小型智能化家禽低内脏破损率净膛流水线设计
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摘要
针对目前国内家禽屠宰净膛作业中自动化程度低、设备配套性差、净膛破损率较高等问题,设计了一套小型智能化家禽低内脏破损率净膛流水线系统。系统由家禽净膛流水线装置、夹取式净膛机械手、触觉系统、光电传感器和PLC控制器组成,可实现家禽屠宰过程中的自动化净膛。以光电传感器的触发信号作为家禽的到位信号,通过PLC控制系统发出的高速脉冲信号控制净膛流水线的运动和精确定位、机械手爪的张合以及机械臂的往复运动;利用EM235模块将实时采集到的机械手爪内壁压力传感器上的压力信号传输到PLC中,一旦压力值达到压力阈值8.22 N时,机械手爪即反转一定角度后再掏膛,从而降低内脏破损率。试验结果表明:单个机械手的净膛效率约为100只/h;平均净膛率为86.95%,内脏平均破损率为20%。该系统能够实现智能化地低内脏破损率家禽净膛,且性能稳定,操作简单。
Aiming at the problems of low automation, poor equipment matching and high damage rate in the domestic poultry slaughtering operation, we designed a small intelligent control system for the eviscerated assembly line of poultry. The system consists of poultry eviscerated assembly line, clamping manipulator, mechanical arm, tactile system, photoelectric sensor and PLC controller, which can realize automatic eviscerating in the process of poultry slaughter. On the basis of the mechanical arm and the mechanical paw, we have conceived and designed the structure of the eviscerated assembly line device. The eviscerated assembly line is designed as a ring type, and the poultry is fixed on the poultry fixing device by hanging upside down. The synchronous belt drives the slide table to run on the guide rail so that the poultry can follow the loop guide rail to form an assembly line. The synchronous belt drives the slide table to run on the guide rail so that the poultry can follow the loop guide rail to form an assembly line. The system takes the trigger signal of the photoelectric sensor as the signal of the poultry have been in place, when the rising edge of the photoelectric sensor signal is detected, the EM253 module immediately controls the assembly line from high speed to low speed. When the falling edge of the photoelectric sensor signal is detected,the assembly line stops and waits for evisceration of the manipulator. The CPU226 provides two high-speed pulse outputs(Q0.0 and Q0.1) to control the speed of the two stepping motors on the Y-axis of mechanical arm and the mechanical paw,which can realize reciprocating motion of the mechanical arm and tension of the mechanical paw. During the net eviscerating process, the pressure sensors installed on the manipulator paws monitor the pressure exerted by the manipulator paw on the viscera in real time. The EM235 module transmits the pressure signal collected in real time to the PLC, once the pressure value reaches the pressure threshold of 8.22 N, the manipulator paw reverses a certain angle to reduce the damage rate of the internal organs. The human-computer interaction interface of the system mainly consists of three parts: Communication debugging,manual mode, and automatic mode. The automatic mode is realized by three buttons, namely "auto start", "emergency stop"and "reset", and the emergency stop button can also be used as the stop button of the manual mode. In order to test the stability of the system and the eviscerating effect on poultry, 60 chickens were randomly divided into 3 groups, 20 in each group,named group A, group B and group C. Group A was used to determine the pressure threshold, group B was tested under the steady operation of the assembly line, and group C, as the control group, was tested under the static state of the assembly line.The test indicators were the evisceration rate and breakage rate of poultry. The results of test showed that the control system can realize automatic evisceration of poultry, with stable performance and simple operation. The operating efficiency of a single manipulator is about 100 pieces/h, the average evisceration rate was 86.95% and the average breakage rate of visceral was 20%. Compared with entrails test in static state, the evisceration rate has little difference, but the breakage rate has increased, which generally meets the expected design requirements.
