Automatic bone sawing device for slaughter house

Abstract

The utility model provides an automatic bone sawing device for a slaughter house, which relates to the field of automatic bone sawing equipment for the slaughter house and comprises a transverse moving assembly, a half splitting assembly and a supporting seat, the transverse moving assembly comprises a base, a supporting plate mounted at the top of the base, a servo motor, a rack and a gear, and the servo motor, the rack and the gear are used for moving the supporting plate. The six-axis mechanical arm is fixed to the top of the supporting base, the belt type splitting saw is used for splitting, and the fixing support is used for supporting the belt type splitting saw. Precise positioning of pig carcasses is achieved through the positioning assembly, the RGB camera, the line laser scanner and the multi-dimensional force sensor collect related information of the pig carcasses and transmit the information to the PLC, the PLC analyzes and processes the data and then sends control instructions to the servo motor, the six-axis mechanical arm and the belt type splitting saw, and the servo motor drives the six-axis mechanical arm to rotate. And the actions of the transverse moving assembly and the splitting assembly are precisely controlled, so that high-precision splitting of the pig carcasses is realized.

Description

Technical Field

[0001] This utility model belongs to the field of automatic bone sawing equipment for slaughterhouses, specifically an automatic bone sawing device for slaughterhouses. Background Technology

[0002] Automatic bone sawing equipment for slaughterhouses is a type of mechanical equipment used to cut meat such as pigs, cattle, and sheep. The main types are carcass splitting devices, multi-segment bone saws, and hydraulic splitting saws. They all use saw blades or hydraulic blades to achieve cutting. The carcass splitting device is mainly used to longitudinally split the whole animal into two halves along the spine.

[0003] According to Chinese patent application number 202020680202.6, a fully automatic pig carcass splitting machine is disclosed, which is applied in the field of slaughtering equipment. It includes a main structural frame and a chopping knife. A mechanism frame is fixed on the main structural frame, and two connecting frames are provided on the mechanism frame. The mechanism frame is provided with a tensioning device that drives the two connecting frames to move closer or further apart. The two connecting frames are located on both sides of the chopping knife. Soft wiping columns are provided on the connecting frames. By setting the wiping columns, after the splitting machine has finished splitting the pig, the two connecting frames move closer together and the wiping columns abut against the side wall of the chopping knife. The chopping knife keeps moving back and forth under the drive of the splitting machine's drive device, so that the wiping columns wipe the blood and dirt off the side wall of the chopping knife. After wiping, the two connecting frames move away again to avoid motion interference with the chopping knife's operation during the next splitting.

[0004] Existing technology effectively solves the problem that when cutting pigs, the cleaver gets contaminated with pig blood, which can easily lead to bacterial growth and accumulation. It also has the advantage of being able to wipe the cleaver after chopping. However, when chopping pig carcasses, the lack of positioning of the pig carcass results in low chopping precision and thus easily leads to large segmentation errors.

[0005] In summary, this utility model provides an automatic bone sawing device for slaughterhouses to solve the above-mentioned problems. Utility Model Content

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0007] An automatic bone-sawing device for slaughterhouses includes a lateral movement assembly comprising a base, a support plate mounted on top of the base, and a servo motor, rack, and gear for moving the support plate; a splitting assembly comprising a support base, a six-axis robotic arm fixed to the top of the support base, a belt splitting saw for splitting bones, and a fixed bracket for supporting the belt splitting saw; and a positioning assembly comprising a PLC controller, an RGB camera fixed to the surface of the six-axis robotic arm, a line laser scanner fixed to the surface of the support base, and a multi-dimensional force sensor fixed to the execution end of the six-axis robotic arm. The outputs of the RGB camera, the line laser scanner, and the multi-dimensional force sensor are all connected to the input of the PLC controller, and the output of the PLC controller is connected to the inputs of the servo motor, the six-axis robotic arm, and the belt splitting saw, respectively.

[0008] Furthermore, in this utility model, the support base, PLC controller and servo motor are all fixed to the top of the support plate, the fixed bracket is fixed to the execution end of the six-axis robotic arm through the adapter flange, and the belt splitting saw is fixed to the surface of the fixed bracket by bolts.

[0009] Furthermore, in this utility model, the splitting assembly also includes a slide rail and a slide base for limiting the position, and an accordion-style cover for providing protection. The rack and slide rail are both fixed to the top of the base. One end of the accordion-style cover is fixedly connected to the support plate, and the other end of the accordion-style cover is fixedly connected to the base.

