Design And Experiment Of Sheep Carcass Automatic Segmentation System Based On Industrial Robot

In the process of industrialization in China,the research on automation of livestock slaughtering and processing equipment is an important task.In recent years,livestock and poultry processing technology and equipment in developed countries have developed rapidly in the direction of informatization and intelligence.However,our cattle and sheep slaughtering equipment is backward,most of the slaughtering process relies on manual participation,livestock and poultry automatic segmentation and grading equipment is lack,and the production process management is extensive,which seriously restricts the level of livestock slaughtering segmentation.In response to domestic problems such as inaccurate segmentation and grading of sheep carcass,and poor segmentation quality,we take the sheep carcass as the research object,explore and develop an intelligent segmentation device,in order to realize the automatic cutting of sheep carcass.The segmentation device is composed of four parts:special fixture for sheep carcass,segmentation line,industrial robot and control system.The main research contents are as follows:(1)Completed the construction of the system hardware platform.The hardware of the system is mainly divided into the design of special fixture for sheep carcass and the design of segmentation pipeline.The special fixture takes the curve parameters of the thoracic cavity of the sheep carcass as the benchmark,adopts the working mode of the internal profiling internal mold and the external arc-shaped splint to clamp together,and realizes the one key clamping and opening of the fixture through four cylinders.According to the agricultural industry standard,the cutting groove is set aside at a specific position,which realizes the function of clamping once to complete all path cutting.The segmentation assembly line is based on the transportation line commonly used in factories.By adding two electric push rods,the sheep carcass can move circularly between the clamping station and the segmentation station.After each segmentation,the robot rotates 180° for the next segmentation,so that the segmentation operation can be carried out continuously,and the highly automatic segmentation is realized.(2)We designed a method of cutting using industrial robots.According to process requirements,we designed the cutting process of slaughtering cold fresh sheep carcass,and completed the trajectory planning programming of sheep carcass cutting.After the program is loaded into the industrial robot control system,the robot controls the high-speed rotating tool to cut a specific path.We select the motor spindle as the end effector,3-edge milling cutter as the cutting tool,and complete the design of the end effector fixture.(3)The control system design of sheep carcass automatic segmentation system was completed.The control system mainly includes pipeline control and industrial robot control.S7-200 PLC is selected as the main controller of the assembly line,and then we carried out the selection of motors,switches,sensors and other hardware and the design of pneumatic devices,completed the design of the control program,and then connected the control system.The control of the industrial robot is mainly online programming,and the basis of the programming is the result of the plan of the sheep carcass cutting trajectory.The sheep carcass cutting is completed through the cooperation between the two control systems.(4)We designed and carried out the sheep bone mechanical properties analysis test,sheep carcass cutting tool selection test and sheep carcass segmentation test.According to the results of the analysis and test of the mechanical properties of sheep bone,the material of cutting tool was selected.According to the results of the test of cutting tool selection of sheep carcass,the type of cutting tool was selected.Through the test of sheep carcass segmentation,the segmentation efficiency of the system was154.6s/piece,and the cutting surface was smooth and the segmentation was accurate.The test effect basically met the expected requirements.