Study On Haptic System Of Intelligent Manippulator For Poultry Slaughtering And Eviscerating

At present, China’s poultry industry had gradually turned to large-scale farming mode, the total amount of poultry production and breeding increased significantly,corresponding poultry slaughtering and processing enterprises had also been developed. In recent years, the number and the scale of enterprises had been growing.But the level of domestic poultry slaughter and processing automation technology had needed to be improved.Automatic eviscerated technology had been an important part of the automation technology of poultry slaughter and processing. At present, the eviscerated manipulator of domestic market had been mainly composed of three types, including picking up type, digging type, and clamping type.The research of eviscerated technology had been mainly focused on two aspects: optimal structure design of the manipulator and the optimization of the kinematic parameters,but it hadn’t changed the manipulator’s movement according to the pressure of the internal organs in the process of eviscerated.This easily had leaded to visceral residues and carcase contamination, and when there had individual differences in the poultry, eviscerated effect had been easily affected, and reduced the meat quality.According to the research level and present situation of the domestic equipment,this paper designed a haptic system of the intelligent manipulator which is used for poultry slaughtering and eviscerated.In manipulator evisceration process,the tactile system had adopted the thin film pressure sensor in the front end of the manipulator’s gripper to detect the force signal of manipulator gripper pressure on poultry offal.The pressure had transformed to the resistance of the thin film pressure sensor.The front end of the manipulator had been a rigid structure,in order to avoid the internal organs had been hurting by the sensors,the system especially had choosed the flexible thin film pressure sensor.The manipulator had been a mechanical arm with six steering gear which is controlled by the PWM pulse signal.The pressure acquisition system had been set up by a STM32 microcontroller, the resistance change of the sensor had been converted into the voltage signal. The voltage signal had been transformed into discrete digital signal through the A/D conversion, and the STM32 had transmitted the voltage signal to the computer.USB interface had connected the computer and SCM, and used serial communication.The system had used LabVIEW software as the host computer software which had prominent signal processing and automatic control function,and it had processed the signal from STM32.The man-machine interface had displayed the signal of the thin film pressure sensor with the wave curve, and the pressure data had been saved.The manmachine interface had a manually set function to set the maximum pressure value of the gripper on poultry offal, and the pressure value had obtained by biomechanical testing of poultry offal.Experimental study on the biomechanical properties of the chicken’s giblets had included the compression test and shear test of chicken liver,compression test of spleen and gallbladder of chicken.Through the experiment to obtain the biomechanical curve of the internal organs of poultry,the paper had analysized the range of the maximum pressure value which the internal organs could bear in the process of eviscerating.LabVIEW software had compared the received pressure data value to manual set pressure value,and sent control commands to microcontroller through the serial communication.Single-chip microcomputer produced PWM signal to control the servo of manipulator arm movement.Six servo had cooperated with each other to completed mechanical gripper machine to forward, backward, open, and closed, rotation etc, realized the eviscerating.