Intelligent cutting device for meat processing

Abstract

The invention discloses an intelligent cutting device for meat processing, and relates to the technical field of meat processing, the intelligent cutting device comprises a support and a control module, an electric conveyor belt is arranged on the upper side of the support, a fixed beam is fixedly connected to the right side of the outer wall of the support, and moving piles are slidably connected to the upper side and the lower side of the fixed beam; an electric vertical saw is fixedly connected to the right side of the movable pile, recognition mechanisms are arranged on the left side and the middle of the support correspondingly, a correction mechanism is further arranged on the outer wall of the support, and a weighing mechanism is arranged on the right side of the support. According to the method, the three-dimensional shape, size and surface texture information of the meat blocks can be accurately collected, volume estimation and fat content analysis are assisted, a data basis is provided for subsequent fixed-weight cutting, and the method has the advantages of being high in practicability and improving the cutting quality and the raw material utilization rate.

Description

Technical Field

[0001] The present invention relates to the technical field of meat processing, in particular to an intelligent cutting device for meat processing. Background Art

[0002] With the development of automation in the meat processing industry, the market has placed higher demands on the precision, efficiency, and consistency of meat cutting. Traditional manual cutting methods are not only labor-intensive and inefficient, but also rely on operator experience for cutting accuracy, making standardized control difficult. This is particularly true in terms of fixed-weight cutting and grain direction adjustment. Furthermore, manual operation cannot perceive the three-dimensional shape of the meat and the distribution of intramuscular fat in real time, resulting in poor quality consistency of the meat slices, low raw material utilization, and severe waste of scraps.

[0003] Existing Chinese patent publication number CN120020869A discloses a method for locating the cutting position of a meat block and a meat cutting device. Currently, the device relies on manual confirmation of the cutting position to address the problem of low efficiency and the lack of corresponding automated meat cutting devices on the market. The device obtains an original image of the end face of the meat block and then identifies the original image to obtain an identified image including a target portion; and determines the cutting point by selecting the cutting position based on the target portion. However, segmenting irregular meat blocks based solely on the cutting point fails to minimize and optimize the amount of scrap, and cannot achieve directional cutting of the placed meat block, and cannot ensure consistent cutting texture of offset meat blocks.

[0004] Therefore, it is difficult to customize the cuts for meats with different shapes. Furthermore, the device lacks the ability to determine and adjust the fiber orientation of meat, as well as the ability to detect and dynamically adjust weight in real time. This limits its application in high-standard meat cutting scenarios.

[0005] Therefore, there is an urgent need for an intelligent cutting device for meat processing that can combine visual perception, intelligent analysis and precision actuators to improve cutting quality, raw material utilization and overall processing efficiency. Summary of the Invention

[0006] The object of the present invention is to provide an intelligent cutting device for meat processing to solve the problems raised in the above background technology.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: an intelligent cutting device for meat processing, comprising a bracket and a control module, wherein an electric conveyor belt is provided on the upper side of the bracket, a fixed beam is fixedly connected to the right side of the outer wall of the bracket, a movable pile is slidably connected to the upper side and the lower side of the fixed beam, an electric jigsaw is fixedly connected to the right side of the movable pile, an identification mechanism is provided on the left side and the middle part of the bracket, a correction mechanism is also provided on the outer wall of the bracket, and a weighing mechanism is provided on the right side of the bracket;

[0008] Both sets of recognition mechanisms are equipped with a depth camera recognition module and a first structured light recognition module and a second structured light recognition module. The depth camera recognition module, the first structured light recognition module and the second structured light recognition module are configured in conjunction with each other to perform visual acquisition of the meat, and can acquire the three-dimensional shape, size and surface texture information of the meat.

[0009] The correction mechanism includes a fixing component and a fixing nail on the fixing component. The fixing nail can be lifted and rotated relative to the bracket, and the fixing nail is used to rotate the meat block.

[0010] According to the above technical solution, the control module is electrically connected to the external power supply, the electric conveyor is electrically connected to the control module, and the correction mechanism is arranged between the two groups of identification mechanisms.

