CN114600935A - Online pig carcass cutting system - Google Patents
Online pig carcass cutting system Download PDFInfo
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- CN114600935A CN114600935A CN202210362459.0A CN202210362459A CN114600935A CN 114600935 A CN114600935 A CN 114600935A CN 202210362459 A CN202210362459 A CN 202210362459A CN 114600935 A CN114600935 A CN 114600935A
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- 230000000087 stabilizing effect Effects 0.000 claims abstract description 71
- 239000000725 suspension Substances 0.000 claims abstract description 65
- 230000007246 mechanism Effects 0.000 claims description 43
- 230000011218 segmentation Effects 0.000 claims description 31
- 238000000034 method Methods 0.000 claims description 23
- 230000008569 process Effects 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000003044 adaptive effect Effects 0.000 claims description 6
- 230000001960 triggered effect Effects 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000010801 machine learning Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000003019 stabilising effect Effects 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- 238000003325 tomography Methods 0.000 description 2
- 241000282887 Suidae Species 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000080 chela (arthropods) Anatomy 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 210000003734 kidney Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 235000020995 raw meat Nutrition 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000003307 slaughter Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22B—SLAUGHTERING
- A22B5/00—Accessories for use during or after slaughtering
- A22B5/0017—Apparatus for cutting, dividing or deboning carcasses
- A22B5/0029—Cutting through or detaching portions of a carcass
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22B—SLAUGHTERING
- A22B7/00—Slaughterhouse arrangements
- A22B7/001—Conveying arrangements
- A22B7/002—Devices for hanging animal carcasses while being conveyed or stored, e.g. gambrels, hooks
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22B—SLAUGHTERING
- A22B7/00—Slaughterhouse arrangements
- A22B7/001—Conveying arrangements
- A22B7/003—Positioning, orienting or supporting carcasses as they are being conveyed
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Abstract
The invention discloses an online pig carcass cutting system which comprises a cutting step and a cutting device, wherein the cutting device comprises a hanging conveying line, and a pig carcass hook assembly moves by means of the hanging conveying line; the pig carcass is hung on the pig carcass hook component; the image acquisition device is used for acquiring images of the pig carcass when the pig carcass hook assembly moves intermittently or continuously; the first suspension dragging device, the second suspension dragging device, the first stabilizing device and the second stabilizing device are matched with the first cutting device and the second cutting device to cut and separate the first cutting position and the second cutting position of the pig carcass; the positioning device is positioned at the driving end of the suspension conveying line; after the pig carcass hook assembly moves out of the driving end of the suspension conveying line, the positioning device positions the pig carcass hook assembly, the position positioned by the positioning device serves as a starting point of the first suspension dragging device, and the pig carcass hook assembly is dragged to move to the position of the second suspension dragging device.
Description
Technical Field
The invention belongs to the technical field of raw meat processing equipment, and particularly relates to an online pig carcass cutting system.
Background
The pig carcass refers to a carcass obtained after pig slaughtering and with head removal, lower limb segment (wrist joint, flying joint), internal organs (keeping leaf fat and kidney) and dehairing, and the cutting device is used for cutting one pig carcass according to different positions, so that a complete pig carcass is cut into several segments or sheets, and the customization requirements of clients are met.
The pig carcass splitting device in the market is usually manual or semi-automatic, the required splitting position needs to be judged manually through eyes, then the splitting cutter is controlled to split the corresponding position, and the splitting efficiency is low; different live pigs are different in body types, so that the position of a cutting tool needs to be adjusted every time for manual segmentation of the assembly line, and the labor intensity of workers is high.
Disclosure of Invention
The present invention aims to provide an online pig carcass segmentation system, which solves the technical problems in the background art.
