Livestock segmentation robot and rib row segmentation mechanism and rib row segmentation knife thereof

Abstract

The utility model discloses a livestock segmentation robot and a rib row segmentation mechanism and a rib row segmentation knife thereof, the livestock segmentation robot comprises a body, a mechanical arm and the rib row segmentation mechanism, the mechanical arm and the rib row segmentation mechanism are installed on the body, the rib row segmentation mechanism comprises a segmentation connecting piece and the rib row segmentation knife, and the rib row segmentation knife is installed at the tail end of the mechanical arm through the segmentation connecting piece; the rib row dividing knife comprises a knife body which is of a U-shaped structure, knife handles parallel to each other are arranged at the two ends, a knife back part is arranged between the knife handles, knife edges are arranged on the front side or the front side and the rear side of the knife back part, and the knife back part is of an arc-shaped structure in the length direction; the knife handle comprises connecting parts and a fixing part, and the connecting parts are arranged at the two ends of the fixing part and connected with the knife holder respectively; the connecting flange comprises a flange body, a positioning groove, a first positioning hole and a second positioning hole are formed in the flange body, the positioning groove corresponds to the width of the cutter handle, the first positioning hole is located in the positioning groove, and the cutter handle is installed in the positioning groove and connected with the fixing part through the first positioning hole; the second positioning hole is in positioning connection with the tail end of the mechanical arm.

Description

Technical Field

[0001] The utility model relates to a livestock cutting technology, in particular to a livestock cutting robot, a rib cutting mechanism and a rib cutting knife for automatically cutting the middle-section fine rib of a livestock carcass by using a robotic arm. Background Art

[0002] When using a robot to complete the cutting work of the middle-section fine rib in the livestock carcass fine cutting process, a tool is required to automatically strip the fine rib from the streaky pork by using the robotic arm of the robot, and the tool needs to be fixed to the end of the robot. In the prior art, there is no cutting knife and its handle fixing device suitable for automatically cutting the middle-section fine rib by the robotic arm of the robot. Therefore, there is an urgent need in the art for a rib cutting knife that can meet the automatic cutting of fine ribs by the robot. Summary of the Utility Model

[0003] The technical problem to be solved by the utility model is to provide a livestock cutting robot, a rib cutting mechanism and a rib cutting knife in view of the above-mentioned defects of the prior art.

[0004] To achieve the above object, the utility model provides a rib cutting knife, which is installed at the end of the robotic arm of a livestock cutting robot. The rib cutting knife includes:

[0005] A knife body, which is a U-shaped structure, with two ends being parallel knife handles. Between the knife handles is a knife back. A cutting edge is arranged on the front side or both the front and back sides of the knife back. The knife back is an arc structure along the length direction.

[0006] A knife handle, which includes a connecting part and a fixing part. The connecting part is arranged at both ends of the fixing part and is respectively connected to the knife handle. And

[0007] A connecting flange, which includes a flange body. A positioning groove, a first positioning hole and a second positioning hole are arranged on the flange body. The positioning groove corresponds to the width of the knife handle. The first positioning hole is located in the positioning groove. The knife handle is installed in the positioning groove and is connected to the fixing part through the first positioning hole. The second positioning hole is connected to the end of the robotic arm for positioning.

[0008] In the above rib cutting knife, the radian of the knife body and the width of the cutting edge are adapted to the ribs to be cut.

[0009] In the above rib cutting knife, a connecting positioning groove is arranged at the bottom end of the connecting part. The width of the connecting positioning groove is adapted to the width of the knife handle. A connecting positioning hole is arranged in the connecting positioning groove. The connecting positioning groove and the connecting positioning hole jointly limit the axial rotation of the knife body around the knife handle.

[0010] The above-mentioned sparerib splitting knife, wherein a threaded hole is provided on the knife handle, the knife handle is fitted and installed with the positioning groove, and is fixedly connected with the connecting positioning hole through the threaded hole.

[0011] The above-mentioned sparerib splitting knife, wherein a fixed positioning hole is provided on the fixed part corresponding to the first positioning hole, and the fixed positioning hole restricts the axial sliding of the knife body along the handle of the knife.