Aiming at the problems of low automation, poor equipment matching and high damage rate in the domestic poultry slaughtering operation, we designed a small intelligent control system for the eviscerated assembly line of poultry. The system consists of poultry eviscerated assembly line, clamping manipulator, mechanical arm, tactile system, photoelectric sensor and PLC controller, which can realize automatic eviscerating in the process of poultry slaughter. On the basis of the mechanical arm and the mechanical paw, we have conceived and designed the structure of the eviscerated assembly line device. The eviscerated assembly line is designed as a ring type, and the poultry is fixed on the poultry fixing device by hanging upside down. The synchronous belt drives the slide table to run on the guide rail so that the poultry can follow the loop guide rail to form an assembly line. The synchronous belt drives the slide table to run on the guide rail so that the poultry can follow the loop guide rail to form an assembly line. The system takes the trigger signal of the photoelectric sensor as the signal of the poultry have been in place, when the rising edge of the photoelectric sensor signal is detected, the EM253 module immediately controls the assembly line from high speed to low speed. When the falling edge of the photoelectric sensor signal is detected,the assembly line stops and waits for evisceration of the manipulator. The CPU226 provides two high-speed pulse outputs(Q0.0 and Q0.1) to control the speed of the two stepping motors on the Y-axis of mechanical arm and the mechanical paw,which can realize reciprocating motion of the mechanical arm and tension of the mechanical paw. During the net eviscerating process, the pressure sensors installed on the manipulator paws monitor the pressure exerted by the manipulator paw on the viscera in real time. The EM235 module transmits the pressure signal collected in real time to the PLC, once the pressure value reaches the pressure threshold of 8.22 N, the manipulator paw reverses a certain angle to reduce the damage rate of the internal organs. The human-computer interaction interface of the system mainly consists of three parts: Communication debugging,manual mode, and automatic mode. The automatic mode is realized by three buttons, namely "auto start", "emergency stop"and "reset", and the emergency stop button can also be used as the stop button of the manual mode. In order to test the stability of the system and the eviscerating effect on poultry, 60 chickens were randomly divided into 3 groups, 20 in each group,named group A, group B and group C. Group A was used to determine the pressure threshold, group B was tested under the steady operation of the assembly line, and group C, as the control group, was tested under the static state of the assembly line.The test indicators were the evisceration rate and breakage rate of poultry. The results of test showed that the control system can realize automatic evisceration of poultry, with stable performance and simple operation. The operating efficiency of a single manipulator is about 100 pieces/h, the average evisceration rate was 86.95% and the average breakage rate of visceral was 20%. Compared with entrails test in static state, the evisceration rate has little difference, but the breakage rate has increased, which generally meets the expected design requirements.
引文
[1]钟苑,王济民.美国、澳大利亚家禽食品安全管理体系的发展及启示[J].中国畜牧杂志,2018(1):143-147.ZhongYuan,WangJimin.Development andenlightenment ofpoultryfoodsafetymanagementsysteminAmericaand Australia[J].ChineseJournalofAnimalScience,2018(1):143-147.(in Chinese with English abstract)
[2]于潇萌,刘爱民.促使畜牧业养殖方式变化的因素分析[J].中国畜牧杂志,2007,43(10):51-55.
[3]DegraftHansonJ.Hazardanalysiscriticalcontrolpoint systemanditsimpactonthemeatandpoultryindustry[J].Avian and Poultry Biology Reviews, 2003, 14(2):79-97.
[4]PriceLB, Lackey LG,Rocio V, etal.Thepersistenceof fluoroquinolone-resistant campylobacter in poultry production[J].EnvironmentalHealthPerspectives,2007,115(7):1035-1039.
[5]王东琼,保映祥.倡议实施家禽定点屠宰[J].中国畜牧兽医文摘,2018(1):56-56.
[6]叶金鹏,薛庆林,王子戡,等.我国水禽屠宰加工关键技术装备及发展趋势[J].肉类工业,2005(12):1-4.Ye Jinpeng, Xue Qinglin, Wang Zikan, et al. Key technology andequipmentofwaterfowlslaughteringandprocessingin China and its development trend[J]. Meat Industry, 2005(12):1-4.(in Chinese with English abstract)
[7]NolletLML,ToldráF.AdvancedTechnologiesforMeat Processing[M]. Florida:CRC Press, 2006.
[8]潘金龙,叶金鹏,王子戡,等. 2020年我国家禽屠宰技术装备发展战略[C]//中国机械工程学会包装与食品工程分会2010年学术年会论文集. 2010.Pan Jinlong, Ye Jinpeng, Wang Ziqian, et al. The development strategyofChinesepoultryprocessingequipmentsand technologyin2020[C]//Proceedingsofthe2010Annual Conference of the Packaging and Food Engineering Branch of China Mechanical Engineering Society. 2010.(in Chinese with English abstract)
[9]张先达,叶金鹏.国内外家禽屠宰加工技术的现状与发展趋势的探讨[C]//中国机械工程学会包装和食品机械学会年会. 1989.
[10]韩国省,赵聘.我国家禽养殖现状与发展趋势研究[J].河南农业,2012(6):18-19.
[11]Evert Kikstra. Eviscerating device for poultry:US5713786[P].1998-02-03.
[12]TielemanEdwardJohannes.Deviceforeviscerating slaughtered poultry:EP0432317Al[P]. 1991-06-91.
