基于触觉感知的家禽净膛机械手及其控制系统的设计
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摘要
针对机械手净膛过程中家禽内脏易破损的问题,该文设计了基于触觉感知的机械手及其控制系统。利用STM32单片机产生脉冲宽度调制PWM(pulse width modulation)信号控制机械臂在X,Y,Z轴方向上的运动,同时控制机械手爪步进电机正转,实现机械手爪的闭合。利用单片机的模数转换器ADC(analog-to-digital converter)模块实时采集安装在手指内侧的压阻式薄膜传感器上的压力,将采集的压力值与试验得到的7.7 N压力阈值进行分析比较,控制机械手爪步进电机反转,从而控制机械手爪的抓紧力度,保证内脏不至于受力太大而破损,也不至于闭合不够内脏脱落。利用Qt Creator开发净膛机械手的控制界面,包括点动和自动两种控制模式。试验结果表明:带触觉系统的机械手爪能明显减小内脏的破损,内脏破损平均得分由4.75分减小到4分,且净膛率为87.4%。该机械手的性能稳定、对内脏的破损小、自动化程度高、人机交互界面友好且易控制,可为后续净膛机械手的设计提供参考。
Aiming at the problem of poultry entrails easy to be damaged in the poultry eviscerated processing, we designed the manipulator and its control system based on tactile perception in this paper. According to the size and depth of abdominal part of broiler with the general size, the maximum distance from the mechanical gripper when it is opened and the length range of the mechanical finger are respectively determined. Through the analysis of the poultry entrails, the bending degree of the mechanical fingers is determined, and then the envelope space when the mechanical gripper is closed is determined. The three-dimensional model of the mechanical gripper is established by SolidW orks software. The size of mechanical gripper is determined by the movement analysis and the assembly of mechanical gripper. The mechanical gripper is driven by a screw, the rotary motion of the stepper motor is converted into a linear motion of the slider by means of a screw, and then through the connecting rod the movement of mechanical fingers is achieved. STM32 single chip microcomputer is used to generate PWM(pulse width modulation) signal to control the move of mechanical arm in X, Y, Z axis direction, and at the same time to control the positive direction rotation of stepping motor of manipulator, achieving the closing of mechanical paw. The piezoresistive film sensor is used as the tactile sensing part of the mechanical gripper. When the pressure on the sensor becomes larger, the resistance value becomes smaller. On the other hand, when the pressure becomes smaller, the resistance value becomes larger. Single chip microcomputer can collect the voltage signal, but can not directly collect the resistance signal, so the resistance-voltage conversion module is used to make the changes of resistance value of the sensor that is caused by the changeable pressure on the sensor, which becomes the corresponding voltage signal. In this way, the ADC(analog-to-digital converter) module of single chip microcomputer is used to collected the pressure of piezoresistive type film sensor in real time installed in the inside of finger. We make the 4 broilers as a group and conduct the visceral pressure threshold test of broiler with a total of 3 groups of broilers and the pressure threshold of the mechanical gripper is determined. We compare the collected pressure with pressure threshold value that is 7.7 N, and control reverse rotation of stepping motor of manipulator, so as to control the force of manipulator paw to ensure that entrails would not endure too much force to be damaged, or would not fall off due to closing not enough. Qt Creator is used to draw the user graphical interface of poultry eviscerated manipulator, and the interface is mainly composed of serial port, display box, automatic mode, manual mode and operation control, and includes manual and automatic control modes. In automatic mode, you can enter the running distance of the 3 axes to determine the movement state of the manipulator, and at the same time, in manual mode, you can click the manual button to control the action of the robot. The PC(personal computer) and STM32 single chip microcomputer are connected by the serial data cable, and then the system is initialized. In this way, you can operate the control interface. In addition, when the manipulator gets trouble in the working process, you can click the stop button to make all the stepper motors disabled, to ensure the safety of equipment. The results of test showed that mechanical paw with the tactile system could significantly reduce the damage of entrails,the average score of visceral damage decreased from 4.75 to 4, and the evisceration rate was 87.4%. The manipulator has the advantages of stable performance, less damage to entrails, high degree of automation, friendly human-computer interface and easy control, and has high practical value.
