Design And Research Of Poultry Eviscerating Manipulator And Control System

Poultry automatic evisceration processing is the key to achieve the poultry production scale,high efficiency and industrialization.At present,in the field of poultry slaughtering and processing,picking up type,digging type and clamping type eviscerated manipulator is widely used at home and abroad.However,these eviscerated methods mainly utilize the fixed motion track that forms owing to the interaction between specific mechanical structures to achieve the action of eviscerated manipulator,has higher requirements in structural design and dimensional accuracy aspect for control components,is also difficult to ensure the coordination between the various mechanical structures,but also not adjust the force of fingers in real-time according to the size of the contact force between the mechanical fingers and the visceral so that resulting in a large damage to the internal organs and seriously impact on the visceral storage time and economic value.Aiming at the problem of complicated mechanical structure,the degree of low automation and the large damage for visceral of domestic eviscerated manipulator,we making use of modern computer technology and sensor technology,a eviscerated system is designed based on clamping type poultry eviscerated manipulator that has tactile perception.The system is mainly composed of three parts: mechanical structure,haptic system and control system.The mechanical structure mainly includes the test bench,the poultry fixing device,the end effector and the mechanical arm of the manipulator.We established three-dimensional models of mechanical part by SolidWorks software,and determine the structure and dimensions of the mechanical part of the system and process the real object.Evisceration operations are performed by manipulator.Poultry fixing devices are used to fix poultry.Test bench are used to place manipulator,control cabinets,and computers.The haptic system of manipulator includes hardware and software system.A flexible piezoresistive thin film sensor is used as a sensing component of the tactile system.Piezoresistive converter module is used to change output resistance signal of the sensor to the voltage signal that STM32 microcontroller can identify.We completed the design of the pressure acquisition circuit.An ADC pressure acquisition program was written based on the KEIL development environment.The manipulator control system consists of hardware and software.The system consists of the stepper motor driver,step-down module,power and high-speed regulator separator,and established a hardware platform for the control system.Designhuman-computer interaction interface Based on the Qt software,including manual and automatic control modes,the control program of manipulator is written by KEIL and the software of control system is finished.In order to verify the reliability of the system,a systematic test study was conducted.We obtain the pressure threshold that is 7.7N of controlling the end effector of manipulating through carrying out the visceral pressure threshold value experiments of poultry.We also get the digging rate that is 87.4%.