[13]马朋巍,王丽红,叶金鹏,等.家禽自动取内脏技术及装备在我国的应用前景[J].农产品加工学刊,2009(10):93-96.MaPengwei,WangLihong,YeJinpeng,etal.Poultry automaticvisceraltechnologyandequipmentinChina's applicationprospects[J].AgriculturalProductsProcessing,2009(10):93-96.(in Chinese with English abstract)
[14]石东峰.步进电机的原理及选型[J].科技与企业,2011(10):44.ShiDongfeng.Principleandselectionofstepmotor[J].TechnologyandEnterprise,2011(10):44.(inChinesewith English abstract)
[15]白韶红.薄膜技术与压力传感器[J].自动化仪表,1993(2):1-6.
[16]张紫涛,徐添华,徐韵,等.薄膜压力传感器在土工试验中的适用性初探[J].岩土工程学报,2017,39(增刊1):209-213.ZhangZitao,XuTianhua,XuYun,etal.Feasibilityof applyingtactilepressuresensorsingeotechnicaltests[J].ChineseJournalofGeotechnicalEngineering,2017,39(Supp.1):209-213.(in Chinese with English abstract)
[17]武红军,张万忠.可编程控制器入门与应用实例.西门子S7-200系列:第2版[M].北京:中国电力出版社,2010.
[18]向晓汉. S7-200 PLC基础及工程应用[M].北京:机械工业出版社,2014.
[19]王鑫润.基于PLC的水箱镗孔生产线控制系统研究[D].武汉:华中科技大学,2014.Wang Xinrun. Study on Control System of Production Line ofTankBoringBasedonPLC[D].Wuhan:Huazhong UniversityofScienceandTechnology,2014.(inChinese with English abstract)
[20]郭传宝,刘峰,朱本宏.光电传感器的应用[J].中国井矿盐,2011,42(1):29-30.GuoChuanbao,LiuFeng,ZhuBenhong.Applicationof photoelectricsensor[J].ChinaWellandRockSalt,2011,42(1):29-30.(in Chinese with English abstract)
[21]陈玉仑,孙晨阳,卢中山,等.基于可编程控制器的猪胴体喷淋冷却作业控制系统设计[J].农业工程学报,2018,34(3):273-278.Chen Yulun, Sun Chenyang, Lu Zhongshan, et al. Design of controlsystemforspraychillingoperationofpigcarcass basedonPLC[J].TransactionsoftheChineseSocietyof Agricultural Engineering(Transactions of the CSAE), 2018,34(3):273-278.(in Chinese with English abstract)
[22]胡良龙,胡志超,高刚华,等.基于PLC的种子包衣机自动控制系统设计与实现[J].农业工程学报,2007,23(8):140-144.Hu Lianglong, Hu Zhichao, Gao Ganghua, et al. Design and realizationofautomaticcontrollingsystemforseedcoater basedonPLC[J].TransactionsoftheChineseSocietyof Agricultural Engineering(Transactions of the CSAE), 2007,23(8):140-144.(in Chinese with English abstract)
[23]杨传华,方宪法,杨学军,等.基于PLC的蔬菜钵苗移栽机自动输送装置[J].农业机械学报,2013,44(增刊1):19-23.Yang Chuanhua, Fang Xianfa, Yang Xuejun, et al. Automatic deliverymechanismofpotted-seedlingforvegetable transplanterbasedonPLC[J].TransactionsoftheChinese Society for Agricultural Machinery, 2013, 44(Supp.1):19-23.(in Chinese with English abstract)
[24]周聪.基于S7-200PLC控制器实现冗余系统的研究[D].武汉:武汉工程大学,2015.ZhouCong.TheResearchofRealizingRedundantSystem BasedonTheS7-200PLC[D].Wuhan:WuhanInstituteof Technology, 2015.(in Chinese with English abstract)
[25]徐鹿眉.EM253位控模块在步进电动机控制中的应用[J].微特电机,2013,41(9):72-74.Xu Lumei. The application of EM253 positioning module in stepper motor control[J]. Small&Special Electrical Machines,2013, 41(9):72-74.(in Chinese with English abstract)
[26]强明辉,何晓.基于PLC定位模块EM253的伺服控制系统[J].电气自动化,2014(3):3-4.Qiang Minghui, He Xiao. A servo control system based on PLCpositioningmoduleEM253[J].ElectricalAutomation,2014(3):3-4.(in Chinese with English abstract)
[27]黄琛.基于MFC的绘图软件设计与实现[J].电脑知识与技术,2013(10):2345-2348.Huang Chen. Design and implementation of the MFC-based mapping software[J]. Computer Knowledge and Technology,2013(10):2345-2348.(in Chinese with English abstract)
[28]王正强.VC中应用MSComm控件实现串口通信[J].电子测试,2010(5):73-76.Wang Zhengqiang. Realization of serial port communication byMSCommcontrolintheVCenviroment[J].Electronic Test, 2010(5):73-76.(in Chinese with English abstract)
[29]熊利荣,于阳,王树才.带有触觉系统的家禽屠宰净膛机械手的设计[J].华中农业大学学报,2016,35(6):142-146.Xiong Lirong, Yu Yang, Wang Shucai. Designing intelligent manipulator with haptic system for poultry slaughtering and evisceration[J]. Journal of Huazhong Agricultural University,2016, 35(6):142-146.(in Chinese with English abstract)
[30]熊利荣,郑伟,罗舒豪.基于触觉感知的家禽净膛机械手及其控制系统的设计[J].农业工程学报,2018,34(3):42-48.XiongLirong,ZhengWei,LuoShuhao.Designofpoultry evisceratedmanipulatoranditscontrolsystembasedon tactile perception[J]. Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE), 2018,34(3):42-48.(in Chinese with English abstract)
[2]于潇萌,刘爱民.促使畜牧业养殖方式变化的因素分析[J].中国畜牧杂志,2007,43(10):51-55.