In order to solve the technical problems, the invention aims to realize that:
an on-line pig carcass cutting system is provided,
the utility model provides a pig carcass is cut apart system on line which characterized in that:
the method comprises the following segmentation steps:
s1: the hanging conveyor line moves the image acquisition device in an intermittent motion mode by the pig carcass hook assembly hung with the pig carcass to acquire images or image information of the pig carcass;
s2: the industrial personal computer analyzes and processes the image or image information acquired by the image acquisition device to obtain information of a first segmentation position and a second segmentation position;
s3: the pig carcass hook assembly of the pig carcass is driven by the hanging conveying line to move to the tail end of the hanging conveying line, the positioning device is triggered, and the positioning device positions the pig carcass hook assembly;
s4: the first hanging and dragging device grabs the pig carcass hook assembly, and the first stabilizing device clamps one end of the pig carcass far away from the first hanging and dragging device; the method comprises the steps that a first stabilizing device and a second stabilizing device adjust the clamping height of the first stabilizing device and the second stabilizing device according to the first dividing position and the second dividing position information acquired in the step S2; a step in which the first dividing means and the second dividing means adjust the cutting positions thereof based on the first dividing position and the second dividing position information acquired in step S2;
s5: the first suspension dragging device and the first stabilizing device synchronously drive the pig carcass hook assembly to move towards the second suspension dragging device, and in the moving process, the pig carcass is divided by the first dividing device along the first dividing position of the pig carcass; the cutting position is higher than the clamping position of the first stabilizing device, the first stabilizing device is released after the cutting is finished, and the cut part is separated from the first stabilizing device;
s6: the first hanging and dragging device releases the pig carcass hook assembly when moving to the tail end of the first hanging and dragging device;
s7: the second suspension dragging device and the second stabilizing device move to the position where the pig carcass hook assembly is released, the second suspension dragging device clamps the pig carcass hook assembly, and the second stabilizing device clamps one end, far away from the pig carcass hook assembly, of the pig carcass;
s8: the second suspension dragging device and the second stabilizing device synchronously drive the pig carcass hook assembly to move towards the rear end, and in the moving process, the pig carcass is divided by the second dividing device along the second dividing position; the cutting position is higher than the clamping position of the second stabilizing device, the second stabilizing device is released after the cutting is finished, and the cut part is separated from the second stabilizing device;
s9: and (4) completing the cutting, and moving the pig carcass hook assembly to the next process along the suspension conveying line.
On the basis of the above scheme and as a preferable scheme of the scheme: also comprises
The pig carcass hook assembly intermittently or continuously moves by means of the hanging conveying line; the pig carcass is hung on the pig carcass hook component;
the image acquisition device is used for acquiring images of the pig carcass when the pig carcass hook assembly intermittently or continuously moves; analyzing and processing the acquired image to determine a first segmentation position and a second segmentation position;
the first suspension dragging device is positioned at the driving end of the suspension conveying line and drives the pig carcass hook assembly to continuously move towards the rear end;
the second suspension dragging device is positioned at the rear end of the first suspension dragging device and takes over the first suspension dragging device to drive the pig carcass hook assembly to continuously move towards the rear end;
the first stabilizing device is positioned below the suspension conveying line; the first stabilizing device can fix one end of the pig carcass far away from the pig carcass hook assembly and synchronously and horizontally move with the first suspension dragging device;
the second stabilizing device is positioned below the suspended conveying line and at the rear end of the first stabilizing device; the first stabilizing device can fix one end of the pig carcass far away from the pig carcass hook assembly and synchronously and horizontally move with the second suspension dragging device;
the first cutting device can perform adaptive height adjustment according to the determined first cutting position, and cuts and separates the first cutting position of the pig carcass in the process that the first hanging and dragging device and the first stabilizing device drag the pig carcass hook assembly to move towards the rear end;
the second cutting device can perform adaptive height adjustment according to the determined second cutting position, and cuts and separates the second cutting position of the pig carcass in the process that the second hanging and dragging device and the second stabilizing device drag the pig carcass hook assembly to move towards the rear end;
the positioning device is positioned at the driving end of the suspension conveying line; after the pig carcass hook assembly moves out of the driving end of the suspension conveying line, the positioning device positions the pig carcass hook assembly, and the first suspension dragging device drags the pig carcass hook assembly to move to the position of the second suspension dragging device by taking the position positioned by the positioning device as a starting point.
On the basis of the above scheme and as a preferable scheme of the scheme: the suspension conveying line comprises at least one continuous pipe rail, the pipe rail extends towards the rear end, and the rear end of the pipe rail is provided with a set inclination; the pig carcass hook assembly is arranged on the pipe rail in a sliding mode.
On the basis of the above scheme and as a preferable scheme of the scheme: the suspension conveying line comprises an intermittent driving device which drives the pig carcass hook assembly to intermittently move, and the image acquisition device acquires images of the pig carcass suspended on the pig carcass hook assembly during the intermittent period.
On the basis of the above scheme and as a preferable scheme of the scheme: the intermittent driving device comprises an air cylinder, a dragging plate and a push finger, wherein the output end of the air cylinder is fixedly connected with a connecting piece, the connecting piece is fixedly arranged on the dragging plate, and the dragging plate is driven by the air cylinder to reciprocate; the push fingers are uniformly distributed along the extension direction of the carriage, one end of each push finger is hinged to the carriage, a limiting part is arranged at the hinged end of each push finger and the carriage, and the limiting parts enable the push fingers to rotate within a set range anticlockwise around hinged shafts of the push fingers.