[0010] Furthermore, in this utility model, the slide block is located on the surface of the slide rail and is slidably connected to the slide rail, and the support plate is fixed to the surface of the slide block.

[0011] Furthermore, in this invention, the gear meshes with the rack, and the output shaft of the servo motor passes through the support plate and is connected to the gear transmission.

[0012] Furthermore, in this invention, the line laser scanner can be a Shining 3D TitanScan, and the RGB camera can be a Haitian G9.

[0013] Beneficial effects: This utility model has the following beneficial effects:

[0014] This invention achieves precise positioning of the pig carcass through a positioning component. An RGB camera, a line laser scanner, and a multi-dimensional force sensor collect relevant information about the pig carcass and transmit this information to a PLC controller. After analyzing and processing this data, the PLC controller sends control commands to the servo motor, the six-axis robotic arm, and the belt splitting saw, precisely controlling the movements of the lateral movement component and the splitting component. This enables high-precision splitting of the pig carcass. Through the coordinated work of the lateral movement component, the positioning component, and the splitting component, and by using the RGB camera, the line laser scanner, and the multi-dimensional force sensor to acquire information, which is then analyzed and controlled by the PLC controller, automatic and precise sawing of the pig carcass is achieved. This effectively solves the problems of lack of positioning, low splitting accuracy, and large segmentation errors when splitting pig carcasses. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0016] Figure 2 This is a schematic diagram of the main structure of the halving component of this utility model;

[0017] Figure 3 This is a schematic diagram of the main structure of the transverse moving component of this utility model;

[0018] Figure 4 This is a schematic diagram of the connection structure between the servo motor and the gear of this utility model;

[0019] Figure 5 This is a schematic diagram of the system flow of this utility model.

[0020] In the picture:

[0021] 100. Lateral movement assembly; 110. Base; 120. Support plate; 130. Servo motor; 140. Rack; 150. Gear; 160. Slide rail; 170. Slide block; 180. Bellows-style cover; 200. Halving assembly; 210. Support base; 220. Six-axis robotic arm; 230. Belt-type halving saw; 240. Fixed bracket; 300. Positioning assembly; 310. PLC controller; 320. RGB camera; 330. Line laser scanner; 340. Multi-dimensional force sensor. Detailed Implementation

[0022] To better understand the technical content of this utility model, specific embodiments are described below in conjunction with the accompanying drawings. Various aspects of this utility model are described in this disclosure with reference to the accompanying drawings, which illustrate numerous illustrative embodiments. The embodiments of this disclosure are not necessarily defined to include all aspects of this utility model. It should be understood that the various concepts and embodiments described above, as well as those described in more detail below, can be implemented in any of many ways, because the concepts and embodiments disclosed in this utility model are not limited to any particular implementation. Furthermore, some aspects of this utility model can be used alone or in any suitable combination with other aspects disclosed in this utility model.

[0023] Example 1

[0024] like Figure 1-5 The image shows the first embodiment of this utility model, which provides an automatic bone sawing device for slaughterhouses. It includes a transverse component 100, comprising a base 110, a support plate 120 mounted on top of the base 110, and a servo motor 130, rack 140, and gear 150 for moving the support plate 120; a splitting component 200, comprising a support base 210, a six-axis robotic arm 220 fixed to the top of the support base 210, a belt splitting saw 230 for splitting, and a fixing bracket 240 for supporting the belt splitting saw 230; and a positioning component 3. The system includes a PLC controller 310, an RGB camera 320 fixed to the surface of the six-axis robotic arm 220, a line laser scanner 330 fixed to the surface of the support base 210, and a multi-dimensional force sensor 340 fixed to the execution end of the six-axis robotic arm 220. The output ends of the RGB camera 320, the line laser scanner 330, and the multi-dimensional force sensor 340 are all connected to the input ends of the PLC controller 310. The output ends of the PLC controller 310 are connected to the input ends of the servo motor 130, the six-axis robotic arm 220, and the belt splitting saw 230, respectively.