[3]DegraftHansonJ.Hazardanalysiscriticalcontrolpoint systemanditsimpactonthemeatandpoultryindustry[J].Avian and Poultry Biology Reviews, 2003, 14(2):79-97.
[4]PriceLB, Lackey LG,Rocio V, etal.Thepersistenceof fluoroquinolone-resistant campylobacter in poultry production[J].EnvironmentalHealthPerspectives,2007,115(7):1035-1039.
[5]王东琼,保映祥.倡议实施家禽定点屠宰[J].中国畜牧兽医文摘,2018(1):56-56.
[6]叶金鹏,薛庆林,王子戡,等.我国水禽屠宰加工关键技术装备及发展趋势[J].肉类工业,2005(12):1-4.Ye Jinpeng, Xue Qinglin, Wang Zikan, et al. Key technology andequipmentofwaterfowlslaughteringandprocessingin China and its development trend[J]. Meat Industry, 2005(12):1-4.(in Chinese with English abstract)
[7]NolletLML,ToldráF.AdvancedTechnologiesforMeat Processing[M]. Florida:CRC Press, 2006.
[8]潘金龙,叶金鹏,王子戡,等. 2020年我国家禽屠宰技术装备发展战略[C]//中国机械工程学会包装与食品工程分会2010年学术年会论文集. 2010.Pan Jinlong, Ye Jinpeng, Wang Ziqian, et al. The development strategyofChinesepoultryprocessingequipmentsand technologyin2020[C]//Proceedingsofthe2010Annual Conference of the Packaging and Food Engineering Branch of China Mechanical Engineering Society. 2010.(in Chinese with English abstract)
[9]张先达,叶金鹏.国内外家禽屠宰加工技术的现状与发展趋势的探讨[C]//中国机械工程学会包装和食品机械学会年会. 1989.
[10]韩国省,赵聘.我国家禽养殖现状与发展趋势研究[J].河南农业,2012(6):18-19.
[11]Evert Kikstra. Eviscerating device for poultry:US5713786[P].1998-02-03.
[12]TielemanEdwardJohannes.Deviceforeviscerating slaughtered poultry:EP0432317Al[P]. 1991-06-91.
[13]马朋巍,王丽红,叶金鹏,等.家禽自动取内脏技术及装备在我国的应用前景[J].农产品加工学刊,2009(10):93-96.MaPengwei,WangLihong,YeJinpeng,etal.Poultry automaticvisceraltechnologyandequipmentinChina's applicationprospects[J].AgriculturalProductsProcessing,2009(10):93-96.(in Chinese with English abstract)
[14]石东峰.步进电机的原理及选型[J].科技与企业,2011(10):44.ShiDongfeng.Principleandselectionofstepmotor[J].TechnologyandEnterprise,2011(10):44.(inChinesewith English abstract)
[15]白韶红.薄膜技术与压力传感器[J].自动化仪表,1993(2):1-6.
[16]张紫涛,徐添华,徐韵,等.薄膜压力传感器在土工试验中的适用性初探[J].岩土工程学报,2017,39(增刊1):209-213.ZhangZitao,XuTianhua,XuYun,etal.Feasibilityof applyingtactilepressuresensorsingeotechnicaltests[J].ChineseJournalofGeotechnicalEngineering,2017,39(Supp.1):209-213.(in Chinese with English abstract)
[17]武红军,张万忠.可编程控制器入门与应用实例.西门子S7-200系列:第2版[M].北京:中国电力出版社,2010.