On the basis of the above scheme and as a preferable scheme of the scheme: the clamping height of the first stabilizing device is lower than the clamping height of the second stabilizing device.
On the basis of the above scheme and as a preferable scheme of the scheme: the positioning device comprises a positioning cylinder, a sensor assembly and positioning pliers, the positioning pliers are fixedly arranged on a piston rod of the positioning cylinder, and the sensor assembly can be triggered by the pig carcass hook assembly, so that the positioning cylinder drives the positioning pliers to position the pig carcass hook assembly.
On the basis of the above scheme and as a preferable scheme of the scheme: the positioning clamp is provided with a jaw with a V-shaped opening, and after positioning, the connecting plate is received in the jaw; the sensor assembly comprises a trigger rod, a lever, a trigger block, a sensor and a lever shaft, the trigger rod and the pipe rail are arranged in parallel, two ends of the trigger rod are bent in a direction away from the pipe rail, the trigger rod is fixedly arranged at one end of the lever, the lever rotates around the lever shaft, and one end, far away from the trigger rod, of the lever is fixedly arranged on the trigger block; the pig carcass hook assembly slides along the pipe rail, the connecting plate pushes the trigger rod to move in the direction away from the pipe rail, and the trigger block is driven by the lever to trigger the sensor.
On the basis of the above scheme and as a preferable scheme of the scheme: first suspension drive arrangement includes first clamping jaw and first reciprocal drive mechanism, first clamping jaw set firmly in reciprocal actuating mechanism's of straight line output, first clamping jaw centre gripping behind the pig carcass couple subassembly, with the help of first reciprocal drive mechanism drives the pig carcass couple subassembly to the second suspension drive arrangement removes.
On the basis of the above scheme and as a preferable scheme of the scheme: the first cutting device comprises a first cutting tool, a first cutting motor and a first cutting height adjusting assembly, the first cutting tool is fixedly arranged at the power output end of the first cutting motor, and the first cutting motor is fixedly arranged at the adjusting end of the first cutting height adjusting assembly; the cutting surface of the first cutting tool is parallel to the horizontal plane, and the horizontal height of the first cutting tool is driven by the first cutting height adjusting assembly, so that the first cutting position is determined.
On the basis of the above scheme and as a preferable scheme of the scheme: the first stabilizing device comprises a first clamping mechanism, a first clamping vertical adjusting mechanism and a first clamping horizontal moving mechanism, the first clamping horizontal moving mechanism is fixedly arranged at the output end of the first clamping vertical adjusting mechanism, and the first clamping mechanism is fixedly arranged at the output end of the first clamping horizontal moving mechanism; the first clamping vertical adjusting mechanism adjusts the vertical position of the first clamping mechanism according to a first dividing position, and the first clamping horizontal movement mechanism drives the first clamping mechanism and the first suspension dragging device to move synchronously.
Compared with the prior art, the invention has the outstanding and beneficial technical effects that: realize the assembly line transportation to the pig carcass through hanging the transfer chain, carry out the initial position location through positioner, combine first segmenting device, first linkage drive device and first stabilising arrangement cut apart the first segmentation position of pig carcass, hang linkage drive device by the second again after cutting apart and continue to remove along the pipe rail, cut apart the second segmentation position of pig carcass with the help of second stabilising arrangement and second segmenting device, replace the artifical drawback of cutting apart the existence of pig carcass of tradition completely from this, it is more efficient to cut apart, use manpower sparingly.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a suspended conveyor line;
FIG. 3 is a schematic structural diagram of a first dividing device and a second dividing device;
FIG. 4 is a left side view of the overall construction of the present invention;
FIG. 5 is a structural plan view of the first and second cutting devices;
FIG. 6 is a perspective view of the positioning device;
fig. 7 is a schematic view of the positioning device.
Detailed Description
In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments obtained by a person skilled in the art without making any inventive step, based on the given embodiments, fall within the scope of protection of the present application.
In the description of the present application, it is to be understood that the terms "upper", "lower", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
In the description of the present application, the terms "first", "second", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated.
