阅读说明：本技术 一种家禽机器人自动掏膛系统 (Automatic chamber system of drawing of poultry robot ) 是由 陈艳 胡志刚 艾辉 于 2020-07-21 设计创作，主要内容包括：本发明涉及一种家禽机器人自动掏膛系统,包括用于传输家禽的输送机,输送机上设有固定家禽的禽体夹持装置,与禽体夹持装置对应的上方输送机上设有位置传感器,禽体夹持装置的一侧边还设有图像采集装置,位置传感器、图像采集装置、禽体夹持装置分别连接控制器,图像采集装置的输出端依次经图像分割模块、数据分析模块连接到控制器,控制器控制掏膛机器人及与掏膛机器人输出端连接的掏膛机械手末端执行器动作。本申请提出的一种家禽机器人自动掏膛系统,通过对家禽胴体的识别与体内内脏位置的预测,进而实现对内脏的自动化掏膛。(The invention relates to an automatic bore drawing system of a poultry robot, which comprises a conveyor for conveying poultry, wherein a poultry body clamping device for fixing the poultry is arranged on the conveyor, a position sensor is arranged on the upper conveyor corresponding to the poultry body clamping device, an image acquisition device is further arranged on one side edge of the poultry body clamping device, the position sensor, the image acquisition device and the poultry body clamping device are respectively connected with a controller, the output end of the image acquisition device is sequentially connected to the controller through an image segmentation module and a data analysis module, and the controller controls a bore drawing robot and a bore drawing manipulator end actuator connected with the output end of the bore drawing robot to act. The application provides an automatic thorax system of drawing out of poultry robot, through the discernment to the poultry carcass and the prediction of internal viscera position, and then realize drawing out the thorax to the automation of viscera.)

1. An automatic poultry robot eviscerating system comprises a conveyor (2) for conveying poultry, the conveyer (2) is provided with a poultry body clamping device (5) for fixing poultry, a position sensor is arranged on the upper conveyor (2) corresponding to the poultry body clamping device (5), an image acquisition device (1) for acquiring information of the poultry carcass and the muzzle is also arranged at one side edge of the poultry clamping device (5), the position sensor, the image acquisition device (1) and the poultry body clamping device (5) are respectively connected with a controller (6), it is characterized in that the output end of the image acquisition device (1) is connected with an image segmentation module for segmenting carcasses and internal organs, the output end of the image segmentation module is connected to a data analysis module, and the data analysis module is used for obtaining the corresponding relation of the position and the size of the internal organs of the carcass; the data analysis module is connected through a controller (6) and draws the chamber robot (3), and the output end of the chamber robot (3) is connected with an end effector (4) of the chamber mechanical arm.

2. The automatic poultry robot scutching system according to claim 1, characterized in that the image acquisition device (1) comprises a plurality of industrial cameras arranged on the top and the side wall of the conveyor (2), and each industrial camera is used for photographing a carcass and a chamber opening respectively.

3. A poultry robot automatic bore picking system according to claim 1 characterized in that the carcass gripper (5) comprises a gripper pose holding device (51) for gripping the carcass, the gripper pose holding device (51) being slidingly connected to the top of the conveyor (2) by means of a gripper feed device (52).

4. A poultry robot automatic bore drawing system according to claim 3, characterized in that the gripping and feeding device (52) comprises a vertically arranged seat (523), the upper end of the seat (523) is connected with the top of the conveyor (2) in a sliding way through a slide block (522), the slide block (522) is connected with a second cylinder (521);

the clamping pose maintaining device (51) comprises a left fixing arm (511) and a right fixing arm (511) which are vertically arranged at the bottom of the support (523), the tail ends of the two fixing arms (511) are respectively provided with a clamping arm (512), and the clamping arms (512) are connected with a first air cylinder (513).

5. Poultry robot automatic bore drawing system according to claim 1, characterized in that the bore drawing robot (3) is a six axis robot.

6. An automatic poultry robot scutching system according to claim 1, characterized in that the scutching manipulator end effector (4) comprises a slide bar (401) vertically connected with an end flange (306) of the scutching robot (3), the slide bar (401) is slidably connected with a cutter holder (403) through an upper slide block (402), the upper slide block (402) is connected with a third cylinder, and the bottom of the cutter holder (403) is provided with a scutching finger (404).

7. A poultry robot automatic bore drawing system according to claim 1, characterized in that the conveyor (2) comprises a frame (204) and an endless chain (202) mounted along the upper part of the frame (204), the endless chain (202) is mounted with a plurality of poultry hangers (201) at uniform intervals, the endless chain (202) is connected with the output end of the motor-reducer (203) through a driving sprocket shaft.

8. A poultry robot automatic bore picking system according to claim 7, characterized in that the drive sprocket shaft is also provided with a rotary encoder for detecting the speed of the poultry being conveyed by the conveyor (2).