[0025] like Figure 1-5As shown, the positioning component 300 includes a PLC controller 310, an RGB camera 320, a line laser scanner 330, and a multi-dimensional force sensor 340. The RGB camera 320 can acquire image information of the pig carcass, and the line laser scanner 330 can perform three-dimensional scanning of the pig carcass to obtain its shape and contour data. This data is transmitted to the PLC controller 310 for processing and analysis, thereby accurately determining the position, shape, and posture information of the pig carcass, providing accurate positioning basis for the subsequent splitting operation. After the positioning component 300 determines the position of the pig carcass, the PLC controller 310 controls the servo motor 130 to move the support plate 120 to move the splitting component 200 to the appropriate position, achieving accurate positioning of the pig carcass. The six components in the splitting component 200... Under the control of the PLC controller 310, the six-axis robotic arm 220 can precisely adjust the position and posture of the belt splitting saw 230 based on the information provided by the positioning component 300, thereby accurately splitting the pig carcass in half. The multi-dimensional force sensor 340 is fixed to the execution end of the six-axis robotic arm 220, which can sense the force during the splitting process in real time and feed the data back to the PLC controller 310. The controller further adjusts the movements of the six-axis robotic arm 220 and the belt splitting saw 230 based on the feedback information to ensure the stability and accuracy of the splitting process. Through the precise positioning of the positioning component 300 and the coordinated work of the lateral movement component 100 and the splitting component 200, the problems of lack of positioning, low splitting accuracy and large segmentation error when splitting pig carcasses can be effectively solved.

[0026] Example 2

[0027] Reference Figure 1-4 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0028] In this embodiment, the support base 210, PLC controller 310 and servo motor 130 are all fixed to the top of the support plate 120, the fixed bracket 240 is fixed to the execution end of the six-axis robotic arm 220 through the adapter flange, and the belt splitting saw 230 is fixed to the surface of the fixed bracket 240 by bolts.

[0029] The splitting assembly 200 also includes a slide rail 160 and a slide block 170 for limiting, and an accordion-style cover 180 for providing protection. The rack 140 and the slide rail 160 are both fixed to the top of the base 110. One end of the accordion-style cover 180 is fixedly connected to the support plate 120, and the other end of the accordion-style cover 180 is fixedly connected to the base 110.

[0030] The slide block 170 is located on the surface of the slide rail 160 and is slidably connected to the slide rail 160. The support plate 120 is fixed to the surface of the slide block 170.

[0031] Gear 150 meshes with rack 140, and the output shaft of servo motor 130 passes through support plate 120 and is connected to gear 150 for transmission.

[0032] The 330 line laser scanner can be the Shining TitanScan, and the 320 RGB camera can be the Haitian G9.

[0033] like Figure 1-4 As shown, the RGB camera 320 is a Haitian G9, which can acquire image information of the pig carcass. The line laser scanner 330 is a Shining TitanScan, which can perform 3D scanning of the pig carcass to obtain its shape and contour data. This data is transmitted to the PLC controller 310 for processing and analysis, thereby accurately determining the position, shape, and posture of the pig carcass, providing accurate positioning information for the subsequent splitting operation. The servo motor 130, rack 140, and gear 150 of the transverse component 100 work together to accurately move the support plate 120. After the positioning component 300 determines the position of the pig carcass, the PLC controller 310 controls the servo motor 130, rack 140, and gear 150 to move the support plate 120 precisely. 30. The support plate 120 moves the splitting assembly 200 to a suitable position to accurately position the pig carcass. Under the control of the PLC controller 310, the six-axis robotic arm 220 in the splitting assembly 200 precisely adjusts the position and posture of the belt splitting saw 230 according to the information provided by the positioning assembly 300, thereby accurately splitting the pig carcass in half. The multi-dimensional force sensor 340 is fixed to the execution end of the six-axis robotic arm 220 and can sense the force during the splitting process in real time and feed the data back to the PLC controller 310. Based on the feedback information, the PLC controller 310 further adjusts the movements of the six-axis robotic arm 220 and the belt splitting saw 230 to ensure the stability and accuracy of the splitting process.

