Livestock splitting device based on industrial robot

Abstract

The utility model discloses a livestock splitting device based on an industrial robot, which comprises a four-axis industrial robot, a cutting device, a first clamping device and a second clamping device, one end of the four-axis industrial robot is fixed on the ground, and the other end of the four-axis industrial robot is connected with the upper end of the cutting device through a rotating shaft; the cutting device comprises a cutting shell, a direct-current motor, a pinion, a bull gear, a transmission shaft, a wobble plate shaft, a pin, an output shaft, a saw blade and a cutter, one side of the cutting shell is connected with the cutter through a screw, the direct-current motor is connected into the cutting shell through a fixing frame screw, and the output end of the direct-current motor is meshed with the bull gear through the pinion; the upper end of the wobble plate shaft is movably connected with an output shaft through a pin, the output shaft is connected with a saw blade through a screw, a first clamping device is connected to a tool bit of a tool, and a second clamping device is connected to the lower end of the cutting shell through a screw. The device can ensure the safety of staff and the splitting precision of domestic animals, does not incline outwards during splitting, and improves the splitting efficiency.

Description

Technical Field

[0001] The utility model relates to the field of automatic livestock splitting, in particular to a livestock splitting device based on an industrial robot. Background Art

[0002] In the prior art, the splitting of livestock (including pigs, cattle, sheep, etc.) is done by workers holding electric saws to perform reciprocating motions. Although the bridge-type splitting saw has a high degree of automation, it has the disadvantages of thick saw blades, large meat loss, high energy consumption, high noise, high risk for operators, low efficiency and unsafety. In addition, the equipment cannot adjust the splitting in time according to the position of the livestock. The cutting is easily misaligned during the splitting process, which greatly affects the precision and efficiency of the splitting. Utility Model Content

[0003] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a livestock splitting device based on an industrial robot.

[0004] According to the technical solution provided in the embodiment of the present application, a livestock splitting device based on an industrial robot includes a four-axis industrial robot, a cutting device, a first clamping device and a second clamping device.

[0005] One end of the four-axis industrial robot is fixed on the ground, and the other end is connected to the upper end of the cutting device through a rotating shaft.

[0006] The cutting device includes a cutting shell, a DC motor, a small gear, a large gear, a transmission shaft, a wobble plate shaft, a pin, an output shaft, a saw blade and a tool. One side of the cutting shell is screwed to the tool. The DC motor is screwed to the inside of the cutting shell through a fixing frame. The output end of the DC motor is connected to the small gear through a shaft. The small gear is meshed with the large gear. The large gear is connected to the transmission shaft through a shaft, and an oblique groove is provided on the transmission shaft. A circular ring is provided at the lower end of the wobble plate shaft and is movably connected in the oblique groove of the transmission shaft. The upper end of the wobble plate shaft is movably connected to the output shaft through a pin. The output shaft is screwed to the saw blade and installed inside the tool.

[0007] The first clamping device is movably connected to the cutter head of the cutter, and the second clamping device is screwed to the lower end of the cutting shell.

[0008] In the present application, further, a T-shaped through hole is provided on one side of the output shaft, and a pin is movably connected in the T-shaped through hole of the output shaft.

[0009] In the present application, further, the saw blade is set to be in a sawtooth shape, and the installation height of the saw blade is 2mm-4mm lower than the tool.

[0010] In the present application, further, the first clamping device includes a bent rod, a support frame and a first clamping wheel, the bent rod is set to two and is connected to both sides of the tool by bolts, the first clamping wheel is connected between the two bent rods through the support frame, the first clamping wheel is set to three wheels and is connected to the support frame through a tripod, and the support frame is provided with an anti-rotation part to prevent the first clamping wheel from rotating as a whole.

[0011] In the utility model, further, the second clamping device includes a cylinder, a cylinder bracket, a second clamping wheel and a clamping wheel bracket, the cylinder is connected to the lower end of the cutting shell through the cylinder bracket screw, one side of the cylinder is screwed to the clamping wheel bracket, the clamping wheel bracket is arranged in two intervals, and the second clamping wheel is set in two and connected between the clamping wheel brackets through an axis.

