Full-automatic head shearing robot

Abstract

The utility model belongs to the field of meat slaughtering and processing machinery, and particularly relates to a full-automatic head shearing robot which comprises a six-axis robot, a hydraulic shear assembly, a vision assembly, a hydraulic control system and an electrical control system, and the six-axis robot is installed on a machine base and can be in six-axis linkage; the hydraulic shear assembly comprises a head shearing knife, a rack, a guide rod, a connecting rod, a locking block, a fixed seat, a conversion interface and a hydraulic oil cylinder, and the head shearing knife is fixed on the rack and is connected with the hydraulic oil cylinder through the connecting rod. The structure is compact, operation is convenient, and noise is low; 3, the photographing camera is protected, and the service life is long; and fourthly, the photographing illuminating lamp can meet the light supplementing requirement during photographing, and photographing is clearer.

Description

Technical Field

[0001] The utility model belongs to the field of meat slaughtering and processing machinery, in particular to a full-automatic head-cutting robot. Background Art

[0002] At present, the mechanical equipment for cutting pig heads in my country's pig slaughtering enterprises are nothing more than the following types: imported fully automatic hydraulic shears, imported manual hydraulic shears, domestic manual hydraulic shears, etc.

[0003] Although imported fully automatic hydraulic shears have high shearing efficiency and good effects, they are expensive and are generally only suitable for large-scale slaughtering enterprises.

[0004] Although manual hydraulic shears are not expensive, they require high technical quality and proficiency of the operators, and the labor intensity of the operators is high, so the production capacity is not high and the effect is not very good. Utility Model Content

[0005] In order to overcome the shortcomings of the above problems and meet the needs of slaughtering enterprises, the utility model provides a fully automatic head cutting robot with high production efficiency, good head cutting effect and low production cost.

[0006] This fully automatic head-cutting robot includes a six-axis robot, a hydraulic shear assembly, a visual assembly, a hydraulic control system and an electrical control system, and is characterized in that the six-axis robot is a robot installed on a machine base and can be linked to six axes; the hydraulic shear assembly includes a head-cutting knife, a frame, a guide rod, a connecting rod, a locking block, a fixing seat, a conversion interface and a hydraulic cylinder; the head-cutting knife is fixed on the frame and connected to the hydraulic cylinder through a connecting rod; the guide rod is fixed on the frame through a locking block; the hydraulic cylinder is fixed on the six-axis robot through a fixing seat and a conversion interface; the hydraulic control system is a hydraulic station, and the hydraulic cylinder is driven by the hydraulic station The electrical control system is a control cabinet fixed on the cabinet frame, and the connecting cables are stored in the cabinet frame; the visual assembly includes a visual shield, a fixing block, a photo camera, optical glass, a pressure cover, a photo lighting lamp and a photo background board, and the photo camera and the photo lighting lamp are respectively fixed on the visual shield with fixing blocks; optical glass and a pressure cover are installed in front of the photo camera to protect the photo camera; the visual shield is fixed to the cabinet frame with a column; the upper end of the photo background board is fixed on the automatic line track, and the lower end of the photo background board is fixed to the ground; the visual assembly, the six-axis robot and the hydraulic control system are all electrically connected to the electrical control system.

[0007] Preferably, safety guardrails are installed around the hydraulic station.

[0008] During use, the live pigs are depilated by a scraper and manually shaved and trimmed before entering the automatic dissection line. When entering the head cutting process, the camera first captures and locates the two ears of the pig's head. After receiving the visual signal from the camera, the electrical control system automatically controls the six-axis robot and the hydraulic control system according to the pre-debugged program. The hydraulic cylinder drives the scissors head through the connecting rod to complete the head cutting action. The optical glass and pressure cover can protect the camera for long-term use under harsh conditions. The camera lighting can meet the fill light needs when taking pictures.