[0011] According to the above technical solution, the identification mechanism includes a crossbeam, the lower end of the crossbeam is fixedly connected to the outer wall of the bracket, the middle part of the crossbeam is fixedly connected to the outer wall of the depth camera recognition module, and the first structured light recognition module and the second structured light recognition module are respectively arranged on the front side and the rear side of the crossbeam.

[0012] According to the above technical solution, the visual input end of the depth camera recognition module is vertically facing the upper side of the electric conveyor belt, and the visual input ends of the first structured light recognition module and the second structured light recognition module are facing the middle of the electric conveyor belt.

[0013] According to the above technical solution, the fixing assembly includes a fixing frame, the outer wall of the fixing frame is fixedly connected to the outer wall of the bracket, the upper side of the fixing frame is fixedly connected to the first electric telescopic rod, the upper end of the first electric telescopic rod is fixedly connected to the fixing frame, the middle part of the fixing frame is fixedly connected to the motor, the lower end of the output end of the motor passes through the fixing frame and extends to the lower side of the fixing frame, the lower side of the output end of the motor is fixedly connected to the turntable, and the lower surface of the turntable is fixedly connected to four fixing nails.

[0014] According to the above technical solution, the first electric telescopic rod and the motor are electrically connected to the control module, the outer wall of the motor output end does not contact the inner wall of the fixing frame, and the lower end of the fixing nail is a sharp corner.

[0015] According to the above technical solution, the weighing mechanism includes an articulated arm, one end of the articulated arm is hinged to the outer wall of the fixed beam, the other end of the articulated arm is hinged to a slide, the right end outer wall of the articulated arm is fixedly connected to a connecting arm, the lower end of the connecting arm is hinged to a second electric telescopic rod, and the other end of the second electric telescopic rod is hinged to the right lower surface of the slide.

[0016] According to the above technical solution, a fixed block is fixedly connected to the outer wall of the fixed beam, a pressure detection module is fixedly connected to the upper side of the fixed block, the upper side of the pressure detection module is in contact with the lower surface of the middle part of the articulated arm, and the pressure detection module and the second electric telescopic rod are both electrically connected to the control module.

[0017] Compared with the existing technology, the present invention has the following beneficial effects: by providing an identification mechanism, the present invention can accurately collect the three-dimensional shape, size and surface texture information of the meat block, assist in volume estimation and fat content analysis, and provide a data basis for subsequent weight-based cutting;

[0018] By setting up a correction mechanism, the direction of the meat block can be automatically adjusted according to the texture recognition results, so that the direction of the muscle fibers is consistent with the cutting direction, improving the consistency of the meat slice quality;

[0019] By setting up a weighing mechanism, the weight of the cut meat slices can be monitored in real time and the tailings can be diverted, thereby improving the cutting accuracy and reducing unqualified scraps;

[0020] Through the coordinated control of electric conveyor belts, mobile piles and electric jigsaws, meat blocks can be automatically cut into fixed distances according to preset weight ranges, ensuring cutting efficiency and standardization of finished products. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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:

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the rear structure of the present invention;

[0024] Figure 3 It is a schematic diagram of the structure of the identification mechanism of the present invention;

[0025] Figure 4 It is a structural schematic diagram of the correction mechanism of the present invention;

[0026] Figure 5 It is a structural schematic diagram of the weighing mechanism of the present invention;

[0027] Figure 6 This is a schematic diagram of the disassembled structure of the weighing mechanism of the present invention;

[0028] In the figure: 1. bracket; 2. electric conveyor belt; 3. fixed beam; 4. mobile pile; 5. electric jigsaw; 6. identification mechanism; 7. correction mechanism; 8. weighing mechanism; 601. beam; 602. depth camera recognition module; 603. first structured light recognition module; 604. second structured light recognition module; 701. fixed frame; 702. first electric telescopic rod; 703. fixed frame; 704. motor; 705. turntable; 706. fixing pin; 801. articulated arm; 802. slide plate; 803. connecting arm; 804. second electric telescopic rod; 805. fixed block; 806. pressure detection module. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0030] Embodiment one:

