CN110539312A - Efficient and accurate livestock and poultry meat dividing robot - Google Patents
Efficient and accurate livestock and poultry meat dividing robot Download PDFInfo
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- CN110539312A CN110539312A CN201910807509.XA CN201910807509A CN110539312A CN 110539312 A CN110539312 A CN 110539312A CN 201910807509 A CN201910807509 A CN 201910807509A CN 110539312 A CN110539312 A CN 110539312A
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C17/00—Other devices for processing meat or bones
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C17/00—Other devices for processing meat or bones
- A22C17/0006—Cutting or shaping meat
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- Food Science & Technology (AREA)
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Abstract
The invention belongs to the technical field of robots, and particularly relates to a high-efficiency and accurate meat dividing robot for livestock and poultry. The invention can quickly realize the positioning drive of the axial transfer mechanism, the clamping component and the cutter, has high execution force, effectively improves the cutting efficiency, can realize the transverse position adjustment and the axial clamping position adjustment of the clamping component, stably clamps the arm support of the livestock meat, is suitable for clamping meat with different sizes, has wide application range and strong practicability, can automatically acquire images of the livestock meat, process the acquired images and mark the size and texture lines, replaces the traditional manual sorting of the livestock meat and the cutting operation, and realizes efficient and accurate cutting.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a high-efficiency and accurate segmentation robot for meat of livestock and poultry.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology. An industrial robot is composed of three basic parts, namely a main body, a driving system and a control system. The main body is a machine base and an actuating mechanism, and comprises an arm part, a wrist part and a hand part, and some robots also comprise a walking mechanism. Most industrial robots have 3-6 degrees of freedom of motion, wherein the wrist generally has 1-3 degrees of freedom of motion; the driving system comprises a power device and a transmission mechanism and is used for enabling the executing mechanism to generate corresponding actions; the control system sends command signals to the driving system and the executing mechanism according to the input program and controls the driving system and the executing mechanism.
At present, the application range of industrial robots is increasingly wide, traditional livestock and poultry meat is divided in a manual cutting mode, efficiency and meat yield are low, the number of workers to be put into the robot is high, the requirement for efficient and accurate meat division of livestock and poultry cannot be met, the industrial robots are also applied to the field of meat division of livestock and poultry, but the existing livestock and poultry meat division robots are low in division efficiency, low in meat yield and incapable of achieving efficient and accurate division.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a livestock and poultry meat efficient and accurate segmentation robot, and solves the problems that the existing livestock and poultry meat segmentation robot is low in segmentation efficiency, low in meat yield and incapable of realizing efficient and accurate segmentation.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a robot is cut apart to high-efficient accurate of beasts and birds meat, includes that arm, connector, first fly leaf, first servo motor, link, axial move carry mechanism, clamping components, 6 robots, cutter, CDD camera, image processing module and major control system, wherein, the connector is connected in the tip of arm, first fly leaf is through first loose axle movable mounting on the connector, first servo motor fixed mounting is on the lateral wall of connector, first servo motor's output passes through shaft coupling and first loose axle connection, the one end that the connector was kept away from to first fly leaf and the lateral wall middle part fixed connection of link, the axial moves and carries the mechanism to be provided with two, and two axial move carry the mechanism bilateral symmetry and set up in the lateral wall both ends that the first fly leaf was kept away from to the link, the axial moves and carries the mechanism to include crossbearer, First cylinder, slide, fixed block, roof, second servo motor and carousel, the crossbearer is installed on the lateral wall that first fly leaf was kept away from to the link, first cylinder is installed in one side that the link corresponds first fly leaf, the tailpiece of the piston rod portion of first cylinder runs through the link and extends to the crossbearer inside, slide and crossbearer sliding fit, fixed block fixed mounting is on the lateral wall of slide, the tailpiece of the piston rod portion fixed connection of fixed block and first cylinder, the roof sets up in the top of slide, second servo motor fixed mounting is on the lateral wall that the roof corresponds the link, the carousel sets up on the inside wall that the roof corresponds the link, the output