axis robot 6 is connected to the motion controller 21 by signal, a hydraulic clamp 7 is fixedly installed on the output end of the second six-axis robot 6, two groups of support frames 17 are fixedly installed on the top of the base frame 10, and support sleeves 18 are fixedly installed on the top of the two groups of support frames 17, and the two support sleeves 18 are movably sleeved on the outer wall of the chain 14, an ultrasonic generator 54 is fixedly installed on one side of the outer wall of the shielding box 20, and the slide rail 30 is located at the bottom of the base frame 10.

[0045] The effect achieved by the entire third embodiment is that starting the fourth motor 32 can drive the threaded rod 31 to rotate. When the threaded rod 31 rotates, it will drive the two sliders 33 to move horizontally, and the pulley 38 at the bottom of the slider 33 can assist the slider 33 to move, so that the movement of the slider 33 is smoother. Starting the hydraulic rod 34 can lift the U-shaped frame 35 upward, and starting the electric push rod 36 can clamp and fix the bone to prevent it from shaking during the cutting process, affecting the accuracy of the bone cutting. The second six-axis robot arm 6 cooperates with the hydraulic clamp 7 to pull the bone in the bone out of the meat block, thereby achieving the effect of bone and meat separation.

[0046] The working principle of the whole mechanism is as follows: first, the bone to be deboned is manually placed at the bottom of the grabbing assembly 16, and the third motor 166 is started at this time. Under the meshing action of the driving gear 167 and the driven gear 165, the clamping jaws 164 are driven to rotate, and the two clamping jaws 164 are meshed with each other. At this time, the two clamping jaws 164 are closed inward, and the bone can be fixed. After the fixation is completed, the first motor 13 is started, which will drive the gear 12 to rotate. Under the action of the chain 14, the bone will be transported forward. During the transportation process, the bone will pass through the scanning mechanism 2. Starting the X-ray source 22 will emit X-rays. X-rays have a strong penetrating ability. Different substances have different degrees of absorption and scattering of X-rays. Generally, the higher the density, The material with a larger atomic number absorbs more X-rays, and the darker the image presented is. The material with a lower density absorbs less X-rays, and the brighter the image presented is. The X-rays that pass through the rod bone are received by the linear X-ray detector 23, and the linear X-ray detector 23 converts the X-ray signals into visible light or electrical signals. These signals are processed to generate images, and then the rough alignment angle is calculated by matching the shape contour template, and then the motion controller 21 is used to control the first six-axis robot 4 to make the corresponding motion trajectory. The motion controller 21 is based on a PC interface. Due to the powerful functions of the PC, it is developed using high-level programming languages ​​such as C++, C#, VB.NET, and labview. The SDK software provided by the manufacturer is used in programming. The software development kit is used to call the interface function of the controller, and then the bone is cut through the cutter component 5. The cutter component 5 is based on the ultrasonic cutter principle. The ultrasonic generator 54 converts ordinary power into high-frequency, high-voltage electrical energy. The ultrasonic transducer 51 converts the high-frequency electrical energy provided by the ultrasonic generator 54 into mechanical vibration. The amplitude rod 52 is connected between the ultrasonic transducer 51 and the cutter 53. Its function is to amplify the vibration amplitude generated by the ultrasonic transducer 51 and transfer it to the cutter 53, so that it can effectively cut under high-frequency vibration. During the cutting process, the cutter 53 reduces the friction resistance and shear force of the material through high-frequency vibration. The vibration enables the cutter 53 to penetrate the meat block more easily, producing a clean and precise cutting effect. , the precise cutting of the bone can be completed, and the bone and meat can be completely separated. During the cutting process, starting the fourth motor 32 can drive the threaded rod 31 to rotate. When the threaded rod 31 rotates, it will drive the two sliders 33 to move laterally, and the pulley 38 at the bottom of the slider 33 can assist the slider 33 to move, so that the movement of the slider 33 is smoother. Starting the hydraulic rod 34 can lift the U-shaped frame 35 upward, and starting the electric push rod 36 can clamp and fix the bone to prevent it from shaking during the cutting process, affecting the accuracy of the bone cutting. Finally, starting the second six-axis robot arm 6 to cooperate with the hydraulic clamp 7 can pull the bone in the bone out of the meat block, thereby achieving the effect of separating the bone and meat. In summary, the problems raised in the above background are solved.

[0047] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A meat deboning device for slaughtering livestock and poultry, comprising: A conveying mechanism (1), wherein a gripping assembly (16) is arranged on one side of an outer wall of the conveying mechanism (1), a scanning mechanism (2) is arranged on the top of the conveying mechanism (1), and a fixing mechanism (3) is arranged on the bottom of the conveying mechanism (1), characterized in that: the conveying mechanism (1) comprises a base frame (10), two fixing frames (11) are fixedly mounted on the top of the base frame (10), and gears (12) are arranged on the tops of the two fixing frames (11), and a first motor (12) is fixedly mounted on the bottom of one of the fixing frames (11). 3), the output end of the first motor (13) is fixedly connected to one of the gears (12), the outer walls of the two gears (12) are connected by a chain (14) in a transmission manner, and a group of fixed lining plates (15) are fixedly installed on one side of the outer wall of the chain (14), and a group of grabbing components (16) are fixedly installed at the bottom of several adjacent fixed lining plates (15), a first six-axis mechanical arm (4) is arranged on one side of the outer wall of the conveying mechanism (1), and a cutter component (5) is fixedly installed on the output end of the first six-axis mechanical arm (4); The scanning mechanism (2) comprises a shielding box (20), a motion controller (21) is fixedly mounted on the top of the shielding box (20), and the motion controller (21) is signal-connected to the first six-axis robot (4), an X-ray source (22) is fixedly mounted on one side of the inner wall of the shielding box (20), two linear X-ray detectors (23) are fixedly mounted on the other side of the inner wall of the shielding box (20), and the two linear X-ray detectors (23) are electrically connected to the motion controller (21), and a display (24) is fixedly mounted on one side of the outer wall of the shielding box (20), and the display (24) is electrically connected to the two linear X-ray detectors (23).

