小型羊胴体自动分割系统设计  

Design of the assembly line for sheep carcass automatic segmentation

作　　者：张浩 熊利荣[1] 戴鹏 鲍秀兰[1] ZHANG Hao;XIONG Lirong;DAI Peng;BAO Xiulan(College of Engineering,Huazhong Agricultural University,Wuhan 430070)

机构地区：[1]华中农业大学工学院,武汉430070

出　　处：《安徽农业大学学报》2021年第4期607-613,共7页Journal of Anhui Agricultural University

基　　金：国家重点研发计划子课题(2018YFD0700800)资助。

摘　　要：为了解决国内羊胴体分割自动化程度低、分割质量差的问题,以去腿剥皮后的羊胴体为研究对象,以多自由度工业机器人为操作主体,探索研发一套智能化分割设备,实现羊胴体自动化分割。使用专用气动夹具对羊胴体进行夹紧后,对胴体进行定位,并做好分割路径轨迹规划,导入工业机器人控制系统,由机器人控制高速旋转刀具执行相应路径的分割;通过2个电动推杆实现羊胴体在装夹工位与分割工位间的循环移动,机器人每完成一次分割即旋转180°进行下一次的分割,使分割操作不间断进行。试验结果表明,该系统能够按照行业标准自动完成指定路径的分割,分割每只羊所用时间为154.6 s,性能稳定,基本满足企业需求。In order to solve the problems of low automation and poor segmentation quality of sheep carcass segmentation in China,the project uses the carcass of sheep after cutting legs and peeling skin as research object and takes the industrial robot with multiple degrees of freedom as its main operating body,to explore an intelligent segmentation device so as to realize the automatic cutting of sheep carcass.After clamping the sheep carcass with special pneumatic clamp,the carcass can be located,and the cutting paths planning can be completed,then the paths are introduced into the control system of industrial robot,and the robot controls the high-speed rotating tool to cut on the corresponding paths.The device realizes the circulation movement of the sheep carcass between the clamping station and the cutting station through two electric push rods.After each cutting,the industrial robot rotates 180°for the next cutting,so that the cutting operation can be carried out continuously.The experimental result shows that the system can automatically complete the specified path segmentation according to the industry standard,the segmentation time of each sheep is 154.6 s and the performance is stable,basically meets the needs of enterprises.

关 键 词：羊胴体 夹具 工业机器人 分割 智能控制 

分 类 号：S818.3[农业科学—畜牧学]