[0012] To sum up, the beneficial effects of the present application are as follows: the cutting device is installed on one side of the four-axis industrial robot, the first clamping device is installed on the cutting head of the cutting device, the second clamping device is installed at the lower end of the cutting device, the first clamping device cooperates with the second clamping device to clamp the livestock, and the cutting device completes the cutting.

[0013] The device has the advantages of ensuring the safety of employees, ensuring the accuracy of splitting livestock, preventing the splitting from being outwardly slanted, and improving the efficiency of splitting. It can complete the work without stopping the line and saves more than 20% of the time compared to manual labor.

[0014] The device can install a collector output incremental encoder on the conveyor chain that suspends livestock. When the livestock is transported to the four-axis industrial robot on the conveyor chain, it can achieve accurate tracking of the target and improve the effect by configuring parameters such as resolution and using a dedicated AS language. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0016] Figure 1 This is a detailed structural diagram of the fully automatic splitting of livestock in half;

[0017] Figure 2 Schematic diagram of the fully automatic structure of the livestock splitting machine

[0018] Figure 3 is a schematic diagram of the internal structure of the cutting device;

[0019] Figure 4 It is a schematic diagram of the structure of the transmission shaft;

[0020] Figure 5 It is a structural schematic diagram of the swing plate shaft.

[0021] Numbers in the figure:

[0022] 1-four-axis industrial robot; 2-cutting device; 20-cutting shell; 21-DC motor; 22-small gear; 23-large gear; 24-transmission shaft; 25-swing plate shaft; 26-pin; 27-output shaft; 28-saw blade; 29-tool; 3-first clamping device; 30-bend rod; 31-support frame; 32-first clamping wheel; 4-second clamping device; 40-cylinder; 41-cylinder bracket; 42-second clamping wheel; 43-clamping wheel bracket. DETAILED DESCRIPTION

[0023] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant utility model, rather than to limit the utility model. It is also necessary to explain that, for ease of description, only the parts related to the utility model are shown in the accompanying drawings.

[0024] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] like Figure 1 As shown, the present application is a livestock splitting device based on an industrial robot, which consists of a four-axis industrial robot 1, a cutting device 2, a cutting shell 20, a DC motor 21, a small gear 22, a large gear 23, a transmission shaft 24, a swing plate shaft 25, a pin 26, an output shaft 27, a saw blade 28, a tool 29, a first clamping device 3, a curved rod 30, a support frame 31, a first clamping wheel 32, a second clamping device 4, a cylinder 40, a cylinder bracket 41, a second clamping wheel 42, a clamping wheel bracket 43, etc.

[0026] Among them, the four-axis industrial robot selects Kawasaki four-axis CP series robot.

[0027] Preferably, an incremental encoder is installed on the conveyor chain for hanging livestock, and after configuring parameters such as resolution, combined with a dedicated AS language, the function of accurately tracking the target can be achieved. One end of the four-axis industrial robot 1 is fixed on the ground, and the other end is connected to the upper end of the cutting device 2 through a rotating shaft.

[0028] like Figure 1 and 3As shown, the cutting device 2 includes a cutting housing 20, a DC motor 21, a pinion 22, a large gear 23, a transmission shaft 24, a wobble plate shaft 25, a pin 26, an output shaft 27, a saw blade 28 and a cutter 29. The cutter 29 is screwed to one side of the cutting housing 20. The DC motor 21 is screwed to the inside of the cutting housing 20 through a fixing frame. The output end of the DC motor 21 is connected to the pinion 22 through a shaft. The pinion 22 is meshed with the large gear 23. The large gear 23 is connected to the transmission shaft 24 through a shaft, and the transmission shaft 24 is provided with a plurality of screws. An oblique groove is provided, a circular ring is provided at the lower end of the swing plate shaft 25 and is movably connected to the oblique groove of the transmission shaft 24, a T-shaped through hole is provided on one side of the output shaft 27, and the upper end of the swing plate shaft 25 is movably connected to the T-shaped through hole of the output shaft 27 through a pin 26, the output shaft 27 is screwed to a saw blade 28 and is installed inside a tool 29, the installation height of the saw blade 28 is 2mm-4mm lower than the tool 29, the tool 29 is SUS316 food grade stainless steel, the saw blade 28 and the tool 29 can be used together to improve the efficiency of splitting livestock in half.