An on-line pig carcass cutting system comprises
The pig carcass hook assembly 9 intermittently or continuously moves by means of the hanging conveying line 1; the pig carcass is hung on the pig carcass hook component 9. Specifically, the suspension conveyor line 1 comprises an intermittent driving device which drives the pig carcass hook assembly 9 to intermittently move, the intermittent driving device comprises an air cylinder 11, a carriage 13 and a push finger 132, the output end of the air cylinder 11 is fixedly connected to a connecting piece 12, the connecting piece 12 is fixedly arranged on the carriage 13, and the carriage 13 is driven by the air cylinder 11 to reciprocate; the push fingers 132 are uniformly distributed along the extension direction of the carriage 13, one end of each push finger 132 is hinged on the carriage 13, a limiting part 131 is arranged at the hinged end of each push finger 132 and the carriage 13, the limiting part 131 enables the push finger 132 to rotate only within a set range of anticlockwise rotation around a hinged shaft, in combination with the drawing 2, when the carriage 13 is driven by the cylinder 11 to move leftwards, the left side faces the direction of the drawing, the left side is left, and the right side is right, due to the action of the limiting part 131, after the push finger 132 is contacted with the pig carcass hook assembly 9, the push finger 132 can rotate anticlockwise, so that the push finger 132 slides over the pig carcass hook assembly 9, when the carriage 13 is driven by the cylinder 11 to move rightwards, the push finger 132 can not rotate clockwise, so as to push the pig carcass hook assembly 9 to move rightwards for a certain distance, namely the distance along the suspension conveying line 1, then the carriage 13 is continuously driven to move leftwards, thereby circulating, and the pig carcass hook assembly 9 intermittently moves, the time required by the cylinder to move to the maximum stroke left is the pause time; the position-limiting portion 131 may preferably be a ratchet wheel, thereby realizing unidirectional movement. The suspension conveying line 1 comprises at least one continuous pipe rail 14, the pipe rail 14 extends towards the rear end, and the pig carcass hook assembly 9 is arranged on the pipe rail 14 in a sliding mode. Further, the preferred pig carcass hook assembly in this embodiment includes couple 91, connecting plate 92 and gyro wheel 93, and couple 91 is connected on connecting plate 92, and gyro wheel 93 activity sets up in connecting plate 92, and gyro wheel 93 and the first half circumference contact of pipe rail 14, and the preferred pipe rail 14 cross-section is circular.
The image acquisition device 2 is used for acquiring images of the pig carcass when the pig carcass hook assembly 9 intermittently or continuously moves; analyzing and processing the acquired image to determine a first segmentation position and a second segmentation position; specifically, the image capturing device 2 of the present embodiment preferably captures images of the pig carcass suspended from the pig carcass hooking assembly 9 during the intermittent period of the intermittent driving device. The preferred image acquisition device 2 of this embodiment includes camera unit and light source, carries out image acquisition to the pig carcass through camera unit, and the light source supplements the light, improves image quality, still includes the industrial computer in this application of course, and the image of gathering borrows by the industrial computer to its analysis processes to first segmentation position and second segmentation position are extracted according to predetermined parameter, thereby output the first segmentation position parameter and the second segmentation position parameter of response. The image acquisition device 2 can also preferably acquire corresponding image or image information in a CT scanning or tomography scanning mode, and then the corresponding image or image information is analyzed and processed by an industrial personal computer, so that a first segmentation position parameter and a second segmentation position parameter are acquired; it should be noted that, the specific image acquisition and analysis processing method and the designed software code are the prior art, and refer to the live pig carcass segmentation method based on machine learning with application number CN202110994442.2, after obtaining the relevant data of bone, muscle and fat by scanning the live pig carcass by using the tomography technology, the segmentation path is designed manually, and after machine learning is performed by using the neural network algorithm, the model capable of automatically generating the mechanical arm segmentation path according to the characteristic parameters of bone, muscle and fat is obtained; utilizing the trained model to a live pig carcass segmentation process, generating a mechanical arm segmentation path according to different live pig carcass parameters, and enabling the mechanical arm to segment the live pig carcass, so that automation of live pig carcass segmentation is realized, segmentation efficiency is improved, segmentation cost is reduced, and further description is omitted; in addition, in the present embodiment, only the first division position and the second division position are illustrated, and a plurality of division positions may be added as necessary.