2. The meat deboning device for slaughtering livestock and poultry according to claim 1, characterized in that: The cutter assembly (5) comprises a handle (50), and the handle (50) is fixedly mounted on the output end of the first six-axis robot arm (4); an ultrasonic transducer (51) is fixedly mounted inside the handle (50), and the input end of the ultrasonic transducer (51) is electrically connected to an ultrasonic generator (54); an amplitude rod (52) is arranged at the bottom of the ultrasonic transducer (51), and a cutter (53) is fixedly mounted on the inner surface wall of the amplitude rod (52).

3. The meat deboning device for slaughtering livestock and poultry according to claim 2, characterized in that: The amplitude rod (52) is forged from a titanium alloy material, and the cutter (53) is forged from a titanium alloy material.

4. The meat deboning device for slaughtering livestock and poultry according to claim 3, characterized in that: The fixing mechanism (3) comprises a slide rail (30), a threaded rod (31) is movably inserted into the inner surface wall of the slide rail (30), a fourth motor (32) is fixedly installed on one side of the outer wall of the slide rail (30), and an output end of the fourth motor (32) is fixedly connected to one end of the outer wall of the threaded rod (31), two sliders (33) are movably sleeved on the outer surface wall of the threaded rod (31), a hydraulic rod (34) is fixedly installed on the top of the two sliders (33), a U-shaped frame (35) is fixedly installed on the top of the two hydraulic rods (34), and electric push rods (36) are arranged on both sides of the outer walls of the two U-shaped frames (35).

5. The meat deboning device for slaughtering livestock and poultry according to claim 4, characterized in that: A sliding groove (37) is provided at the bottom of the two sliding blocks (33), and a group of pulleys (38) are provided on the inner surface walls of the two sliding grooves (37).

6. The meat deboning device for slaughtering livestock and poultry according to claim 5, characterized in that: A second six-axis robotic arm (6) is arranged on one side of the outer wall of the first six-axis robotic arm (4), and the second six-axis robotic arm (6) is connected to the motion controller (21) by signal, and a hydraulic clamp (7) is fixedly mounted on the output end of the second six-axis robotic arm (6).

7. The meat deboning device for slaughtering livestock and poultry according to claim 6, characterized in that: The grab assembly (16) comprises a connecting plate (160), a connecting frame (161) is fixedly installed at the bottom of the connecting plate (160) by bolts, a protective plate (162) is movably provided at the bottom of the connecting frame (161), a second motor (163) is fixedly installed at the bottom of the inner wall of the connecting frame (161), and the output end of the second motor (163) is fixedly connected to the top of the protective plate (162), two clamping jaws (164) are movably installed inside the protective plate (162), and the two clamping jaws (164) are meshed with each other, and a driven gear (165) is fixedly installed on one side of the outer wall of one of the clamping jaws (164), and a third motor (166) is fixedly installed on one side of the outer wall of the protective plate (162), and a driving gear (167) is fixedly sleeved on the output end of the third motor (166), and the driving gear (167) is meshed with the driven gear (165).

8. The meat deboning device for slaughtering livestock and poultry according to claim 7, characterized in that: Two groups of support frames (17) are fixedly installed on the top of the base frame (10), and support sleeves (18) are fixedly installed on the tops of the two groups of support frames (17), and the two support sleeves (18) are movably sleeved on the outer wall of the chain (14).

9. The meat deboning device for slaughtering livestock and poultry according to claim 8, characterized in that: The ultrasonic generator (54) is fixedly mounted on one side of the outer wall of the shielding box (20), and the slide rail (30) is located at the bottom of the base frame (10).

10. A method for using a meat deboning device for slaughtering livestock and poultry, using the meat deboning device for slaughtering livestock and poultry according to claim 9, comprising the following steps: S1: First, manually fix the bone to be deboned on the conveying mechanism (1), and fix it by a grabbing assembly (16); S2: After fixation is completed, the bone rod is transported forward by the transport mechanism (1). During the transport process, the bone rod is scanned by an X-ray device (2) to collect images; S3: After the image acquisition is completed, the first six-axis robot arm (4) is controlled by the motion controller (21), and the first six-axis robot arm (4) can manipulate the cutter assembly (5) to accurately cut the bone through the acquired image; S4: During the cutting process, the fixing mechanism (3) at the bottom will clamp and fix the bone to prevent the bone from shaking during the cutting process, thereby affecting the cutting effect; S5: After the cutting is completed, the conveying mechanism (1) and the fixing mechanism (3) will continue to convey the bone forward until it is conveyed to the front end of the second six-axis robot arm (6); S6: At this time, the second six-axis robot arm (6) will control the hydraulic clamp (7) to pull out the bone in the bone bar, thereby completing the bone and flesh separation work of the bone bar.

Images