[0012] The above-mentioned sparerib splitting knife, wherein both the knife body and the knife handle are of slender strip-shaped structures, and the knife body and the knife handle are located in the same plane along the length direction.

[0013] The above-mentioned sparerib splitting knife, wherein the flange body is perpendicular to the knife handle and the knife body.

[0014] In order to better achieve the above object, the present invention also provides a sparerib splitting mechanism, including a splitting connecting piece and a sparerib splitting knife. The sparerib splitting knife is installed at the end of the robotic arm of the livestock splitting robot through the splitting connecting piece, wherein the sparerib splitting knife is the above-mentioned sparerib splitting knife.

[0015] The above-mentioned sparerib splitting mechanism, wherein the splitting connecting piece includes a tool connecting part and an arm end connecting part. The tool connecting part is fitted and connected with the second positioning hole of the connecting flange of the sparerib splitting knife, and the arm end connecting part is connected with the end of the robotic arm.

[0016] In order to better achieve the above object, the present invention also provides a livestock splitting robot, including a robot body, a robotic arm and a sparerib splitting mechanism installed on the robot body. The sparerib splitting mechanism is installed at the end of the robotic arm, wherein the sparerib splitting mechanism is the above-mentioned sparerib splitting mechanism.

[0017] The beneficial effects of the present invention are as follows:

[0018] The present invention can meet the automatic splitting of fine spareribs by the robotic arm. The sparerib splitting knife has the characteristics of quick tool change and firm assembly. Since the tool needs to be sharpened regularly and disinfected regularly due to wear during use, the knife body needs to be frequently and repeatedly replaced. During replacement, only the knife body needs to be replaced, which simplifies the replacement operation, shortens the replacement time, and reduces the maintenance cost.

[0019] The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments, but it is not a limitation to the present invention. Description of the Drawings

[0020] Figure 1 It is a schematic structural diagram of a livestock splitting robot according to an embodiment of the present invention;

[0021] Figure 2Schematic diagram of the rib splitting mechanism according to an embodiment of the present utility model;

[0022] Figure 3 Installation schematic diagram of the rib splitting mechanism according to an embodiment of the present utility model;

[0023] Figure 4 Schematic diagram of the rib splitting knife according to an embodiment of the present utility model;

[0024] Figure 5 Schematic diagram of the connecting flange according to an embodiment of the present utility model;

[0025] Figure 6 Schematic diagram of the knife handle according to an embodiment of the present utility model;

[0026] Figure 7 Schematic diagram of the knife body according to an embodiment of the present utility model.

[0027] Among them, reference numerals

[0028] 1 Robot body

[0029] 2 Robot arm

[0030] 3 Rib splitting mechanism

[0031] 31 Splitting connecting piece

[0032] 311 Tool connecting part

[0033] 312 Arm end connecting part

[0034] 32 Rib splitting knife

[0035] 321 Knife body

[0036] 3211 Knife handle

[0037] 3212 Knife back

[0038] 3213 Blade

[0039] 322 Knife handle

[0040] 3221 Fixing part

[0041] 32211 Fixing positioning hole

[0042] 3222 Connecting part

[0043] 32221 Connecting positioning groove

[0044] 32222 Connecting positioning hole

[0045] 323 Connecting flange

[0046] 3231 Flange body

[0047] 3232 positioning groove

[0048] 3233 first positioning hole

[0049] 3234 second positioning hole Specific implementation manner

[0050] The structural principle and working principle of the present invention will be specifically described below with reference to the accompanying drawings:

