Study On Structure And Trajectory Parameters Of The Grippable Automatic Evisceration Manipulator For Poultry

Automatic poultry eviscerating technology is one of the key technology to achieve the automation of poultry slaughtering. In developed countries, it has been widely used, but in our country most of the poultry slaughtering enterprises are using artificial evisceration operations. At present, with the popularity of standardized cultivation technology, the conditions to apply automatic poultry eviscerating technology have gradually matured. In our country, research and develop automatic poultry eviscerating machine for the demand of domestic slaughter and processing enterprise is the inevitable trend of poultry slaughtering industry development. In this paper, the working principle of grippable type automatic evisceration manipulator has been studied, and the structure and movement parameters of manipulator has been designed. They made important fundamental research to develop a grippable automatic evisceration machine.In the fundamental of artificial evisceration operation process, established the evisceration institutions model has been established based on evisceration manipulator. And the movement pattern of manipulator has been determined. Poultry abdominal contour characteristic curve was obtained through the poultry abdominal modeling experiments. According to abdominal contour characteristic curve, the structure and motion parameters of the manipulator were designed.The grippable evisceration manipulator consists of two sliders, two C-shaped rods, swing block, control institutions, gears, racks etc. The manipulator has two degrees of freedom. The manipulator moved though controlling the two sliders. The key data of components was obtained by inverse design.The poultry eviscerating laboratory bench which motion parameters can be adjusted was designed, which using stepper motor and ball screw mechanism simulation substitute cam mechanism controls the manipulator to achieve evisceration operations and using PLC as laboratory bench control system.Several factors which had great impact on the results of evisceration were analyzed and orthogonal experiments were designed. The feasibility of evisceration movement of the evisceration manipulator was verified and the optimal motion parameters were determined. Experimental results have been indicated that the grippable manipulator structure design right and parameter selection reasonable. Through experiment the structure and motion parameters of the manipulator were optimized. The results included C-shaped rod length is200mm, maximum opened width is60mm, the vertical distance when the manipulator reaches the lowest point the C-shaped rods end to the separation institution is175mm, the distance between two sliders When the manipulator swinging to the maximum angle is15mm, the vertical distance when the manipulator swinging to the maximum angle the C-shaped rods end to the separation institution is50mm.