of second servo motor passes through the shaft coupling and is connected with the middle part of carousel, clamping component includes second cylinder, piston rod guide, connecting plate, fixing base, second servo motor, The device comprises a second movable plate, a third servo motor and a pneumatic claw, wherein the second cylinder is fixedly arranged on the side wall of the turntable far away from the top plate through a piston rod guide frame, the end part of a piston rod of the second cylinder is fixedly connected with a connecting plate, the fixing seat is arranged on the side wall of the connecting plate far away from the second cylinder, the second movable plate is movably arranged on the fixing seat through a second movable shaft, the third servo motor is fixedly arranged at the top of the fixing seat, the output end of the third servo motor is connected with the second movable shaft through a coupler, the pneumatic claw is arranged at one end of the second movable plate far away from the fixing seat, the 6-shaft robot is arranged on one side of a clamping component, a cutter is fastened on the arm end of the 6-shaft robot, at least two CDD cameras are arranged and used for carrying out image acquisition on a clamping and dividing station formed by the clamping component, and are electrically connected with a main control system through, the image processing module is used for processing images collected by the CDD camera and calibrating sizes and texture lines, picture information processed by the image processing module is conveyed to the main control system, the main control system makes corresponding texture mark segmentation instructions for the collected size information and the texture line information, then the main control system controls the 6-axis robot to drive the cutter to cut according to mark positions, and the mechanical arm, the first servo motor, the first air cylinder, the second servo motor, the second air cylinder, the third servo motor, the air claw and the 6-axis robot are respectively electrically connected with the main control system.
In a further embodiment, the mechanical arm is a 6-axis mechanical arm, and the 6-axis mechanical arm can grab objects at any position and any direction in the space, so that the meat of livestock and poultry at any direction in the space can be clamped conveniently.
In a further embodiment, the transverse frame is horizontally arranged on the connecting frame, and the transverse frame and the connecting frame are vertically arranged, so that the structure is more reasonable, the horizontal linear motion of the sliding seat can be realized, and the purpose of adjusting the transverse position of the clamping assembly is achieved.
In a further embodiment, the top and the bottom of the cross frame are both provided with slide rails, and the slide base is provided with slide bars matched with the slide rails, so that the horizontal linear motion of the slide base can be realized, and the motion of the slide base is more stable and reliable.
In a further embodiment, the claw part of the air claw is provided with a concave groove for clamping the livestock and poultry meat arm support, and the livestock and poultry meat arm support can be effectively clamped through the arrangement of the concave groove, so that the clamping is firmer.
In a further embodiment, the two axial transfer mechanisms and the clamping component driven by the corresponding axial transfer mechanism to transfer are synchronous driving mechanisms, so that transfer of the clamping component and synchronous clamping of the livestock and poultry meat can be realized.
in a further embodiment, the image processing module is composed of an image resolution, color difference adjustment module, an image binarization processing module, an image contour feature extraction module, an image size calibration module and an image texture line processing module, wherein the image resolution and color difference adjustment module is used for receiving image information acquired by the CDD camera and performing image resolution and color difference adjustment processing, the image binarization processing module is used for receiving the image after resolution and color difference adjustment processing, segmenting the livestock meat image from a background image by using a valve value method, extracting the image of the livestock meat, the image contour feature extraction module is used for receiving the image information of the livestock meat and performing image contour positioning and extraction processing on the image, the image size calibration module is used for performing image size calibration on the image after contour positioning and extraction processing by the image contour feature extraction module, the image texture line processing module is used for carrying out texture line processing on the image calibrated by the image size calibration module, the processed image information is transmitted to the main control system, and the image processing module is formed by the image resolution and color difference adjusting module, the image binarization processing module, the image contour feature extracting module, the image size calibration module and the image texture line processing module, so that meat of livestock and poultry can be segmented more efficiently, and the segmentation effect is better.