The first hanging and dragging device 7 is positioned at the driving end of the hanging and conveying line 1 and drives the pig carcass hook assembly 9 to continuously move towards the rear end; in this embodiment, it is preferable that the first suspension/dragging device 7 includes a first clamping jaw 71 and a first reciprocating dragging mechanism, the first clamping jaw 71 is fixedly disposed at an output end of the linear reciprocating driving mechanism, and after the first clamping jaw 71 clamps the pig carcass hook assembly 9, the first reciprocating dragging mechanism drives the pig carcass hook assembly 9 to move towards the second suspension/dragging device 8. In this embodiment, it is preferable that the first reciprocating dragging mechanism includes a first servo motor 72, a first synchronous belt system 73 and a first supporting plate 74, the first clamping jaw 71 is fixed on the first supporting plate 74, the first supporting plate 74 is fixed on the synchronous belt of the first synchronous belt system 73, the first servo driving motor 72 provides power for the first synchronous belt system 73, and the first servo motor 72 drives the first synchronous belt system 73 to move, so that the first supporting plate 74 can be driven to drive the first clamping jaw 71 to move a set distance along a set direction at a set speed.
The positioning device 10 is positioned at the driving end of the suspension conveying line 1; after the pig carcass hook assembly 9 moves out of the driving end of the suspension conveying line 1, the positioning device 10 positions the pig carcass hook assembly 9, and the position of the first suspension dragging device 7 positioned by the positioning device 10 is used as a starting point to drag the pig carcass hook assembly 9 to move to the position of the second suspension dragging device 8. The positioning device 10 comprises a positioning cylinder 101, a sensor assembly and positioning pliers 102, the positioning pliers 102 are fixedly arranged on a piston rod of the positioning cylinder 101, and the sensor assembly can be triggered by the pig carcass hook assembly 9, so that the positioning cylinder 101 drives the positioning pliers 102 to position the pig carcass hook assembly 9. The positioning clamp 102 has a jaw with a V-shaped opening, and when positioned, the connecting plate 92 is received in the jaw; the sensor assembly comprises a trigger rod 103, a lever 105, a trigger block 106, a sensor 107 and a lever shaft 108, wherein the trigger rod 103 is arranged in parallel with the pipe rail 14, two ends of the trigger rod 103 are bent in a direction away from the pipe rail 14, the trigger rod 103 is fixedly arranged at one end of the lever 105, the lever 105 rotates around the lever shaft 108, and one end, away from the trigger rod 103, is fixedly arranged at the trigger block 106; pig carcass couple subassembly 9 slides the in-process along pipe rail 14, connecting plate 92 promotes trigger bar 13 and removes to keeping away from pipe rail 14 place direction, drive trigger block 106 via lever 15 and trigger sensor 107, after sensor 107 triggers, location cylinder 101 drives location pincers 102 antedisplacement card main junction board 92, the realization is fixed pig carcass couple subassembly 9 location, first clamping jaw 71 is with couple 91 centre gripping afterwards, alright drag pig carcass couple subassembly 9 when first reciprocal drive mechanism motion from this and remove along the pipe rail.
The second hanging and dragging device 8 is positioned at the rear end of the first hanging and dragging device 7 and takes over the first hanging and dragging device 7 to drive the pig carcass hook assembly 9 to continuously move towards the rear end; in this embodiment, the second suspension actuator 8 has the same operation principle and structure as the first suspension actuator 7, and is not described herein again.
The first stabilizing device 5 is positioned below the suspension conveying line 1; the first stabilizing device 5 can fix one end of the pig carcass far away from the pig carcass hook assembly 9 and synchronously and horizontally move with the first suspension dragging device 7; specifically, in this embodiment, the first stabilizing device 5 includes a first clamping mechanism 52, a first clamping vertical adjusting mechanism 55, and a first clamping horizontal moving mechanism 54, the first clamping horizontal moving mechanism 54 is fixedly disposed at the output end of the first clamping vertical adjusting mechanism 55, and the first clamping mechanism 52 is fixedly disposed at the output end of the first clamping horizontal moving mechanism 54; the first clamping vertical adjusting mechanism 55 adjusts the vertical position of the first clamping mechanism 52 according to the first division position, and the first clamping horizontal moving mechanism 54 drives the first clamping mechanism 52 to move synchronously with the first suspension dragging device 7. Preferably, the device further comprises a first stabilizing frame 51, the first clamping mechanism 52 is symmetrically and fixedly arranged on the first stabilizing frame 51, and the first stabilizing frame 51 is fixedly arranged on the first clamping horizontal movement mechanism 54. The first clamping mechanism 52 comprises a first clamping cylinder 521 and a first profile clamp 522, and the first profile clamp 522 of the first clamping mechanism 52 which is arranged oppositely moves in opposite directions under the driving of the first clamping cylinder 521 to clamp the pig carcass. The device further comprises first stabilizing frame buffer cylinders 56 which are symmetrically arranged, wherein one end of each first stabilizing frame buffer cylinder 56 is fixedly arranged on the first stabilizing frame 51, and the other end of each first stabilizing frame buffer cylinder 56 is fixedly arranged on the machine frame. Specifically, the industrial personal computer controls the first clamping vertical adjusting mechanism 55 to drive the first clamping horizontal movement mechanism 54 and the first clamping mechanism 52 to move to corresponding heights according to the acquired first splitting position parameter, when the first clamping jaw 71 clamps the hook 91 or after a set time is delayed, the first clamping mechanism 52 clamps one end of the pig carcass principle hook 91, and the first clamping horizontal movement mechanism 54 moves to the second suspension dragging device 8 synchronously with the first suspension dragging device 7.