[0031] See also Figure 1-2 The present invention provides a technical solution: an intelligent cutting device for meat processing, comprising a bracket 1 and a control module, an electric conveyor belt 2 is provided on the upper side of the bracket 1, a fixed beam 3 is fixedly connected to the right side of the outer wall of the bracket 1, a movable pile 4 is slidably connected to the upper side and the lower side of the fixed beam 3, an electric jigsaw 5 is fixedly connected to the right side of the movable pile 4, an identification mechanism 6 is provided on the left side and the middle part of the bracket 1, a correction mechanism 7 is further provided on the outer wall of the bracket 1, a weighing mechanism 8 is provided on the right side of the bracket 1, the control module is electrically connected to an external power supply, the electric conveyor belt 2 is electrically connected to the control module, and the correction mechanism 7 is provided between the two groups of identification mechanisms 6;

[0032] During the actual application of this device, the meat block is placed on the electric conveyor belt 2, and the electric conveyor belt 2 is started through the control module to move the meat block from left to right. When the meat block moves to the right side of the electric conveyor belt 2, the electric conveyor belt 2 is periodically paused at a fixed distance. After the electric conveyor belt 2 drives the meat block to move a preset distance, the linear motor at the connection between the fixed beam 3 and the moving pile 4 is started to drive the moving pile 4 and the electric jigsaw 5 to move, and then the electric jigsaw 5 cuts the meat block into slices of fixed thickness to achieve the purpose of cutting.

[0033] Embodiment 2:

[0034] See also Figure 1-3Based on the first embodiment, the present invention provides a technical solution: both sets of recognition mechanisms 6 are provided with a depth camera recognition module 602 and a first structured light recognition module 603 and a second structured light recognition module 604. The depth camera recognition module 602, the first structured light recognition module 603 and the second structured light recognition module 604 are arranged in a linkage manner for visually capturing the meat block, and can capture the three-dimensional shape, size and surface texture information of the meat block. The recognition mechanism 6 includes a beam 601, the lower end of the beam 601 is fixedly connected to the outer wall of the bracket 1, and the middle part of the beam 601 is fixedly connected to the outer wall of the depth camera recognition module 602. The first structured light recognition module 603 and the second structured light recognition module 604 are respectively arranged on the front side and the rear side of the beam 601. The visual input end of the depth camera recognition module 602 is vertically facing the upper side of the electric conveyor belt 2, and the visual input ends of the first structured light recognition module 603 and the second structured light recognition module 604 are facing the middle part of the electric conveyor belt 2.

[0035] When the piece of meat passes through the lower part of the left beam 601, the three-dimensional shape, size and surface texture information of the piece of meat are identified by the depth camera recognition module 602 and the first structured light recognition module 603 and the second structured light recognition module 604 arranged on both sides of the beam 601, and then the muscle content and fat content in the piece of meat are estimated by the visual red and white ratio, and then the density of each position of the piece of meat is estimated, so as to calculate the distance required to move to cut a piece of meat of fixed weight. When calculating, on the premise of meeting the weight tolerance, the utilization rate of the whole piece of meat is maximized, and the generation of leftover material or scraps is reduced.

[0036] Specifically: the meat point cloud data is acquired through the depth camera recognition module 602, the first structured light recognition module 603, and the second structured light recognition module 604 to establish a three-dimensional model;

[0037] Slice the meat along the conveying direction and calculate the volume:

[0038]

[0039] Among them: A i : cross-sectional area of ​​each layer, Δz: layer height (slice thickness), V: total volume;

[0040] Combined with image texture information, the fat ratio r is estimated and the average density is calculated:

[0041] ρ avg =ρ lean ·(1-r)+ρ fat ·r

[0042] Estimated total weight of meat:

[0043] W total =ρavg ·V

[0044] Optimize the remaining material:

[0045]

[0046] Weight constraints:

[0047] m min ≤m i ≤m max

[0048] m min 、m max : The upper and lower limits of the target weight of a single piece are set;

[0049] Calculate the moving distance for each cut:

[0050]

[0051] ρ(x): current position density, A(x): current position cross-sectional area, x i : i-th cutting position;

[0052] Calculation of the current position of the meat piece;