In a further embodiment, robot is cut apart to high-efficient accurate still including being used for pressing from both sides to press from both sides to cut apart the station and carry out the light filling illumination's light, the setting of light is convenient for the CDD camera to catch more clear image information, and the image processing module of being convenient for carries out corresponding processing.
(III) advantageous effects
Compared with the prior art, the invention provides the efficient and accurate livestock and poultry meat dividing robot which has the following beneficial effects:
1. This high-efficient accurate robot of cutting apart of poultry meat adopts the supplementary centre gripping of two robots to cut apart the structure, can realize fast that the axial moves the location drive that carries mechanism, clamping component and the cutter, and the executive power is high, effectively improves cutting efficiency.
2. This high-efficient accurate robot of cutting apart of beasts and birds meat passes through the setting that the axial moved the mechanism that carries, can realize clamping component's horizontal position adjustment and axial centre gripping position adjustment.
3. This robot is cut apart to high-efficient accurate of beasts and birds meat, through clamping components's setting, can stabilize the centre gripping to beasts and birds meat cantilever crane, be suitable for the meat centre gripping of not unidimensional size simultaneously, application scope is wide, and the practicality is strong.
4. This high-efficient accurate robot of cutting apart of beasts and birds meat sets up through the cooperation of CDD camera and image processing module, can carry out the image acquisition of beasts and birds meat automatically and handle and scaling size and texture lines to the image of gathering, replaces traditional manual sorting beasts and birds meat and cutting operation, realizes high-efficient accurate cutting.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the clamp assembly of the present invention;
FIG. 3 is a schematic diagram of the system of the present invention;
Fig. 4 is a schematic structural diagram of an image processing module according to the present invention.
In the figure: 1. a mechanical arm; 2. a connector; 3. a first movable plate; 4. a first servo motor; 5. a connecting frame; 6. an axial transfer mechanism; 601. a cross frame; 602. a first cylinder; 603. a slide base; 604. a fixed block; 605. a top plate; 606. a second servo motor; 607. a turntable; 7. a clamping assembly; 701. a second cylinder; 702. a piston rod guide; 703. a connecting plate; 704. a fixed seat; 705. a second movable plate; 706. a third servo motor; 707. a pneumatic claw; 8. a 6-axis robot; 9. a cutter; 10. a CDD camera; 11. an image processing module; 1101. an image resolution and color difference adjusting module; 1102. an image binarization processing module; 1103. an image contour feature extraction module; 1104. an image size calibration module; 1105. an image texture line processing module; 12. and (4) a master control system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
Referring to fig. 1-4, the present invention provides the following technical solutions: a robot for efficiently and accurately dividing meat of livestock and poultry comprises a mechanical arm 1, a connector 2, a first movable plate 3, a first servo motor 4, a connecting frame 5, an axial transfer mechanism 6, a clamping assembly 7, a 6-axis robot 8, a cutter 9, a CDD camera 10, an image processing module 11 and a main control system 12, wherein the connector 2 is connected to the end part of the mechanical arm 1, the first movable plate 3 is movably arranged on the connector 2 through a first movable shaft, the first servo motor 4 is fixedly arranged on the side wall of the connector 2, the output end of the first servo motor 4 is connected with the first movable shaft through a coupler, one end of the first movable plate 3, far away from the connector 2, is fixedly connected with the middle part of the side wall of the connecting frame 5, two axial transfer mechanisms 6 are arranged, and the two axial transfer mechanisms 6 are symmetrically arranged at the left and right centers of the two ends of the side walls of the, the axial transfer mechanism 6 comprises a cross frame 601, a first cylinder 602, a sliding seat 603, a fixed block 604, a top plate 605, a second servo motor 606 and a rotary table 607, the cross frame 601 is mounted on the side wall of the connecting frame 5 far away from the first movable plate 3, the first cylinder 602 is mounted on one side of