[0009] The advantages of the utility model are: first, it has the characteristics of high degree of automation, labor saving, hygiene and safety; second, it has compact structure, convenient operation, low noise, and is applicable to different types of raw slaughtering lines; third, the camera is protected and has a long service life; fourth, the camera lighting can meet the fill light demand when taking pictures, and the pictures are clearer. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 .The main view of the utility model

[0011] Figure 2 .Top view of the utility model

[0012] Figure 3 . Figure 2 Partial enlarged image B

[0013] Figure 4 . Axonometric drawing of the utility model

[0014] Figure 5 . Figure 4 Partial enlarged image A

[0015] Figure 6 . Schematic diagram of the visual assembly structure

[0016] exist Figures 1 to 6 In: 1-1, six-axis robot, 1-2, machine base, 1-3, control cabinet, 1-4, cabinet frame, 2-1, shears, 2-2, hydraulic cylinder, 2-3, frame, 2-4, connecting rod, 2-5, guide rod, 2-6, locking block, 2-7, fixed seat, 2-8, conversion interface, 2-9, hydraulic station, 2-10, guardrail, 3-1, camera, 3-2, camera lighting, 3-3, visual shield, 3-4, fixed block, 3-5, optical glass, 3-6, pressure cover, 3-7, column, 3-8, camera background board, 3-9, automatic line track. DETAILED DESCRIPTION

[0017] Figures 1 to 6The fully automatic head-cutting robot comprises a six-axis robot 1-1, a hydraulic shear assembly, a visual assembly, a hydraulic control system and an electrical control system, and is characterized in that the six-axis robot 1-1 is a robot that is mounted on a machine base 1-2 and can be linked to six axes; the hydraulic shear assembly comprises a head-cutting knife 2-1, a frame 2-3, a guide rod 2-5, a connecting rod 2-4, a locking block 2-6, a fixing seat 2-7, a conversion interface and a hydraulic cylinder 2-2, and the head-cutting knife 2-1 is fixed on the frame 2-3 and is connected to the hydraulic cylinder 2-4 through the connecting rod 2-4. The hydraulic cylinder 2-2 is connected, the guide rod 2-5 is fixed on the frame 2-3 through the locking block 2-6, and the hydraulic cylinder 2-2 is fixed on the six-axis robot 1-1 through the fixing seat 2-7 and the conversion interface 2-8; the hydraulic control system is a hydraulic station 2-9, and the hydraulic cylinder 2-2 is driven by the hydraulic station 2-9; the electrical control system is a control cabinet 1-3 fixed on the cabinet frame 1-4, and the connecting cables are stored in the cabinet frame 1-3. The visual assembly, the six-axis robot 1-1 and the hydraulic control system are all electrically connected to the electrical control system.

[0018] Safety guardrails 2-10 are installed around the hydraulic station 2-9.

[0019] The visual assembly includes a visual shield 3-3, a fixing block 3-4, a photo camera 3-1, an optical glass 3-5, a pressure cover 3-6, a photo lighting lamp 3-2 and a photo background plate 3-8. The photo camera 3-1 and the photo lighting lamp 3-2 are respectively fixed on the visual shield 3-3 by fixing blocks 3-4; the photo camera 3-1 is provided with an optical glass 3-5 and a pressure cover 3-6 in front to protect the photo camera; the visual shield 3-3 is fixed on the cabinet frame 1-4 by a column 3-7; the upper end of the photo background plate 3-8 is fixed on the automatic line track 3-9, and the lower end of the photo background plate 3-8 is fixed to the ground.

Claims

1. A fully automatic shearing robot, comprising a six-axis robot, a hydraulic shear assembly, a visual assembly, a hydraulic control system and an electrical control system, characterized in that: The six-axis robot is a robot installed on a machine base and capable of six-axis linkage; the hydraulic shear assembly includes a shearing knife, a frame, a guide rod, a connecting rod, a locking block, a fixing seat, a conversion interface and a hydraulic cylinder. The shearing knife is fixed on the frame and connected to the hydraulic cylinder through a connecting rod. The guide rod is fixed on the frame through a locking block, and the hydraulic cylinder is fixed on the six-axis robot through a fixing seat and a conversion interface; the hydraulic control system is a hydraulic station, and the hydraulic cylinder is driven by the hydraulic station; the electrical control system is a control cabinet fixed on the cabinet frame, and the connecting cables are stored in the cabinet frame; the visual assembly includes a visual shield, a fixing block, a camera, optical glass, a pressure cover, a camera lighting and a camera background board, and the camera and the camera lighting are respectively fixed on the visual shield with fixing blocks; Optical glass and pressure cover are installed in front of the photo camera to protect the photo camera; the visual shield is fixed to the cabinet frame with columns; the upper end of the photo background board is fixed to the automatic line track, and the lower end of the photo background board is fixed to the ground; the visual assembly, six-axis robot and hydraulic control system are all electrically connected to the electrical control system.

2. A fully automatic hair cutting robot according to claim 1, characterized in that: Safety guardrails are installed around the hydraulic station.

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