Aiming at the problem of poultry entrails easy to be damaged in the poultry eviscerated processing, we designed the manipulator and its control system based on tactile perception in this paper. According to the size and depth of abdominal part of broiler with the general size, the maximum distance from the mechanical gripper when it is opened and the length range of the mechanical finger are respectively determined. Through the analysis of the poultry entrails, the bending degree of the mechanical fingers is determined, and then the envelope space when the mechanical gripper is closed is determined. The three-dimensional model of the mechanical gripper is established by SolidW orks software. The size of mechanical gripper is determined by the movement analysis and the assembly of mechanical gripper. The mechanical gripper is driven by a screw, the rotary motion of the stepper motor is converted into a linear motion of the slider by means of a screw, and then through the connecting rod the movement of mechanical fingers is achieved. STM32 single chip microcomputer is used to generate PWM(pulse width modulation) signal to control the move of mechanical arm in X, Y, Z axis direction, and at the same time to control the positive direction rotation of stepping motor of manipulator, achieving the closing of mechanical paw. The piezoresistive film sensor is used as the tactile sensing part of the mechanical gripper. When the pressure on the sensor becomes larger, the resistance value becomes smaller. On the other hand, when the pressure becomes smaller, the resistance value becomes larger. Single chip microcomputer can collect the voltage signal, but can not directly collect the resistance signal, so the resistance-voltage conversion module is used to make the changes of resistance value of the sensor that is caused by the changeable pressure on the sensor, which becomes the corresponding voltage signal. In this way, the ADC(analog-to-digital converter) module of single chip microcomputer is used to collected the pressure of piezoresistive type film sensor in real time installed in the inside of finger. We make the 4 broilers as a group and conduct the visceral pressure threshold test of broiler with a total of 3 groups of broilers and the pressure threshold of the mechanical gripper is determined. We compare the collected pressure with pressure threshold value that is 7.7 N, and control reverse rotation of stepping motor of manipulator, so as to control the force of manipulator paw to ensure that entrails would not endure too much force to be damaged, or would not fall off due to closing not enough. Qt Creator is used to draw the user graphical interface of poultry eviscerated manipulator, and the interface is mainly composed of serial port, display box, automatic mode, manual mode and operation control, and includes manual and automatic control modes. In automatic mode, you can enter the running distance of the 3 axes to determine the movement state of the manipulator, and at the same time, in manual mode, you can click the manual button to control the action of the robot. The PC(personal computer) and STM32 single chip microcomputer are connected by the serial data cable, and then the system is initialized. In this way, you can operate the control interface. In addition, when the manipulator gets trouble in the working process, you can click the stop button to make all the stepper motors disabled, to ensure the safety of equipment. The results of test showed that mechanical paw with the tactile system could significantly reduce the damage of entrails,the average score of visceral damage decreased from 4.75 to 4, and the evisceration rate was 87.4%. The manipulator has the advantages of stable performance, less damage to entrails, high degree of automation, friendly human-computer interface and easy control, and has high practical value.
引文
[1]张奎彪.中国家禽屠宰加工技术及装备在十二五期间的发展目标[J].肉类工业,2011(3):8-11.
[2]尹彦勋.中国肉鸡产业的发展现状及趋势[C].全球肉鸡产业论坛暨第二届中国白羽肉鸡产业发展大会,2010.
[3]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 and equipment of waterfowl slaughtering and processing in China and its development trend[J].Meat industry,2005(12):1-4.(in Chinese with English abstract)
[4]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,2009(10):93-96.Ma Pengwei,Wang Lihong,Ye Jinpeng,et al.Poultry automatic visceral technology and equipment in China's application prospects[J].Agricultural Products Processing,2009(10):93-96.(in Chinese with English abstract)
[5]王猛,李阳阳,叶金鹏.家禽自动掏膛机械手的发展和应用现状[J].农产品加工,2014(5):62-64.Wang Meng,Li Yangyang,Ye Jinpeng.Development and Application of Poultry Automatic Evisceration Manipulator[J].Agricultural Products Processing,2014(5):62-64.(in Chinese with English abstract)
[6]蒋俊强.家禽自动开膛机械手结构及运动参数研究[D].北京:中国农业机械化科学研究院,2016.Jiang Junqiang.Research on Structure and Movement Parameters of Poultry Automatic Bellow[D].Beijing:China Agricultural Mechanization Research Institute,2016.(in Chinese with English abstract)
[7]Rudolf J Tieleman.Poultry eviscerating:US4435878[P].1984-03-13.
[8]Tieleman Edward Johannes.Device for eviscerating poultry:EP0432317Al[P].1991-06-91.
[9]Meyn,Cornelis.Apparatus for removing the entrails from the abdominal cavity of poultry:EP0538943Bl[P].1995-01-11.