the connecting frame 5 corresponding to the first movable plate 3, the end of a piston rod of the first cylinder 602 penetrates through the connecting frame 5 and extends into the cross frame 601, the sliding seat 603 is in sliding fit with the cross frame 601, the fixed block 604 is fixedly mounted on the side wall of the sliding seat 603, the fixed block 604 is fixedly connected with the end of the piston rod of the first cylinder 602, the top plate 605 is arranged at the top of the sliding seat 603, the second servo motor 606 is fixedly mounted on the outer side wall of the top plate 605 corresponding to the connecting frame 5, the rotary table 607 is arranged on the inner side wall of the top plate 605 corresponding to the connecting frame 5, the output end, A piston rod guide frame 702, a connecting plate 703, a fixed seat 704, a second movable plate 705, a third servo motor 706 and an air claw 707, wherein the second air cylinder 701 is fixedly arranged on the side wall of the rotating disc 607 far away from the top plate 605 through the piston rod guide frame 702, the piston rod end part of the second air cylinder 701 is fixedly connected with the connecting plate 703, the fixed seat 704 is arranged on the side wall of the connecting plate 703 far away from the second air cylinder 701, the second movable plate 705 is movably arranged on the fixed seat 704 through a second movable shaft, the third servo motor 706 is fixedly arranged on the top of the fixed seat 704, the output end of the third servo motor 706 is connected with the second movable shaft through a coupling, the air claw 707 is arranged at one end of the second movable plate 705 far away from the fixed seat 704, the 6-axis robot 8 is arranged at one side of the clamping assembly 7, the cutter 9 is fastened on the arm end of the 6-axis robot 8, at least two CDD cameras 10 are arranged, and, the CDD camera 10 is electrically connected with the main control system 12 through the image processing module 11, the image processing module 11 is used for processing images collected by the CDD camera 10 and calibrating sizes and texture lines, picture information processed by the image processing module 11 is transmitted to the main control system 12, the main control system 12 makes corresponding texture mark segmentation instructions for the collected size information and the texture line information, then the 6-axis robot 8 is controlled to drive the cutter 9 to cut according to mark positions, and the mechanical arm 1, the first servo motor 4, the first air cylinder 602, the second servo motor 606, the second air cylinder 701, the third servo motor 706, the air claw 707 and the 6-axis robot 8 are respectively and electrically connected with the main control system 12.
In this embodiment, in practical application, according to the meat needs of livestock and poultry of different types and sizes, the clamping mechanism can be added to the connecting frame 5 to assist in clamping, for example, the clamping mechanism is arranged below the clamping component 7 which is symmetrically arranged in the middle of the connecting frame 5 in a left-right manner, the clamping mechanism can be arranged to be inclined relative to the clamping and cutting station, the meat of livestock and poultry can be clamped, for the convenience of cutting and the improvement of meat yield, the size of the pneumatic claw 707 in the clamping component 7 and the clamping member of the added clamping mechanism is set to be appropriately small, and the clamping mechanism can adopt a two-finger or three-finger pneumatic claw in the prior art.
Specifically, the robot arm 1 is a 6-axis robot arm.
In the embodiment, the 6-axis mechanical arm can grab objects at any position and any direction in the space, so that the livestock and poultry meat in any direction in the space can be clamped conveniently.
specifically, the cross frame 601 is horizontally mounted on the connecting frame 5, and the cross frame 601 is vertically arranged with the connecting frame 5.
In this embodiment, the above structure design makes the structure more reasonable, can realize the horizontal direction linear motion of slide 603, reaches the purpose of adjusting clamping component 7 lateral position.
Specifically, the top and the bottom of the cross frame 601 are both provided with slide rails, and the slide carriage 603 is provided with slide bars adapted to the slide rails.
In this embodiment, the sliding rail is in sliding fit with the sliding bar, so that the sliding seat 603 can move linearly in the horizontal direction, and the sliding seat 603 can move more stably and reliably.