[0051] See Figures 1 - 3 , Figure 1 which is a schematic structural diagram of a livestock segmentation robot according to an embodiment of the present utility model, Figure 2 which is a schematic structural diagram of the rib cut-off mechanism 3 according to an embodiment of the present utility model, Figure 3 which is an installation schematic diagram of the rib cut-off mechanism 3 according to an embodiment of the present utility model. The livestock segmentation robot of the present utility model includes a robot body 1, a robotic arm 2 mounted on the robot body 1, and a rib cut-off mechanism 3. The rib cut-off mechanism 3 is mounted at the end of the robotic arm 2. The rib cut-off mechanism 3 includes a segmentation connecting member 31 and a rib cut-off knife 32. The rib cut-off knife 32 is mounted at the end of the robotic arm 2 of the livestock segmentation robot through the segmentation connecting member 31. The segmentation connecting member 31 includes a tool connecting portion 311 and an arm end connecting portion 312. The tool connecting portion 311 is connected in a matching manner with the second positioning hole 3234 of the connecting flange 323 of the rib cut-off knife 32, and the arm end connecting portion 312 is connected to the end of the robotic arm 2.

[0052] During operation, the middle section of the livestock carcass is placed on the conveying device according to certain position and direction requirements and moves together with the conveyor belt. When the middle section of the livestock carcass reaches the designated position in front of the robot, the robot performs segmentation through motion tracking technology. During segmentation, the pressing claws with hooks at the front of the chain press the front end part of the middle section of the livestock carcass to fix it. The robotic arm 2 drives the rib cut-off knife 32 to move to the starting point of the knife feed. Then, according to the three-dimensional coordinates and attitude information of the pre-determined segmentation points, the robotic arm 2 drives the rib cut-off knife 32 to move quickly along each point in sequence to achieve the cutting operation, realizing the separation of the fine ribs from the streaky pork layer and dividing them into two products: fine ribs and streaky pork. Since the composition, structure, mutual position relationship, connection relationship and functions of other parts of the livestock segmentation robot and the rib cut-off mechanism 3 are all relatively mature existing technologies, they will not be elaborated here. Only the rib cut-off knife 32 of the present utility model will be described in detail below.

[0053] See Figure 4 and Figure 5 , Figure 4 which is a schematic structural diagram of the rib cut-off knife 32 according to an embodiment of the present utility model, Figure 5It is a schematic structural diagram of the connecting flange 323 according to an embodiment of the present utility model. The rib splitting knife 32 of the present utility model is used to complete the splitting task of the middle-section fine rib in the fine splitting process of livestock carcasses. It has the characteristics of quick tool change and firm assembly, and is convenient for replacing the tool according to the operation needs or the requirements of regular disinfection and maintenance of the equipment. The rib splitting knife 32 is installed at the end of the robotic arm 2 of the livestock splitting robot, and includes: a knife body 321, which is a U-shaped structure body, with two ends being parallel knife handles 3211, between the knife handles 3211 is a knife back 3212, and a cutting edge 3213 is arranged on the front side or both the front and back sides of the knife back 3212, and the knife back 3212 is an arc-shaped structure along the length direction; a knife handle 322, which includes a connecting part 3222 and a fixing part 3221, the connecting part 3222 is arranged at both ends of the fixing part 3221 and is respectively connected to the knife handles 3211; and a connecting flange 323, which includes a flange body 3231, on the flange body 3231 there are arranged a positioning groove 3232, a first positioning hole 3233 and a second positioning hole 3234, the positioning groove 3232 is set corresponding to the width of the knife handle 322, the first positioning hole 3233 is located in the positioning groove 3232, the knife handle 322 is installed in the positioning groove 3232 and is connected to the fixing part 3221 through the first positioning hole 3233; the second positioning hole 3234 is positioned and connected to the end of the robotic arm 2. In this embodiment, both the knife body 321 and the knife handle 322 are slender strip-shaped structures, and the knife body 321 and the knife handle 322 are located in the same plane along the length direction. The flange body 3231 is perpendicular to the knife handle 322 and the knife body 321. The positioning groove 3232 restricts the rotation of the entire knife body 321 around the axis of the robotic arm 2, and the first positioning hole 3233 restricts the sliding of the knife body 321 along the axis of the connecting flange 323, and they are connected to each other through fasteners to position and fix the tool and prevent the tool from sliding during cutting.