The second stabilizing device 6 is positioned below the suspension conveying line 1 and at the rear end of the first stabilizing device 5; the first stabilizing device 5 can fix one end of the pig carcass far away from the pig carcass hook assembly 9 and synchronously horizontally move with the second suspension dragging device 8; in the present embodiment, the working principle and structure of the second stabilizer 6 are the same as those of the first stabilizer 5, and are not described herein again. When the first suspension dragging device 7 and the first stabilizing device 5 move to the extreme positions, the first suspension dragging device 7 and the first stabilizing device 5 release the hook 91 and return to the position of the positioning device 10; the second suspension dragging device 8 and the second stabilizing device 6 move to the position of the pig carcass, clamp the pig carcass and drive the pig carcass to move backwards.
The first cutting device 3 can perform adaptive height adjustment according to the determined first cutting position, and cuts and separates the first cutting position of the pig carcass in the process that the first hanging and dragging device 7 and the first stabilizing device 5 drag the pig carcass hook assembly 9 to move towards the rear end; in this embodiment, the first cutting device 3 includes a first cutting tool 31, a first cutting motor 32 and a first cutting height adjusting assembly 33, the first cutting tool 31 is fixed at a power output end of the first cutting motor 32, the first cutting motor 32 is fixed at an adjusting end of the first cutting height adjusting assembly 33, when the first suspension dragging device 7 and the first stabilizing device 5 drive the pig carcass to move, the first cutting tool 31 rotates at a high speed, so that the first cutting position of the pig carcass can be cut, because the first stabilizing frame 51 is a hollow frame, the cut part falls under the action of self-weight after the first clamping mechanism 52 is released, and a conveying belt can be arranged below the first stabilizing frame to convey the cut part to a designated position; the cutting surface of the first cutting tool 31 is parallel to the horizontal plane, and the first cutting position is determined by the horizontal height of the first cutting tool 31 driven by the first cutting height adjusting assembly 33. The first division height adjusting assembly 33 includes a servo motor and a ball screw nut pair, so that its height is controlled by a signal of an industrial personal computer.
The second cutting device 4 can perform adaptive height adjustment according to the determined second cutting position, and cuts and separates the second cutting position of the pig carcass in the process that the second suspension dragging device 8 and the second stabilizing device 6 drag the pig carcass hook assembly 9 to move towards the rear end; in the present embodiment, the specific structure and operation principle of the second dividing device 4 are the same as those of the first dividing device 3, and are not described again here.