Specifically, the claw part of the pneumatic claw 707 is provided with a concave groove for clamping the arm support for livestock and poultry meat.
In the embodiment, the arrangement of the concave groove can effectively clamp the arm support for the meat of the livestock and poultry, so that the clamping is firmer.
Specifically, the two axial shifting mechanisms 6 and the clamping assemblies 7 driven by the corresponding axial shifting mechanisms 6 to shift are all synchronous driving mechanisms.
In this embodiment, the clamping unit 7 can be moved and the meat of the livestock and poultry can be synchronously gripped.
Specifically, the image processing module 11 is composed of an image resolution and color difference adjusting module 1101, an image binarization processing module 1102, an image contour feature extracting module 1103, an image size calibrating module 1104 and an image texture line processing module 1105, the image resolution and color difference adjusting module 1101 is used for receiving image information collected by the CDD camera 10 and performing image resolution and color difference adjusting processing, the image binarization processing module 1102 is used for receiving the image after resolution and color difference adjusting processing and adopting a valve value method to separate a livestock meat image from a background image and extract the image of the livestock meat, the image contour feature extracting module 1103 is used for receiving the image information of the livestock meat and performing image contour positioning and extraction processing on the image, the image size calibrating module 1104 is used for performing image size calibration on the image after contour positioning and extraction processing by the image contour feature extracting module 1103, the image texture line processing module 1105 is configured to perform texture line processing on the image calibrated by the image size calibration module 1104, and transmit the processed image information to the main control system 12.
In this embodiment, the above-mentioned structural design can cut apart the poultry meat more high-efficiently, and the segmentation effect is better.
Specifically, the high-efficient accurate robot of cutting apart still includes and is used for pressing from both sides the light that cuts apart the station and carry out the light filling illumination.
In this embodiment, the setting of light can carry out the light filling to separating the station, and the CDD camera 10 of being convenient for catches more clear image information, and the image processing module of being convenient for carries out corresponding processing.
The working principle and the using process of the invention are as follows: firstly, arranging a corresponding placing table according to the type of the livestock and poultry meat to be cut, adjusting the displacement parameter of the first air cylinder 602 for driving the sliding seat 603 to operate and the displacement parameter of the second air cylinder 701 for driving the air claw 707 through the main control system 12, positioning and placing the livestock and poultry meat at a specified position, driving the first movable plate 3 to rotate by a certain angle through the first servo motor 4 to achieve the purpose of adjusting the angle of the connecting frame 5, then controlling the mechanical arm 1 to drive the connecting frame 5 to the first preset area position through the main control system 12, controlling the first air cylinder 602 to drive the sliding seat 603 to operate to the specified position along the cross frame 601 through the main control system 12, driving the connecting plate 703 to linearly operate through the second air cylinder 701, enabling the air claw 707 to reach the clamping position of the livestock and drive the air claw 707 to clamp, driving the mechanical arm 1 to be lifted to the second preset area through the main control system 12 after clamping is completed, and adjusting the angle of the clamped livestock and poultry meat by driving a second servo motor 606 and a third servo motor 706, so that two CDD cameras 10 just correspond to the front and back image acquisition positions of the livestock and poultry meat, the image information of the livestock and poultry meat acquired by the CDD cameras 10 is transmitted to an image processing module 11, then image resolution and color difference adjustment processing are sequentially carried out by an image resolution and color difference adjustment module 1101, an image binarization processing module 1102 divides the livestock and poultry meat image from a background image by adopting a valve value method, the image of the livestock and poultry meat is extracted, the image information of the livestock and poultry meat is received by an image contour feature extraction module 1103 and is subjected to image contour positioning and extraction processing, the image subjected to contour positioning and extraction processing by the image contour feature extraction module 1103 is subjected to image size calibration by an image size calibration module 1104, and the image subjected to size calibration by the image size calibration module 1104 is subjected to texture line processing by an image texture line processing module 1105 And the processed image information is transmitted to a main control system 12, the main control system 12 makes a corresponding texture mark segmentation instruction according to the acquired size information and texture line information, and then the 6-axis robot 8 is controlled to drive a cutter 9 to cut according to the mark position.