Technical Field

The invention relates to poultry slaughtering equipment, in particular to an automatic chamber drawing system of a poultry robot.

Background

The evisceration of the poultry viscera is the most difficult link for realizing mechanization and automation in poultry slaughtering and poultry meat processing, and the research on the automatic poultry eviscerating equipment has important significance for improving the full-automatic operation level of a poultry slaughtering production line and improving the food safety quality of poultry products. At present, most of poultry automatic bore digging equipment in the market is from developed countries in Europe and America, and since the countries in Europe and America do not eat poultry viscera generally, the foreign bore digging equipment is not completely suitable for the national conditions of China, and at present, the domestic is generally operated by adopting a manual auxiliary production line, so that the work significance of developing the poultry automatic bore digging equipment meeting the requirements of China is great.

Poultry slaughtering generally comprises the processes of causing dusk, killing, draining blood, scalding, molting, removing villi, cutting anus, taking out the chamber, trimming, cooling, waiting to be detected, warehousing and the like. The eviscerating is an important intermediate link in poultry meat processing, and since other links basically realize full-automatic mechanical operation, the eviscerating process determines whether the whole poultry slaughtering and processing process is full-automatic or semi-automatic operation. In China, the economic added value of poultry viscera is high, and slaughtering enterprises mostly adopt manual viscera picking to reduce the viscera breakage rate, so that the production cost is greatly increased, and further higher requirements are provided for poultry eviscerating equipment. At present, domestic and foreign poultry slaughtering equipment mainly aims at large-scale centralized breeding of poultry, the poultry is single in variety and small in poultry body difference, general automatic eviscerating equipment has certain requirements on the size of the processed poultry, and the poultry slaughtering equipment is suitable for poultry of a certain class and small in body difference. For example, patent CN107668161A discloses a "poultry evisceration robot system based on machine vision", which basically realizes the function of automatically taking viscera, but they adopt rectangular coordinate mechanical arms, the operation mode is limited, and the viscera center is replaced by the poultry carcass center, so that the judgment of the position of the viscera of the poultry is not accurate enough, the viscera damage rate and the viscera residue rate generated by the evisceration work are still large, and the requirement of the poultry evisceration work in China on the completeness of the viscera can not be completely met.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides an automatic poultry robot chamber taking system, which solves the defect that the operation mode is limited due to the adoption of a rectangular coordinate mechanical arm in the conventional poultry chamber cleaning process; and the poultry carcass center replaces the viscera center, so that the judgment on the position of the viscera of the poultry is inaccurate, and the viscera breakage rate is high.

The invention is realized by the following technical scheme:

an automatic bore digging system of a poultry robot comprises a conveyor for conveying poultry, wherein a poultry body clamping device for fixing the poultry is arranged on the conveyor, a position sensor is arranged on the upper conveyor corresponding to the poultry body clamping device, an image acquisition device for acquiring information of a poultry body and a bore is further arranged on one side edge of the poultry body clamping device, the position sensor, the image acquisition device and the poultry body clamping device are respectively connected with a controller, the output end of the image acquisition device is connected with an image segmentation module for segmenting the body and viscera, the output end of the image segmentation module is connected to a data analysis module, and the data analysis module is used for obtaining the corresponding relation of position and size between the body viscera; the data analysis module is connected with a robot for taking out the chamber through a controller, and the output end of the robot for taking out the chamber is connected with an end effector of a manipulator for taking out the chamber.

Furthermore, the image acquisition device comprises a plurality of industrial cameras arranged on the top and the side wall of the conveyor, and each industrial camera is respectively used for photographing the carcasses and the rifles.

Further, the carcass gripping device includes a gripping attitude keeping device for gripping the carcass, the gripping attitude keeping device being slidably connected to the conveyor top through a gripping feeding device.

Further, the clamping and feeding device comprises a support which is vertically arranged, and the upper end of the support is connected with the top of the conveyor in a sliding mode through a sliding block;

the clamping pose maintaining device comprises a left fixing arm and a right fixing arm which are vertically arranged at the bottom of the support, the tail ends of the two fixing arms are respectively provided with a clamping arm, and the clamping arms are connected with a first air cylinder.

Further, the bore drawing robot is a six-axis robot.

Further, draw thorax manipulator end effector include with draw the perpendicular slide bar of being connected of thorax robot end flange, the slide bar passes through slider sliding connection blade holder, the third cylinder is connected to the top shoe, the blade holder bottom is equipped with draws the thorax and indicates.

Furthermore, the conveyer comprises a rack and an annular chain arranged along the upper part of the rack, a plurality of poultry hangers are uniformly arranged on the annular chain at intervals, and the annular chain is connected with the output end of the motor-reducer through a driving chain wheel shaft.