By the aforesaid can know, hang the pig carcass that hangs on the pig carcass hanging assembly 9 on the transfer chain 1 and acquire its image or image information according to image acquisition device 2, then the industrial computer carries out the regulation of adaptability to above-mentioned device to the realization carries out automatic cutting to the required position of pig carcass, has overcome the segmentation problem of pig carcass among the prior art.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (10)
1. The utility model provides a pig carcass is cut apart system on line which characterized in that:
the method comprises the following segmentation steps:
s1: the hanging conveyor line (1) moves a pig carcass hook assembly (9) hung with a pig carcass to the image acquisition device (2) in an intermittent motion mode, and acquires images or image information of the pig carcass;
s2: the industrial personal computer analyzes and processes the image or image information acquired by the image acquisition device (2) to obtain information of a first segmentation position and a second segmentation position;
s3: the pig carcass hook assembly (9) of the pig carcass is driven by the hanging conveyor line (1) to move to the tail end of the hanging conveyor line (1), the positioning device (10) is triggered, and the pig carcass hook assembly (9) is positioned by the positioning device (10);
s4: the first hanging and dragging device (7) grabs the pig carcass hook assembly (9), and the first stabilizing device (5) clamps one end of the pig carcass far away from the first hanging and dragging device (7); the method comprises the steps that a first stabilizing device (5) and a second stabilizing device (6) adjust the clamping height of the first stabilizing device according to the first dividing position and the second dividing position information acquired in the step S2; a step in which the first dividing means (3) and the second dividing means (4) adjust the cutting positions thereof in accordance with the first dividing position and the second dividing position information acquired in step S2;
s5: the first suspension dragging device (7) and the first stabilizing device (5) synchronously drive the pig carcass hook assembly (9) to move towards the second suspension dragging device (8), and in the moving process, the pig carcass is divided by the first dividing device (3) along the first dividing position; the cutting position is higher than the clamping position of the first stabilizing device (5), the first stabilizing device (5) is released after the cutting is finished, and the cut part is separated from the first stabilizing device (5);
s6: when the first hanging and dragging device (7) moves to the tail end of the first hanging and dragging device, the pig carcass hook assembly (9) is released;
s7: the second suspension dragging device (8) and the second stabilizing device (6) move to the position where the pig carcass hook assembly (9) is released, the second suspension dragging device (8) clamps the pig carcass hook assembly (9), and the second stabilizing device (6) clamps one end of the pig carcass, which is far away from the pig carcass hook assembly (9);
s8: the second suspension dragging device (8) and the second stabilizing device (6) synchronously drive the pig carcass hook assembly (9) to move towards the rear end, and in the moving process, the pig carcass is divided by the second dividing device (4) along the second dividing position; the cutting position is higher than the clamping position of the second stabilizing device (6), the second stabilizing device (6) is released after the cutting is finished, and the cut part is separated from the second stabilizing device (6);
s9: and (4) after the cutting is finished, the pig carcass hook assembly (9) moves to the next process along the hanging conveying line (1).
2. The pig carcass online cutting system of claim 1, wherein: the pig carcass hook assembly (9) intermittently or continuously moves by means of the hanging conveying line (1); the pig carcass is hung on the pig carcass hook component (9);
the image acquisition device (2) is used for acquiring images of the pig carcass when the pig carcass hook assembly (9) moves intermittently or continuously; analyzing and processing the acquired image to determine a first segmentation position and a second segmentation position;
the first hanging and dragging device (7) is positioned at the driving end of the hanging and conveying line (1) and drives the pig carcass hook assembly (9) to continuously move towards the rear end;
the second hanging and dragging device (8) is positioned at the rear end of the first hanging and dragging device (7) and takes over the first hanging and dragging device (7) to drive the pig carcass hook assembly (9) to continuously move towards the rear end;
a first stabilizing device (5) located below the suspended conveyor line (1); the first stabilizing device (5) can fix one end of the pig carcass, which is far away from the pig carcass hook assembly (9), and the pig carcass and the first hanging and dragging device (7) synchronously move horizontally;
the second stabilizing device (6) is positioned below the suspension conveying line (1) and at the rear end of the first stabilizing device (5); the first stabilizing device (5) can fix one end of the pig carcass far away from the pig carcass hook assembly (9) and synchronously and horizontally move with the second suspension dragging device (8);
the first cutting device (3) can perform adaptive height adjustment according to the determined first cutting position, and cuts and separates the first cutting position of the pig carcass in the process that the first hanging and dragging device (7) and the first stabilizing device (5) drag the pig carcass hook assembly (9) to move towards the rear end;
the second cutting device (4) can perform adaptive height adjustment according to the determined second cutting position, and cuts and separates the second cutting position of the pig carcass in the process that the second suspension dragging device (8) and the second stabilizing device (6) drag the pig carcass hook assembly (9) to move towards the rear end;
the positioning device (10) is positioned at the driving end of the suspension conveying line (1); pig carcass couple subassembly (9) shift out hang behind the drive end of transfer chain (1), positioner (10) will pig carcass couple subassembly (9) location, first hang drive arrangement (7) by the position that positioner (10) were fixed a position is the starting point, drags pig carcass couple subassembly (9) to second hangs drive arrangement (8) position removal.
3. The on-line pig carcass splitting system of claim 2, wherein: the suspension conveying line (1) comprises at least one continuous pipe rail (14), and the pipe rail (14) extends towards the rear end; the pig carcass hook assembly (9) is arranged on the pipe rail (14) in a sliding mode.
4. The on-line pig carcass splitting system as set forth in claim 2, wherein: the suspension conveying line (1) comprises an intermittent driving device which drives the pig carcass hook assembly (9) to intermittently move, and the image acquisition device (2) acquires images of the pig carcass suspended on the pig carcass hook assembly (9) during the intermittent period.