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a robot is cut apart to beasts and birds meat high efficiency accuracy which characterized in that: comprises a mechanical arm (1), a connector (2), a first movable plate (3), a first servo motor (4), a connecting frame (5), an axial transfer mechanism (6), a clamping component (7), a 6-axis robot (8), a cutter (9), a CDD camera (10), an image processing module (11) and a main control system (12), wherein the connector (2) is connected with the end part of the mechanical arm (1), the first movable plate (3) is movably arranged on the connector (2) through a first movable shaft, the first servo motor (4) is fixedly arranged on the side wall of the connector (2), the output end of the first servo motor (4) is connected with the first movable shaft through a coupler, one end of the first movable plate (3) far away from the connector (2) is fixedly connected with the middle part of the side wall of the connecting frame (5), and two axial transfer mechanisms (6) are arranged, the two axial transfer mechanisms (6) are arranged at two ends of the side wall of the connecting frame (5) far away from the first movable plate (3) in a left-right central symmetry manner, each axial transfer mechanism (6) comprises a transverse frame (601), a first air cylinder (602), a sliding seat (603), a fixed block (604), a top plate (605), a second servo motor (606) and a rotary table (607), the transverse frames (601) are arranged on the side wall of the connecting frame (5) far away from the first movable plate (3), the first air cylinder (602) is arranged on one side of the connecting frame (5) corresponding to the first movable plate (3), the end part of a piston rod of the first air cylinder (602) penetrates through the connecting frame (5) and extends into the transverse frames (601), the sliding seats (603) are in sliding fit with the transverse frames (601), the fixed block (604) is fixedly arranged on the side wall of the sliding seat (603), and the fixed block (604) is fixedly connected with the end part of the piston rod of, the top plate (605) is arranged at the top of the sliding seat (603), the second servo motor (606) is fixedly arranged on the outer side wall of the top plate (605) corresponding to the connecting frame (5), the rotating disc (607) is arranged on the inner side wall of the top plate (605) corresponding to the connecting frame (5), the output end of the second servo motor (606) is connected with the middle part of the rotating disc (607) through a coupler, the clamping assembly (7) comprises a second air cylinder (701), a piston rod guide frame (702), a connecting plate (703), a fixed seat (704), a second movable plate (705), a third servo motor (706) and an air claw (707), the second air cylinder (701) is fixedly arranged on the side wall of the rotating disc (607) far away from the top plate (605) through the piston rod guide frame (702), the end part of a piston rod of the second air cylinder (701) is fixedly connected with the connecting plate (703), the fixed seat (704) is arranged on the side wall of the connecting plate (703) far away from, the second movable plate (705) is movably mounted on the fixed seat (704) through a second movable shaft, the third servo motor (706) is fixedly mounted at the top of the fixed seat (704), the output end of the third servo motor (706) is connected with the second movable shaft through a coupler, the pneumatic claw (707) is mounted at one end, away from the fixed seat (704), of the second movable plate (705), the 6-shaft robot (8) is arranged at one side of the clamping component (7), the cutter (9) is fastened on the arm end of the 6-shaft robot (8), at least two CDD cameras (10) are arranged, the two CDD cameras (10) are used for carrying out image acquisition on a clamping and dividing station formed by the clamping component (7), the CDD camera (10) is electrically connected with the main control system (12) through an image processing module (11), the image processing module (11) is used for processing images acquired by the CDD camera (10) and marking size and texture lines, the picture information processed by the image processing module (11) is transmitted to the main control system (12), the main control system (12) makes corresponding texture mark segmentation instructions for the collected size information and texture line information, then the 6-axis robot (8) is controlled to drive the cutter (9) to cut according to the mark position, and the mechanical arm (1), the first servo motor (4), the first air cylinder (602), the second servo motor (606), the second air cylinder (701), the third servo motor (706), the air claw (707) and the 6-axis robot (8) are respectively electrically connected with the main control system (12).