[0034] In operation, the servo motor 130 drives the gear 150 to rotate, and the gear 150 moves linearly along the rack 140, thereby moving the support plate 120 fixed on the slide 170 on the base 110. The positioning component 300 is used to acquire relevant information about the pig carcass and transmit this information to the PLC controller 310 for precise control. The RGB camera 320 is fixed to the surface of the six-axis robotic arm 220 and can capture image information of the pig carcass. The line laser scanner 330 is fixed to the surface of the support base 210 and can emit line lasers to scan the pig carcass and acquire its three-dimensional shape and size information. The multi-dimensional force sensor 340 is fixed to the execution end of the six-axis robotic arm 220 and can sense the force during the chopping process in real time. The RGB camera 320, the line laser scanner 330, and the multi-dimensional force sensor 340 convert the information they collect into electrical signals and output these signals to the input terminal of the PLC controller 310. The PLC controller 310 receives the data from the RGB camera 320 and the line laser scanner 330. After receiving the information output by the servo motor 130 and the multi-dimensional force sensor 340, the PLC controller 310 analyzes and processes this information. Based on the processing results, the PLC controller 310 sends control commands to the servo motor 130, the six-axis robotic arm 220, and the belt splitting saw 230. This controls the rotation speed and direction of the servo motor 130, moving the support plate 120 to the appropriate position; it controls the movement trajectory of the six-axis robotic arm 220, adjusting the posture of the belt splitting saw 230; and it controls the start / stop and cutting speed of the belt splitting saw 230. During the splitting process, the multi-dimensional force sensor 340 provides real-time feedback on the force applied during splitting. The PLC controller 310 adjusts the working status of each component based on this feedback to ensure smooth splitting operations. Through the coordinated work of the lateral movement component 100, the positioning component 300, and the splitting component 200, information is acquired using the RGB camera 320, the line laser scanner 330, and the multi-dimensional force sensor 340. This information is then analyzed and controlled by the PLC controller 310, achieving automatic and precise sawing of the pig carcass.

[0035] All standard parts used in this application can be purchased from the market, and can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. The control method is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art and is common knowledge in the field. Since this application is mainly used to protect mechanical devices, the control method and circuit connection will not be explained in detail in this application.

[0036] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Those skilled in the art to which this invention pertains can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of this invention shall be determined by the claims.

Claims

1. An automatic bone sawing device for slaughterhouses, characterized in that: include, The transverse assembly (100) includes a base (110), a support plate (120) mounted on top of the base (110), and a servo motor (130), rack (140), and gear (150) for moving the support plate (120). The splitting assembly (200) includes a support base (210), a six-axis robotic arm (220) fixed to the top of the support base (210), a belt splitting saw (230) for splitting, and a fixed bracket (240) for supporting the belt splitting saw (230). The positioning component (300) includes a PLC controller (310), an RGB camera (320) fixed to the surface of the six-axis robotic arm (220), a line laser scanner (330) fixed to the surface of the support base (210), and a multi-dimensional force sensor (340) fixed to the execution end of the six-axis robotic arm (220). The outputs of the RGB camera (320), the line laser scanner (330), and the multi-dimensional force sensor (340) are all connected to the input of the PLC controller (310), and the outputs of the PLC controller (310) are connected to the inputs of the servo motor (130), the six-axis robotic arm (220), and the belt splitter (230), respectively.

2. The automatic bone sawing device for slaughterhouses as described in claim 1, characterized in that: The support base (210), PLC controller (310) and servo motor (130) are all fixed to the top of the support plate (120). The fixed bracket (240) is fixed to the execution end of the six-axis robotic arm (220) through the adapter flange. The belt splitting saw (230) is fixed to the surface of the fixed bracket (240) by bolts.

3. The automatic bone sawing device for slaughterhouses as described in claim 1, characterized in that: The split assembly (200) also includes a slide rail (160) and a slide block (170) for limiting, and an accordion-style cover (180) for providing protection. The rack (140) and the slide rail (160) are both fixed to the top of the base (110). One end of the accordion-style cover (180) is fixedly connected to the support plate (120), and the other end of the accordion-style cover (180) is fixedly connected to the base (110).

4. The automatic bone sawing device for slaughterhouses as described in claim 3, characterized in that: The slide block (170) is located on the surface of the slide rail (160) and is slidably connected to the slide rail (160), and the support plate (120) is fixed to the surface of the slide block (170).

5. The automatic bone sawing device for slaughterhouses as described in claim 1, characterized in that: The gear (150) meshes with the rack (140), and the output shaft of the servo motor (130) passes through the support plate (120) and is connected to the gear (150) for transmission.

6. The automatic bone sawing device for slaughterhouses as described in claim 1, characterized in that: The line laser scanner (330) can be a Shining 3D TitanScan, and the RGB camera (320) can be a Haitian G9.

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