[18]向晓汉. S7-200 PLC基础及工程应用[M].北京:机械工业出版社,2014.
[19]王鑫润.基于PLC的水箱镗孔生产线控制系统研究[D].武汉:华中科技大学,2014.Wang Xinrun. Study on Control System of Production Line ofTankBoringBasedonPLC[D].Wuhan:Huazhong UniversityofScienceandTechnology,2014.(inChinese with English abstract)
[20]郭传宝,刘峰,朱本宏.光电传感器的应用[J].中国井矿盐,2011,42(1):29-30.GuoChuanbao,LiuFeng,ZhuBenhong.Applicationof photoelectricsensor[J].ChinaWellandRockSalt,2011,42(1):29-30.(in Chinese with English abstract)
[21]陈玉仑,孙晨阳,卢中山,等.基于可编程控制器的猪胴体喷淋冷却作业控制系统设计[J].农业工程学报,2018,34(3):273-278.Chen Yulun, Sun Chenyang, Lu Zhongshan, et al. Design of controlsystemforspraychillingoperationofpigcarcass basedonPLC[J].TransactionsoftheChineseSocietyof Agricultural Engineering(Transactions of the CSAE), 2018,34(3):273-278.(in Chinese with English abstract)
[22]胡良龙,胡志超,高刚华,等.基于PLC的种子包衣机自动控制系统设计与实现[J].农业工程学报,2007,23(8):140-144.Hu Lianglong, Hu Zhichao, Gao Ganghua, et al. Design and realizationofautomaticcontrollingsystemforseedcoater basedonPLC[J].TransactionsoftheChineseSocietyof Agricultural Engineering(Transactions of the CSAE), 2007,23(8):140-144.(in Chinese with English abstract)
[23]杨传华,方宪法,杨学军,等.基于PLC的蔬菜钵苗移栽机自动输送装置[J].农业机械学报,2013,44(增刊1):19-23.Yang Chuanhua, Fang Xianfa, Yang Xuejun, et al. Automatic deliverymechanismofpotted-seedlingforvegetable transplanterbasedonPLC[J].TransactionsoftheChinese Society for Agricultural Machinery, 2013, 44(Supp.1):19-23.(in Chinese with English abstract)
[24]周聪.基于S7-200PLC控制器实现冗余系统的研究[D].武汉:武汉工程大学,2015.ZhouCong.TheResearchofRealizingRedundantSystem BasedonTheS7-200PLC[D].Wuhan:WuhanInstituteof Technology, 2015.(in Chinese with English abstract)
[25]徐鹿眉.EM253位控模块在步进电动机控制中的应用[J].微特电机,2013,41(9):72-74.Xu Lumei. The application of EM253 positioning module in stepper motor control[J]. Small&Special Electrical Machines,2013, 41(9):72-74.(in Chinese with English abstract)
[26]强明辉,何晓.基于PLC定位模块EM253的伺服控制系统[J].电气自动化,2014(3):3-4.Qiang Minghui, He Xiao. A servo control system based on PLCpositioningmoduleEM253[J].ElectricalAutomation,2014(3):3-4.(in Chinese with English abstract)
[27]黄琛.基于MFC的绘图软件设计与实现[J].电脑知识与技术,2013(10):2345-2348.Huang Chen. Design and implementation of the MFC-based mapping software[J]. Computer Knowledge and Technology,2013(10):2345-2348.(in Chinese with English abstract)
[28]王正强.VC中应用MSComm控件实现串口通信[J].电子测试,2010(5):73-76.Wang Zhengqiang. Realization of serial port communication byMSCommcontrolintheVCenviroment[J].Electronic Test, 2010(5):73-76.(in Chinese with English abstract)
[29]熊利荣,于阳,王树才.带有触觉系统的家禽屠宰净膛机械手的设计[J].华中农业大学学报,2016,35(6):142-146.Xiong Lirong, Yu Yang, Wang Shucai. Designing intelligent manipulator with haptic system for poultry slaughtering and evisceration[J]. Journal of Huazhong Agricultural University,2016, 35(6):142-146.(in Chinese with English abstract)
[30]熊利荣,郑伟,罗舒豪.基于触觉感知的家禽净膛机械手及其控制系统的设计[J].农业工程学报,2018,34(3):42-48.XiongLirong,ZhengWei,LuoShuhao.Designofpoultry evisceratedmanipulatoranditscontrolsystembasedon tactile perception[J]. Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE), 2018,34(3):42-48.(in Chinese with English abstract)