[0029] like Figure 2 As shown, the first clamping device 3 includes a bent rod 30, a support frame 31 and a first clamping wheel 32. The bent rod 30 is provided with two, respectively installed on both sides of the tool 29. The first clamping wheel 32 is connected between the two bent rods 30 through the support frame 31. The first clamping wheel 32 is provided with three wheels that can rotate by themselves and is connected to the support frame 31 through a tripod. The support frame 31 is provided with an anti-rotation part to prevent the first clamping wheel 32 from rotating as a whole.

[0030] like Figure 2 As shown, the second clamping device 4 includes a cylinder 40, a cylinder bracket 41, a second clamping wheel 42 and a clamping wheel bracket 43. The cylinder 40 is screwed to the lower end of the cutting shell 20 through the cylinder bracket 41, and one side of the cylinder 40 is screwed to the clamping wheel bracket 43. The clamping wheel bracket 43 is arranged in two at an interval, and the second clamping wheel 42 is arranged in two and connected between the clamping wheel brackets 43 through an axis.

[0031] In summary, the large gear 23 on the transmission shaft 24 in the cutting device 2 will generate a pressure to both sides inside, and the directions of the upper and lower pressures are opposite. The rotational motion of the transmission shaft 24 can be converted into the linear motion of the swing plate shaft 25. The swing plate shaft 25 will rotate in the Z-axis direction. This motion is useless. At this time, adding a pin 26 on it can eliminate it. The top of the swing plate shaft 25 will tilt to a certain extent inside the pin 26, and the rotation on the Z-axis will also be absorbed by the pin 26, and finally the linear motion will be transmitted to the output shaft 27. The saw blade 28 is connected to the end of the output shaft 27 to perform reciprocating motion. The saw blade 28 is set to a sawtooth shape. During the operation of the saw blade 28, the tool 29 also plays the role of chopping livestock. The saw blade 28 is set as an auxiliary tool.

[0032] The first clamping device 3 and the second clamping device 4 are used in cooperation with each other. When the mechanism moves, the cutting device 2 will have a certain shaking in the process of cutting the livestock. Then, the first clamping device 3 and the second clamping device 4 can clamp the livestock without shaking, so as to avoid the livestock from being split crooked. The first clamping device 3 is provided with a first clamping wheel 32, and the second clamping device 4 is provided with a second clamping wheel 42. The purpose of setting the first clamping wheel 32 and the second clamping wheel 42 is to split the livestock in half from top to bottom. When splitting in half, the wheels can adapt to the uneven surface of the livestock, and the wheels are easier to slide without getting stuck. When the mechanism is running, the first clamping device 3 is adjusted to a reasonable position and remains stationary, while the second clamping device 4 clamps the livestock against the first clamping device 3 through the push of the cylinder 40, which can adapt to livestock of different sizes.

[0033] In actual application:

[0034] (1) First, according to the above requirements, make various components involved in livestock automation;

[0035] (2) Connecting the four-axis industrial robot 1 to the cutting device 2 via a rotating shaft;

[0036] (3) The tool 29 in the cutting device 1 is movably connected to the first clamping device 3 near the tool head, and the lower end of the cutting device 1 is screwed to the second clamping device 4, and the first clamping device 3 and the second clamping device 4 are on the same horizontal line;

[0037] (4) The cutting housing 20 is connected to a DC motor 21 through a fixing frame, and the shaft of the DC motor 21 is connected to a pinion 22 to transmit power to a large gear 23, and the pinion 22 and the large gear 23 are meshed with each other for transmission;

[0038] (5) The large gear 23 is connected to the transmission shaft 24 through a shaft, and an oblique groove is provided on the large gear 23. The lower end of the wobble plate shaft 25 is provided with a ring and is movably connected to the oblique groove of the transmission shaft 24;

[0039] (6) A T-shaped through hole is provided on the output shaft 27, the pin 26 passes through the upper end of the T-shaped through hole, the wobble plate shaft 25 passes through the lower end of the T-shaped through hole and sleeves the pin 26;