[0054] See Figure 6 , Figure 6It is a schematic structural view of the tool shank 322 according to an embodiment of the present utility model. At the bottom end of the connecting portion 3222 of this embodiment, a connecting positioning groove 32221 is provided. The width of the connecting positioning groove 32221 is adapted to the width of the tool handle 3211. A connecting positioning hole 32222 is provided in the connecting positioning groove 32221. The connecting positioning groove 32221 and the connecting positioning hole 32222 jointly limit the axial rotation of the tool body 321 around the tool shank 322. Among them, the fixing portion 3221 is provided with a fixing positioning hole 32211 corresponding to the first positioning hole 3233, and the fixing positioning hole 32211 restricts the axial sliding of the tool body 321 along the tool shank 322. That is, in this embodiment, the tool shank 322 includes a connecting portion 3222 connected to the tool body 321 and a fixing portion 3221 connected to the flange. A fixing positioning hole 32211 for connecting with the connecting flange 323 is provided in the middle of the fixing portion 3221. Connecting positioning grooves 32221 and connecting positioning holes 32222 for connecting with the tool body 321 are respectively provided on both sides of the connecting portion 3222. When loading and clamping the tool, the connecting positioning groove 32221 and the connecting positioning hole 32222 can be matched with both ends of the tool handle 3211 to restrict the axial rotation of the tool around the tool shank 322, and the axial sliding of the tool along the tool shank 322 is restricted by the fixing positioning hole 32211. The fixing positioning hole 32211 is connected to the flange at the end of the robotic arm 2, and the tool shank 322 and the tool body 321 and the connecting flange 323 are respectively connected to each other by screws.

[0055] See Figure 7 , Figure 7 It is a schematic structural view of the tool body 321 according to an embodiment of the present utility model. To reduce the maintenance cost of the tool, the tool body 321 and the tool shank 322 are separated from each other. The tool body 321 is fixedly connected to the tool shank 322 by screws. The tool body 321 is a special arc shape suitable for the segmentation of the middle-section fine rib chops in the fine segmentation process of livestock carcasses. The tool body 321 is an arc-shaped special structure, including a cutting edge 3213, a tool back and a tool handle 3211. The radian of the tool body 321 and the width of the cutting edge 3213 are set according to the bending degree of the fine rib chops during the actual segmentation process. Threaded holes are provided on the tool handle 3211. Threaded holes are provided on the tool handles 3211 on both sides of the tool body 321, preferably threaded through holes, which are convenient for fixedly connecting with the tool shank 322. The radian of the tool body 321 and the width of the cutting edge 3213 of this embodiment are adapted to the rib chops to be segmented. The tool handle 3211 is installed in cooperation with the positioning groove 3232 and fixedly connected to the connecting positioning hole 32222 through the threaded hole.

[0056] The rib cutting knife 32 of the present utility model includes a knife handle 322, a knife body 321 and a connecting flange 323. Both ends of the knife body 321 are fixedly connected to the knife handle 322. Connecting parts 3222 at both ends of the knife handle 322 are provided with connecting positioning grooves 32221 and connecting positioning holes 32222 arranged in the connecting positioning grooves 32221. Threaded through holes are provided on both sides of the knife handle 322 and the knife body 321, and the knife body 321 can be firmly fixed by fasteners. The fixing part 3221 of the knife handle 322 is connected to the cutting connecting part 31 at the end of the robot through the connecting flange 323. One end of the connecting flange 323 is provided with a positioning groove 3232 and a first positioning hole 3233 arranged in the positioning groove 3232. Two fixing positioning holes 32211 are arranged in the middle of the knife handle 322. The tool is positioned with the connecting flange 323 through the positioning groove 3232 and fixed by fasteners; the other end of the connecting flange 323 is provided with positioning pin holes corresponding to the cutting connecting part 31, and the entire rib cutting knife 32 is connected and fixed to the cutting connecting part 31 by fasteners, so that the knife body 321 will not slide in any direction, and the cutting connecting part 31 is installed at the end of the robotic arm 2. Among them, preferably, the length of the tool is 423 mm, the thickness of the knife body 321 is 3 mm, the width is 20 mm, the width of the cutting edge 3213 is 12 mm, the edge inclination angle is 14°, and the width of the back of the knife is 8 mm.