[0053] d=v·t

[0054] d: displacement from the recognition position to the cutting position, v: conveyor speed, t: controller response and motor drive time delay;

[0055] Embodiment three:

[0056] See also Figure 1-4 , based on the first and second embodiments, the present invention provides a technical solution: the correction mechanism 7 includes a fixing assembly and a fixing nail 706 on the fixing assembly, the fixing nail 706 can be lifted and rotated relative to the bracket 1, and the fixing nail 706 is used to rotate the meat block, the fixing assembly includes a fixing frame 701, the outer wall of the fixing frame 701 is fixedly connected to the outer wall of the bracket 1, the upper side of the fixing frame 701 is fixedly connected to the first electric telescopic rod 702, the upper end of the first electric telescopic rod 702 is fixedly connected to the fixing frame 703, the middle part of the fixing frame 703 is fixedly connected to the motor 704, the lower end of the output end of the motor 704 passes through the fixing frame 701 and extends to the lower side of the fixing frame 701, the lower side of the output end of the motor 704 is fixedly connected to a turntable 705, the lower surface of the turntable 705 is fixedly connected to four fixing nails 706, the first electric telescopic rod 702 and the motor 704 are both electrically connected to the control module, and the outer wall of the output end of the motor 704 does not contact the inner wall of the fixing frame 701, and the lower end of the fixing nail 706 is a sharp angle;

[0057] When the meat block passes through the left identification mechanism 6, the texture of the meat block is visually identified, and the placement direction of the meat block is determined. When the meat block presents an intermuscular texture and is not placed in the left-right direction, the angle error of the meat block is calculated. When the meat block moves to the lower side of the correction mechanism 7, the control module turns off the electric conveyor belt 2, and then starts the first electric telescopic rod 702 to drive the fixed frame 703 to move downward, so that the lower end of the fixing nail 706 is inserted into the upper surface of the meat block, and then starts the motor 704 to drive the turntable 705 to rotate so that the muscle texture of the meat block rotates to the left-right direction, and then the turntable 705 is reset;

[0058] The formula for calculating the muscle fiber direction error angle is based on the angle between the texture direction and the standard direction:

[0059]

[0060] The current texture direction vector, Reference direction, θ: the desired angle of rotation;

[0061] The meat block continues to move, which can ensure the consistency of the direction of the meat block and the quality of the meat block. The rotating meat block will recalculate the cutting process at the identification mechanism 6 in the middle of the bracket 1.

[0062] Embodiment four:

[0063] See also Figure 1-6 On the basis of the first, second and third embodiments, the present invention provides a technical solution: According to the above technical solution, the weighing mechanism 8 includes an articulated arm 801, one end of the articulated arm 801 is hinged to the outer wall of the fixed beam 3, the other end of the articulated arm 801 is hinged to the slide 802, the right end outer wall of the articulated arm 801 is fixedly connected to the connecting arm 803, the lower end of the connecting arm 803 is hinged to the second electric telescopic rod 804, the other end of the second electric telescopic rod 804 is hinged to the right lower surface of the slide 802, the outer wall of the fixed beam 3 is fixedly connected to the fixing block 805, the upper side of the fixing block 805 is fixedly connected to the pressure detection module 806, the upper side of the pressure detection module 806 is in contact with the middle lower surface of the articulated arm 801, and the pressure detection module 806 and the second electric telescopic rod 804 are both electrically connected to the control module;

[0064] When the meat piece is cut by the electric jigsaw 5, the meat piece will fall to the upper side of the slide 802 and slide to the qualified product area. After the meat piece falls to the upper side of the slide 802, the pressure detection module 806 detects the increase in weight and records the increase in weight. When the weight of the scraps of meat is small and the error between the weight and the preset value is large, the second electric telescopic rod 804 is started to push the slide 802 to deflect, so that the left side of the slide 802 is lower than the right side of the slide 802, and then the fallen meat piece slides along the left side of the slide 802 to the scrap area for partitioning processing.

