Research On Control System Of Poultry Eviscerated Assembly Line Based On Manipulator

Automatic eviscerating of poultry is a key process in the poultry slaughter line.In some developed countries such as Europe and the United States,automatic eviscerating technology has been gradually improved and applied in poultry slaughtering and processing.However,due to its late start,China still relies mainly on the artificial auxiliary assembly line to complete the evisceration of poultry,which is not only low in efficiency and expensive in labor cost,but also restricts the development of China's poultry industry to a certain extent.With the popularization of large-scale poultry breeding technology,it is urgent to realize the automation and industrialization of poultry slaughtering and processing in China,so as to promote the improvement and development of domestic poultry industry.According to the research and development status of poultry evisceration at home and abroad,this research proposes and designs a control system for poultry eviscerated assembly line based on manipulator.The system takes PLC as the core controller and pressure sensor as the tactile perception system,according to the size of poultry viscera,the evisceration strength can be controlled in real time to reduce the damage rate of the viscera during the cleaning process,so as to achieve the purpose of picking the viscera of poultry.The main contents of this paper are as follows:(1)Completed the design of the mechanical device of the poultry eviscerated assembly line system and the construction of the test bench.The mechanical device of the system includes the mechanical arm,the end-effector and the poultry eviscerated assembly line.The end-effector is a four-finger clamped manipulator.According to the operation mode of the end-effector,the poultry Eviscerated assembly line has been designed,and the end-effector is transferred by the mechanical arm to the designated line position for eviscerating operation.(2)Completed the hardware system design of the poultry eviscerated assembly line.This part mainly completes the selection of the basic hardware parts such as the controller,stepper motor,photoelectric sensor,tactile system and related peripheral circuit connection.The tactile system consists of pressure sensors and corresponding acquisition circuit.(3)Completed the software system design of the poultry eviscerated assembly line.The software system is divided into motion control of initialization module,pressure acquisition module,reset and emergency stop module and communication module,stepper motor control module.The convenient operation of the eviscerated system can be realized by the communication module combined with the human-computer interaction interface of the computer.(4)Conducted online trials.Firstly,the pressure threshold of the tactile system is confirmed to be 8.22 N through the pre-test of the built evisceration system,then the evisceration test is carried out,the results show that the average clearance rate of the system is 86.95%,the average breakage rate is 20%.The test result shows that the evisceration effect basically meets the expected design.