[0057] The present utility model can meet the requirement of automatically cutting fine ribs by the robotic arm 2. Threaded holes are provided on both sides of the knife handle 322 and the knife body 321, and the knife handle 322 can be firmly fixed, so that it will not shake during operation. Since the knife body 321 is worn during operation, the cutting edge 3213 will become blunt and need to be sharpened frequently; and the knife body 321 needs to be disinfected regularly, so the tool needs to replace the knife body 321 frequently. The rib cutting knife 32 of the present utility model can install a new knife body 321 on the knife handle 322 by screws, without replacing the knife handle 322, which simplifies the replacement operation, shortens the replacement time, and reduces the maintenance cost.

[0058] Certainly, the present utility model can also have many other embodiments. Without departing from the spirit and essence of the present utility model, those skilled in the art can make various corresponding changes and deformations according to the present utility model, but these corresponding changes and deformations should all fall within the protection scope of the appended claims of the present utility model.

Claims

1. A rib cutting knife, mounted at the end of the mechanical arm of a livestock cutting robot, characterized in that: include: The blade body is a U-shaped structure, with two parallel handles at both ends, a blade back between the handles, blades are arranged on the front side or both sides of the blade back, and the blade back is an arc structure along the length direction; The knife handle comprises a connecting portion and a fixing portion, wherein the connecting portions are arranged at two ends of the fixing portion and are respectively connected to the knife handle; as well as The connecting flange includes a flange body, on which a positioning groove, a first positioning hole and a second positioning hole are provided. The positioning groove is set corresponding to the width of the tool handle, the first positioning hole is located in the positioning groove, the tool handle is installed in the positioning groove and connected to the fixing part through the first positioning hole; the second positioning hole is positioned and connected to the end of the robotic arm.

2. The rib cutting knife according to claim 1, characterized in that: The curvature of the knife body and the width of the knife edge are adapted to the ribs to be cut.

3. The rib cutting knife according to claim 1, characterized in that: A connection positioning groove is arranged at the bottom end of the connection part, the width of the connection positioning groove is adapted to the width of the tool handle, and a connection positioning hole is arranged in the connection positioning groove; the connection positioning groove and the connection positioning hole jointly limit the axial rotation of the tool body around the tool handle.

4. The rib cutting knife according to claim 3, characterized in that: The tool handle is provided with a threaded hole, the tool handle is installed in cooperation with the positioning groove, and is fixedly connected with the connection positioning hole through the threaded hole.

5. The rib cutting knife according to claim 1, characterized in that: The fixing portion is provided with a fixing positioning hole corresponding to the first positioning hole, and the fixing positioning hole limits the knife body from sliding along the axial direction of the knife handle.

6. The rib cutting knife according to claim 1, characterized in that: The knife body and the knife handle are both slender strip-shaped structures, and the knife body and the knife handle are located in the same plane along the length direction.

7. The rib cutting knife according to claim 6, characterized in that: The flange body, the knife handle and the knife body are perpendicular to each other.

8. A rib cutting mechanism, comprising a cutting connection piece and a rib cutting knife, wherein the rib cutting knife is mounted on the end of a mechanical arm of a livestock cutting robot through the cutting connection piece, characterized in that: The rib cutting knife is the rib cutting knife according to any one of claims 1 to 7.

9. The rib cutting mechanism according to claim 8, characterized in that: The segmentation connection member includes a tool connection portion and an arm end connection portion, the tool connection portion is cooperatively connected with the second positioning hole of the connection flange of the rib segmentation knife, and the arm end connection portion is connected with the end of the mechanical arm.

10. A livestock cutting robot, comprising a robot body, a mechanical arm mounted on the robot body, and a rib cutting mechanism, wherein the rib cutting mechanism is mounted at the end of the mechanical arm, characterized in that: The rib cutting mechanism is the rib cutting mechanism according to claim 8 or 9.

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