[0065] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0066] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are 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 will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An intelligent cutting device for meat processing, comprising a bracket (1) and a control module, characterized in that: An electric conveyor belt (2) is provided on the upper side of the bracket (1), a fixed beam (3) is fixedly connected to the right side of the outer wall of the bracket (1), a movable pile (4) is slidably connected to the upper side and the lower side of the fixed beam (3), an electric jigsaw (5) is fixedly connected to the right side of the movable pile (4), an identification mechanism (6) is provided on the left side of the bracket (1) and the middle part of the bracket (1), a correction mechanism (7) is also provided on the outer wall of the bracket (1), and a weighing mechanism (8) is provided on the right side of the bracket (1); The two sets of recognition mechanisms (6) are both provided with a depth camera recognition module (602), a first structured light recognition module (603), and a second structured light recognition module (604). The depth camera recognition module (602), the first structured light recognition module (603), and the second structured light recognition module (604) are configured in a coordinated manner to perform visual acquisition of the meat block, and can acquire the three-dimensional shape, size, and surface texture information of the meat block; The correction mechanism (7) includes a fixing assembly and a fixing pin (706) on the fixing assembly. The fixing pin (706) can be raised and lowered and rotated relative to the bracket (1). The fixing pin (706) is used to rotate the meat piece.

2. The intelligent meat cutting device according to claim 1, characterized in that: The control module is electrically connected to an external power source, the electric conveyor belt (2) is electrically connected to the control module, and the correction mechanism (7) is arranged between the two sets of identification mechanisms (6).

3. The intelligent cutting device for meat processing according to claim 2, characterized in that: The recognition mechanism (6) comprises a crossbeam (601), the lower end of the crossbeam (601) is fixedly connected to the outer wall of the bracket (1), the middle part of the crossbeam (601) is fixedly connected to the outer wall of the depth camera recognition module (602), and the first structured light recognition module (603) and the second structured light recognition module (604) are respectively arranged on the front side of the crossbeam (601) and the rear side of the crossbeam (601).

4. The intelligent cutting device for meat processing according to claim 3, characterized in that: The visual input end of the depth camera recognition module (602) is vertically oriented toward the upper side of the electric conveyor belt (2), and the visual input ends of the first structured light recognition module (603) and the second structured light recognition module (604) are oriented toward the middle of the electric conveyor belt (2).

5. The intelligent cutting device for meat processing according to claim 4, characterized in that: The fixing assembly comprises a fixing frame (701), the outer wall of the fixing frame (701) is fixedly connected to the outer wall of the bracket (1), the upper side of the fixing frame (701) is fixedly connected to a first electric telescopic rod (702), the upper end of the first electric telescopic rod (702) is fixedly connected to a fixing frame (703), the middle part of the fixing frame (703) is fixedly connected to a motor (704), the lower end of the output end of the motor (704) passes through the fixing frame (701) and extends to the lower side of the fixing frame (701), the lower side of the output end of the motor (704) is fixedly connected to a turntable (705), and the lower surface of the turntable (705) is fixedly connected to four fixing nails (706).

6. The intelligent cutting device for meat processing according to claim 5, characterized in that: The first electric telescopic rod (702) and the motor (704) are both electrically connected to the control module, and the outer wall of the output end of the motor (704) does not contact the inner wall of the fixing frame (701), and the lower end of the fixing nail (706) is a sharp corner.

7. The intelligent cutting device for meat processing according to claim 6, characterized in that: The weighing mechanism (8) includes an articulated arm (801), one end of the articulated arm (801) is hinged to the outer wall of the fixed beam (3), the other end of the articulated arm (801) is hinged to a slide plate (802), the right end outer wall of the articulated arm (801) is fixedly connected to a connecting arm (803), the lower end of the connecting arm (803) is hinged to a second electric telescopic rod (804), and the other end of the second electric telescopic rod (804) is hinged to the right lower surface of the slide plate (802).

8. The intelligent cutting device for meat processing according to claim 7, characterized in that: The outer wall of the fixed beam (3) is fixedly connected to a fixed block (805), the upper side of the fixed block (805) is fixedly connected to a pressure detection module (806), the upper side of the pressure detection module (806) is in contact with the lower surface of the middle part of the articulated arm (801), and the pressure detection module (806) and the second electric telescopic rod (804) are both electrically connected to the control module.

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