小型智能化家禽低内脏破损率净膛流水线设计  

Design of assembly line for small intelligent poultry eviscerated with low visceral damage rate

作　　者：熊利荣[1] 罗舒豪 王树才[1] Xiong Lirong;Luo Shuhao;Wang Shucai(College of Engineering,Huazhong Agricultural University,Wuhan 430070,China)

机构地区：[1]华中农业大学工学院,武汉430070

出　　处：《农业工程学报》2019年第5期294-301,共8页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家科技支撑计划项目(2015BAD19B00);中央高校基本科研业务费专项基金资助(2662016PY069)

摘　　要：针对目前国内家禽屠宰净膛作业中自动化程度低、设备配套性差、净膛破损率较高等问题,设计了一套小型智能化家禽低内脏破损率净膛流水线系统。系统由家禽净膛流水线装置、夹取式净膛机械手、触觉系统、光电传感器和PLC控制器组成,可实现家禽屠宰过程中的自动化净膛。以光电传感器的触发信号作为家禽的到位信号,通过PLC控制系统发出的高速脉冲信号控制净膛流水线的运动和精确定位、机械手爪的张合以及机械臂的往复运动;利用EM235模块将实时采集到的机械手爪内壁压力传感器上的压力信号传输到PLC中,一旦压力值达到压力阈值8.22 N时,机械手爪即反转一定角度后再掏膛,从而降低内脏破损率。试验结果表明:单个机械手的净膛效率约为100只/h;平均净膛率为86.95%,内脏平均破损率为20%。该系统能够实现智能化地低内脏破损率家禽净膛,且性能稳定,操作简单。Aiming at the problems of low automation,poor equipment matching and high damage rate in the domestic poultry slaughtering operation,we designed a small intelligent control system for the eviscerated assembly line of poultry.The system consists of poultry eviscerated assembly line,clamping manipulator,mechanical arm,tactile system,photoelectric sensor and PLC controller,which can realize automatic eviscerating in the process of poultry slaughter.On the basis of the mechanical arm and the mechanical paw,we have conceived and designed the structure of the eviscerated assembly line device.The eviscerated assembly line is designed as a ring type,and the poultry is fixed on the poultry fixing device by hanging upside down.The synchronous belt drives the slide table to run on the guide rail so that the poultry can follow the loop guide rail to form an assembly line.The synchronous belt drives the slide table to run on the guide rail so that the poultry can follow the loop guide rail to form an assembly line.The system takes the trigger signal of the photoelectric sensor as the signal of the poultry have been in place,when the rising edge of the photoelectric sensor signal is detected,the EM253 module immediately controls the assembly line from high speed to low speed.When the falling edge of the photoelectric sensor signal is detected,the assembly line stops and waits for evisceration of the manipulator.The CPU226 provides two high-speed pulse outputs(Q0.0 and Q0.1)to control the speed of the two stepping motors on the Y-axis of mechanical arm and the mechanical paw,which can realize reciprocating motion of the mechanical arm and tension of the mechanical paw.During the net eviscerating process,the pressure sensors installed on the manipulator paws monitor the pressure exerted by the manipulator paw on the viscera in real time.The EM235 module transmits the pressure signal collected in real time to the PLC,once the pressure value reaches the pressure threshold of 8.22 N,the manipulator paw reverses a certain angle to r

关 键 词：控制系统分析 智能控制 压力传感器 家禽净膛 流水线 PLC 

分 类 号：S24[农业科学—农业电气化与自动化]