Furthermore, a rotary encoder for detecting the speed of the poultry conveyed by the conveyor is also arranged on the driving chain wheel shaft.

Compared with the prior art, the invention has the beneficial effects that:

according to the automatic eviscerating system for the poultry robot, the image acquisition device is controlled to acquire shot images of a carcass and an opening through positioning of the position sensor, then the images are divided by the image dividing module to obtain the carcass and internal organs, the position size of the obtained carcass internal organs is corresponded by the data analysis module, the action of the eviscerating robot is controlled, and automatic eviscerating of the internal organs is achieved; the damage rate of edible viscera is reduced, and the economic benefit is improved.

Drawings

Fig. 1 is a schematic structural diagram of an automatic poultry robot inner bore removing system according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a clamping pose holding device according to the embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a clamping and feeding device according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of the bore drawing robot according to the embodiment of the present invention;

FIG. 5 is a schematic structural view of an end effector of a chambering manipulator according to an embodiment of the present invention;

fig. 6 is a flowchart of data processing after image acquisition according to an embodiment of the present invention.

In the figure:

1. an image acquisition device; 2. a conveyor; 201. a poultry hanger; 202. an endless chain; 203. motor-reducer; 204. a frame; 205. a chamber drawing station; 3. an eviscerating robot; 301. a first shaft; 302. a second shaft; 303. a third axis; 304. a fourth axis; 305. a fifth shaft; 306. a terminal flange; 4. an end effector of the chambering manipulator; 401. a slide bar; 402. an upper slide block; 403. a tool apron; 404. taking out the fingers; 5. a carcass gripping device; 51. a clamping pose holding device; 511. a fixed arm; 512. a clamp arm; 513. a first cylinder; 52. a clamping and feeding device; 521. a second cylinder; 522. a slider; 523. a support; 6. and a controller.

Detailed Description

The following examples are presented to illustrate certain embodiments of the invention in particular and should not be construed as limiting the scope of the invention. The present disclosure may be modified from materials, methods, and reaction conditions at the same time, and all such modifications are intended to be within the spirit and scope of the present invention.

As shown in fig. 1 and 6, the automatic poultry robot bore picking system comprises a conveyor 2 for conveying poultry, a poultry body holding device 5 for holding the poultry is arranged on the conveyor 2, a position sensor is arranged on the upper conveyor 2 corresponding to the poultry body clamping device 5, an image acquisition device 1 for acquiring information of poultry bodies and muzzles is also arranged on one side edge of the poultry body clamping device 5, the position sensor, the image acquisition device 1 and the poultry body clamping device 5 are respectively connected with the controller 6, the position sensor is also used for controlling the start and stop of the conveyor 2, the output end of the image acquisition device 1 is connected with an image segmentation module for segmenting carcasses and internal organs, the output end of the image segmentation module is connected to a data analysis module, and the data analysis module is used for obtaining the corresponding relation of the position and the size of the internal organs of the carcass; the data analysis module is connected through controller 6 and is drawn thorax robot 3, draw thorax robot 3's output connection and draw thorax manipulator end effector 4.

The broiler carcasses with the muzzles arranged at the tail parts are placed on the conveyor 2 one by one, and the conveyor 2 moves circularly according to the production rhythm. When a position sensor detects that broilers reach a designated position, the conveyor is controlled to pause conveying, (the position sensor can be a photoelectric switch, the output end of the photoelectric switch faces to the poultry, when infrared light beams emitted by the photoelectric switch are shielded by the broilers, the photoelectric switch controls the conveyor to stop moving), a poultry body clamping device 5 clamps the bodies of the broilers, as shown in fig. 6, an image acquisition device 1 shoots the poultry body and a bore, an image is input to an image segmentation module to obtain the size and the position of the body and the bore, then a data analysis module obtains the size and the position of viscera according to a body size data and a characteristic prediction equation corresponding to the position size between the viscera of the body, and obtains the size and the position of the viscera (the data analysis module comprises CurveExpert1.4 software, a large number of bodies and corresponding viscera data which are acquired in advance are fitted to obtain the size and position corresponding relation positioning viscera between the body and the viscera, characteristic prediction equation for predicting viscera outline), and controlling the movements of the eviscerating robot 3 and the end effector 4 of the eviscerating manipulator, enabling the end effector 4 of the eviscerating manipulator to move from the poultry chamber mouth area to the poultry body abdominal cavity outline from top to bottom to achieve on-line eviscerating, peeling the viscera of the broiler chickens from the cavity, taking out the viscera and placing the viscera in a designated collection container to complete the eviscerating operation of one broiler chicken, loosening the pose clamping device under the action of a control system, returning the clamping pose feeding device, switching on a motor of the conveying device to drive the next broiler chicken to enter an eviscerating station, and then completing the next circular eviscerating action.

