| 带有触觉系统的家禽屠宰净膛机械手的设计 |
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| 引用本文： | 熊利荣,于阳,王树才.带有触觉系统的家禽屠宰净膛机械手的设计[J].华中农业大学学报,2016,35(6):142-146. |
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| 作者姓名： | 熊利荣 于阳 王树才 |
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| 作者单位： | 华中农业大学工学院,武汉,430070 |
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| 基金项目： | 国家科技支撑计划项目(2015BAD19B00); 中央高校基本科研业务费专项（2662016PYD69） |
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| 摘 要： | 对家禽屠宰净膛智能机械手系统中的触觉系统部分进行改进设计,该触觉系统采用薄膜压力传感器检测机械手爪机对家禽内脏的压力,LabVIEW软件实时显示采集的压力数据,并对其进行处理分析后向单片机发送串口指令.单片机产生PWM信号控制机械手手臂舵机运动.当检测压力值大于设定的内脏最大承受压力时,自动控制爪机张开;反之,自动控制爪机合拢,同时爪机向前进并运动至腹腔底部夹紧内脏旋转,剥离内脏与腹腔之间的粘膜,将内脏取出.试验结果表明,对比传统的净膛机械手,具有触觉系统的机械手在掏取内脏的过程中对内脏的破坏更小,对家禽个体差异性要求更低,且自动化程度更高,该系统可实现手动掏膛和自动掏膛2种模式.
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| 关 键 词： | 家禽加工 屠宰净膛 机械手 触觉系统 薄膜压力传感器 |
| 收稿时间： | 2015/12/22 0:00:00 |
Designing intelligent manipulator with haptic system for poultry slaughtering and evisceration |
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| Abstract: | The intelligent manipulator with a haptic system used for poultry slaughtering and evisceration was designed.The thin film pressure sensor was used to detect the force signal of manipulator finger pressure on poultry offal.LabVIEW software was used to display/process the pressure data in real-time,and send control signals to single chip.Then single-chip microcomputer produced PWM signal to control the sevro arm movement of manipulator.If the haptic system detected pressure value greater than the maximum pressure set of visceral,SCM opened the claw machine automatically.Otherwise it was folded and the manipulator fingers moved to the bottom of the abdominal cavity,rotated to peel the mucous membrane between the purtenance and the abdominal cavity.The entrails were finally removed.The system had two eviscerated modes including manual mode and automatic mode.The trial results showed that the manipulator with touch sensor system produced smaller damage in the process of taking the internal organs out and had less requirement of individual poultry difference compared with the traditional evisceration manipulator,indicating that the degree of automation is high. |
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| Keywords: | poultry processing slaughter and eviscerated manipulator haptic system thin film pressure sensor |
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