2. The efficient and accurate meat dividing robot for livestock and poultry according to claim 1, characterized in that: the mechanical arm (1) is a 6-shaft mechanical arm.
3. The efficient and accurate meat dividing robot for livestock and poultry according to claim 1, characterized in that: the transverse frame (601) is horizontally arranged on the connecting frame (5), and the transverse frame (601) is perpendicular to the connecting frame (5).
4. The efficient and accurate meat dividing robot for livestock and poultry according to claim 1, characterized in that: the top and the bottom of crossbearer (601) all are equipped with the slide rail, be equipped with the draw runner with slide rail looks adaptation on slide (603).
5. The efficient and accurate meat dividing robot for livestock and poultry according to claim 1, characterized in that: the claw part of the pneumatic claw (707) is provided with a concave groove for clamping the arm support of livestock and poultry meat.
6. The efficient and accurate meat dividing robot for livestock and poultry according to claim 1, characterized in that: the two axial shifting mechanisms (6) and the clamping component (7) driven by the corresponding axial shifting mechanisms (6) to shift are synchronous driving mechanisms.
7. The efficient and accurate meat dividing robot for livestock and poultry according to claim 1, characterized in that: the image processing module (11) is composed of an image resolution and color difference adjusting module (1101), an image binarization processing module (1102), an image contour feature extracting module (1103), an image size calibrating module (1104) and an image texture line processing module (1105), wherein the image resolution and color difference adjusting module (1101) is used for receiving image information collected by the CDD camera (10) and performing image resolution and color difference adjusting processing, the image binarization processing module (1102) is used for receiving an image subjected to resolution and color difference adjusting processing, dividing a livestock meat image from a background image by adopting a valve value method, and extracting an image of livestock meat, the image contour feature extracting module (1103) is used for receiving image information of the livestock meat and performing image contour positioning and extraction processing on the image, and the image size calibrating module (1104) is used for positioning and extracting the contour of the livestock meat by the image contour feature extracting module (1103) and performing contour extraction processing on the image, and the image size calibration is carried out on the image, the image texture line processing module (1105) is used for carrying out texture line processing on the image after the size calibration of the image size calibration module (1104), and the processed image information is transmitted to the main control system (12).
8. The efficient and accurate meat dividing robot for livestock and poultry according to claim 1, characterized in that: the high-efficient accurate robot of cutting apart still includes the light that is used for pressing from both sides tight station of cutting apart and carries out the light filling illumination.
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| CN201910807509.XA CN110539312A (en) | 2019-08-29 | 2019-08-29 | Efficient and accurate livestock and poultry meat dividing robot |
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| CN201910807509.XA CN110539312A (en) | 2019-08-29 | 2019-08-29 | Efficient and accurate livestock and poultry meat dividing robot |
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| CN111189987A (en) * | 2020-02-11 | 2020-05-22 | 山东省产品质量检验研究院 | Edible beef meat quality detection device |
| CN111685157A (en) * | 2020-07-21 | 2020-09-22 | 武汉轻工大学 | Automatic chamber system of drawing of poultry robot |
| CN111838272A (en) * | 2020-07-21 | 2020-10-30 | 福州聚英智能科技有限公司 | Automatic bone sawing machine for self-positioning of meat blocks |
| CN112106813A (en) * | 2020-09-27 | 2020-12-22 | 张玉玲 | Meat product cleaning and processing equipment |
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| CN112106813A (en) * | 2020-09-27 | 2020-12-22 | 张玉玲 | Meat product cleaning and processing equipment |
| CN115226749A (en) * | 2022-08-10 | 2022-10-25 | 山东大学 | Automatic rib film removing machine, system and method |
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