5. The pig carcass online cutting system of claim 4, wherein: the intermittent driving device comprises an air cylinder (11), a dragging plate (13) and a pushing finger (132), wherein the output end of the air cylinder (11) is fixedly connected to a connecting piece (12), the connecting piece (12) is fixedly arranged on the dragging plate (13), and the dragging plate (13) is driven by the air cylinder (11) to reciprocate; the push fingers (132) are uniformly distributed along the extension direction of the carriage (13), one end of each push finger (132) is hinged to the carriage (13), a limiting part (131) is arranged at the hinged end of each push finger (132) and the carriage (13), and the limiting parts (131) enable the push fingers (132) to rotate only within a set range anticlockwise around hinged shafts of the push fingers (132).
6. The on-line pig carcass splitting system of claim 2, wherein: the clamping height of the first stabilizing device (5) is lower than the clamping height of the second stabilizing device (6).
7. The on-line pig carcass splitting system of claim 2, wherein: the positioning device (10) comprises a positioning cylinder (101), a sensor assembly and positioning pliers (102), the positioning pliers (102) are fixedly arranged on a piston rod of the positioning cylinder (101), and the sensor assembly can be triggered by the pig carcass hook assembly (9), so that the positioning cylinder (101) drives the positioning pliers (102) to position the pig carcass hook assembly (9).
8. The pig carcass online cutting system of claim 7, wherein: the positioning clamp (102) is provided with a jaw with a V-shaped opening, and after positioning, the connecting plate (92) is received in the jaw; the sensor assembly comprises a trigger rod (104), a lever (105), a trigger block (106), a sensor (107) and a lever shaft (108), the trigger rod (104) and the pipe rail (14) are arranged in parallel, two ends of the trigger rod (104) are bent in a direction away from the pipe rail (14), the trigger rod (104) is fixedly arranged at one end of the lever (105), the lever (105) rotates around the lever shaft (108), and one end away from the trigger rod (104) is fixedly arranged at the trigger block (106); in the sliding process of the pig carcass hook assembly (9) along the pipe rail (14), the connecting plate (92) pushes the trigger rod (104) to move in the direction away from the pipe rail (14), and the trigger block (106) is driven by the lever (105) to trigger the sensor (107).
9. The on-line pig carcass splitting system of claim 2, wherein: first suspension drive arrangement (7) include first clamping jaw (71) and first reciprocal drive mechanism, first clamping jaw (71) set firmly in the output of the reciprocal actuating mechanism of straight line, first clamping jaw (71) centre gripping behind pig carcass couple subassembly (9), with the help of first reciprocal drive mechanism drives pig carcass couple subassembly (9) to second suspension drive arrangement (8) remove.
10. The on-line pig carcass splitting system of claim 2, wherein: the first dividing device (3) comprises a first dividing cutter (31), a first dividing motor (32) and a first dividing height adjusting component (33), wherein the first dividing cutter (31) is fixedly arranged at the power output end of the first dividing motor (32), and the first dividing motor (32) is fixedly arranged at the adjusting end of the first dividing height adjusting component (33); the cutting surface of the first cutting tool (31) is parallel to the horizontal plane, and the horizontal height of the first cutting tool (31) is driven by the first cutting height adjusting component (33), so that the first cutting position is determined.
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| CN202210362459.0A CN114600935B (en) | 2022-04-07 | 2022-04-07 | Online pig carcass cutting system |
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| CN202210362459.0A CN114600935B (en) | 2022-04-07 | 2022-04-07 | Online pig carcass cutting system |
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| CN114600935A true CN114600935A (en) | 2022-06-10 |
| CN114600935B CN114600935B (en) | 2022-12-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115724176A (en) * | 2022-12-05 | 2023-03-03 | 中科科信光电科技(中山)有限公司 | Suspension type poultry meat delivery coding conveyor line |
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| GB603639A (en) * | 1944-09-08 | 1948-06-21 | Ind Patents Corp | Improvements in or relating to method of picking or dressing poultry |
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| CN114600935B (en) | 2022-12-06 |
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Denomination of invention: A Pig Carcass Online Segmentation System Granted publication date: 20221206 Pledgee: Industrial and Commercial Bank of China Limited Jiaxing Nanhu Branch Pledgor: ZHEJIANG RIBON INTELLIGENT EQUIPMENT Co.,Ltd. Registration number: Y2024980012139 |