[0040] (7) Screw the saw blade 28 on one side of the output shaft 27 and set it inside the tool 29. The saw blade 28 and the tool 29 cooperate with each other for use;

[0041] (8) The first clamping device 3 and the second clamping device 4 are set to be on the same horizontal line and at different heights;

[0042] (9) Two curved rods 30 are provided and connected to both sides of the cutter 29 by bolts. They are adjusted to a reasonable position during operation and only need to be adjusted once. The first clamping wheel 32 is screwed between the curved rods by the support frame 31, and the cylinder 40 in the second clamping device 4 is used to complete the clamping, which can adapt to livestock of different sizes.

[0043] The above description is only an explanation of the preferred embodiments of the present application and the technical principles and other schemes used. At the same time, the scope of the utility model involved in the present application is not limited to the technical scheme formed by a specific combination of the above technical features, but also includes other technical schemes formed by any combination of the above technical features or their equivalent features without departing from the concept of the utility model. For example, the above features are replaced with the technical features with similar functions disclosed in the present application (but not limited to) to form a technical scheme.

Claims

1. A livestock splitting device based on an industrial robot, comprising a four-axis industrial robot (1), a cutting device (2), a first clamping device (3) and a second clamping device (4), wherein: The four-axis industrial robot (1) is fixed at one end to the ground, and the other end is connected to the upper end of the cutting device (2) via a rotating shaft; The cutting device (2) comprises a cutting housing (20), a DC motor (21), a pinion (22), a large gear (23), a transmission shaft (24), a wobble plate shaft (25), a pin (26), an output shaft (27), a saw blade (28) and a cutter (29); one side of the cutting housing (20) is screwed to the cutter (29); the DC motor (21) is screwed to the inside of the cutting housing (20) via a fixing frame; the output end of the DC motor (21) is connected to the pinion (22) via a shaft; the pinion (22) is meshedly connected to the large gear (23); the large gear (23) is connected to the transmission shaft (24) via a shaft; an oblique groove is provided on the transmission shaft (24); a ring is provided at the lower end of the wobble plate shaft (25) and is movably connected to the oblique groove provided on the transmission shaft (24); the upper end of the wobble plate shaft (25) is movably connected to the output shaft (27) via a pin (26); the output shaft (27) is screwed to the saw blade (28) and is installed inside the cutter (29); The first clamping device (3) is movably connected to the cutter head of the cutter (29), and the second clamping device (4) is screwed to the lower end of the cutting shell (20).

2. The livestock splitting device based on an industrial robot according to claim 1 is characterized in that: A T-shaped through hole is provided on one side of the output shaft (27), and the pin (26) is movably connected in the T-shaped through hole of the output shaft (27).

3. The livestock splitting device based on an industrial robot according to claim 1 is characterized in that: The saw blade (28) is configured to be in a sawtooth shape, and the installation height of the saw blade (28) is 2 mm to 4 mm lower than that of the tool (29).

4. The livestock splitting device based on an industrial robot according to claim 1 is characterized in that: The first clamping device (3) comprises a bent rod (30), a support frame (31) and a first clamping wheel (32); the bent rod (30) is provided in two pieces and is connected to two sides of the tool (29) by bolts; the first clamping wheel (32) is connected between the two bent rods (30) by the support frame (31); the first clamping wheel (32) is provided in three pieces and is connected to the support frame (31) by a tripod; the support frame (31) is provided with an anti-rotation member for preventing the first clamping wheel (32) from rotating as a whole.

5. The livestock splitting device based on an industrial robot according to claim 1 is characterized by: The second clamping device (4) comprises a cylinder (40), a cylinder bracket (41), a second clamping wheel (42) and a clamping wheel bracket (43); the cylinder (40) is screwed to the lower end of the cutting housing (20) via the cylinder bracket (41); one side of the cylinder (40) is screwed to the clamping wheel bracket (43); two clamping wheel brackets (43) are arranged at an interval; the second clamping wheel (42) is arranged in two and is connected between the clamping wheel brackets (43) via a shaft.

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