In this embodiment, the conveyor 2 includes a frame 204 and an endless chain 202 installed along an upper portion of the frame 204, the endless chain 202 is connected to an output end of the motor-reducer 203 through a driving sprocket shaft, the poultry hangers 201 are installed on the endless chain 202 at intervals of 260mm, upper portions of the poultry hangers 201 are connected to the endless chain 202 through pins, the driving sprocket is driven by the motor-reducer 203 to drive the poultry hangers 201 to form a circular motion, so that the poultry is conveyed, two legs of the poultry to be broached are manually hung upside down on the poultry hangers 201 right opposite to the broached station 205, and the poultry is conveyed to the broached station 205 one by one under the action of the control system and the conveying chain.

In this embodiment, the image capturing device 1 includes a plurality of industrial cameras disposed on the top and the side wall of the conveyor 2, and each of the industrial cameras is used for photographing the carcasses and the rifles. The industrial camera arranged on the top is used for taking a picture of the bore, and the industrial camera arranged on the side is used for taking a picture of the carcass.

In the present embodiment, as shown in fig. 2 to 3, the body holding device 5 includes a holding posture keeping device 51 for holding the body, and the holding posture keeping device 51 is slidably connected to the top of the conveyor 2 by a holding feed device 52. Since the conveying chain on the conveyor 2 is a closed loop path, in order to prevent obstacles from being generated to the poultry conveyance during the poultry conveyance process, the holding and feeding device 52 retracts the holding and posture holding device 51, and pushes the holding and posture holding device 51 forward to a proper position during the evisceration operation.

In this embodiment, the grip feeding device 52 includes a vertically arranged support 523, the upper end of the support 523 is slidably connected to the top of the conveyor 2 through a slide block 522, the slide block 522 is connected to a second air cylinder 521, and the second air cylinder 521 pushes the grip pose holding device 51 to move back and forth; the holding posture maintaining device 51 includes two right and left fixing arms 511 mounted perpendicularly to the bottom of the pedestal 523, and a holding arm 512 is provided at each end of the two fixing arms 511, and the holding arm 512 is connected to a first cylinder 513. Fixed arm 511 and centre gripping arm 512 are according to poultry carcass chest appearance design, when drawing the thorax in-process, the meat chicken moves when the assigned position needs to be fixed, both sides centre gripping arm 512 realizes opening and shutting under the promotion of first cylinder 513, the air feed pressure of first cylinder 513 can finely tune in real time, when the poultry appearance is great, first cylinder 513 pressure is little slightly, the first cylinder 513 piston also correspondingly diminishes to the propulsion of centre gripping arm 512, thereby make the change of centre gripping position appearance holding device 51 automatic adaptation poultry bodily form.

In the present embodiment, as shown in fig. 4, the coring robot 3 is a six-axis robot. The first shaft 301 is connected with the base, mainly bears the weight of the rest shafts, realizes the left-right rotation with the base, and is driven by a worm gear; the second shaft 302 controls the front-back swing of the main arm of the robot, and realizes the function of up-down motion of the whole main arm; the third shaft 303 also has the function of controlling the robot to swing back and forth, and is only smaller than the swing arm range of the second shaft; the fourth axis 304 is a part which controls the upper part of the robot and can freely rotate, and the moving range is equivalent to the small arm of a human; the fifth axis 305 is an up-down turning action, which is usually an action that can turn over the product after the product is grabbed; the sixth axis is the end flange 306 and can rotate 360.

In the present embodiment, as shown in fig. 5, the end effector 4 of the tapping manipulator comprises a sliding rod 401 vertically connected to the end flange 306 of the tapping robot 3, the sliding rod 401 is slidably connected to a tool holder 403 through an upper slider 402, the upper slider 402 is connected to a third cylinder, and a tapping finger 404 is disposed at the bottom of the tool holder 403. The third cylinder drives the upper sliding block 402 to drive the connecting tool apron 403 to slide up and down on the sliding rod 401 to achieve the poultry bore digging operation, and in order to achieve the efficiency and quality of the bore digging operation, the design of the bore digging fingers 404 mainly simulates the quality of manual bore digging.

In this embodiment, the drive sprocket shaft is further provided with a rotary encoder for detecting the poultry conveying speed of the conveyor 2, and the rotary encoder is used for controlling and displaying the poultry conveying speed.

In conclusion, the automatic eviscerating system for the poultry robot is positioned by the position sensor, the image acquisition device is controlled to acquire images of a shot body and an opening, then the images are divided by the image dividing module to obtain the body and internal organs, the position and the size of the obtained body internal organs are corresponding by the data analysis module, the action of the eviscerating robot is controlled, and the automatic eviscerating of the internal organs is realized; the damage rate of edible viscera is reduced, and the economic benefit is improved.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.