[10]Evert Kilkstra.Eviscerating device for poultry:US5713786[P].1998-02-03.
[11]王猛.夹取式家禽自动掏膛机械手结构和运动参数的研究[D].北京:中国农业机械化科学研究院,2014.Wang Meng.Study on Structure and Trajectory Parameter of the Grippable Automatic Evisceration Manipulator for Poultry[D].Beijing:Chinese Academy of Agricultural Mechanization Science,2014.(in Chinese with English abstract)
[12]王丽红.基于数字化设计的家禽取内脏机关键技术研究[D].北京:中国农业机械化科学研究院,2011.Wang Lihong.Research on Key Technology of Poultry Taking Visceral Machine Based on Digitized Design[D].Beijing:China Agricultural Mechanization Research Institute,2011.(in Chinese with English abstract)
[13]章军.六关节三指苹果抓取机械手的自适应柔性分析[J].农业工程学报,2010,26(1):140?144.Zhang Jun.Analysis of adaptive flexibility of three-finger manipulator with six-joint for grasping apple[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2010,26(1):140?144.(in Chinese with English abstract)
[14]李程程.七自由度机械臂控制系统设计与研究[D].南京:东南大学,2016.Li Chengcheng.Seven Degrees of Freedom Arm Control System Design and Research[D].Nanjing:Southeast University,2016.(in Chinese with English abstract)
[15]李江道.空间机械臂机电一体化关节的设计与控制[D].上海:上海交通大学,2012.Li Jiangdao.Space Mechanical Arm Mechanical and Electrical Integration of The Joint Design and Control[D].Shanghai:Shanghai Jiao tong University,2012.(in Chinese with English abstract)
[16]刘牧歌.五自由度搬运机械手关键技术研究[D].锦州:辽宁工业大学,2016.Liu Muge.Research on Key Technologies of Five-DOFHandling Manipulator[D].Jinzhou:Liaoning University of Technology,2016.(in Chinese with English abstract)
[17]陈磊.六自由度关节型喷涂机器人结构设计及分析[D].重庆:重庆大学,2015.Chen Lei.Structural Design and Analysis of a Six-DOF Joint Type Painting Robot[D].Chongqing:Chongqing University,2015.(in Chinese with English abstract)
[18]徐元昌.工业机械手[M].北京:中国轻工业出版社,2001.
[19]周江.STM32单片机原理及硬件电路设计研究[J].数字技术与应用,2015(11):1.Zhou Jiang.STM32 Singlechip Principle and Hardware Design[J].Digital Technology and Applications,2015(11):1.(in Chinese with English abstract)
[20]桑勇,李锋涛,代月帮,等.面向伺服电机的STM32单片机控制系统设计[J/OL].机电工程技术,2015,44(11):65-72.Sang Yong,Li Fengtao,Dai Yuebang,et al.Design of STM32Microcontroller Control System for servo motor[J/OL].mechanical and electrical engineering technology,201544(11):65-72.(in Chinese with English abstract)
[21]邱恒.基于STM32单片机的直流电机调速系统设计研究[J].电子世界,2016(7):156-158.Qiu Heng.Design and research of DC motor speed regulation system based on STM32 single chip microcomputer[J].electronic world,2016(7):156-158.(in Chinese with English abstract)
[22]龚金成,谌建飞,赵丹,等.步进电机远程控制方案的设计及实现[J].机电工程,2016(11):1398-1402.Gong Jincheng,Shen Jianfei,Zhao Dan,et al.Design and Realization of Stepping Motor Remote Control Scheme[J].Mechanical and Electrical Engineering Technology,2016(11):1398-1402.(in Chinese with English abstract)
[23]徐建国.步进电机智能控制的设计与实现[J/OL].电子技术与软件工程,2016(22):139.Xu Jianguo.Design and realization of stepping motor intelligent control[J/OL].Electronic Technology and Software Engineering,2016(22):139.(in Chinese with English abstract)
[24]户佩佩,朱振伟.步进电机和伺服电机在十字滑台控制中的应用[J/OL].轻工科技,2016(3):53-54.Hu Peipei,Zhu Zhenwei.Application of stepping motor and servo motor in cross slide control[J/OL].Light Industry Technology,2016(3):53-54.(in Chinese with English abstract)
[25]高伟康.基于STM32的两相四线步进电机高精度驱动器设计[D].淮南:安徽理工大学,2017.Gao Weikang.Design of High Precision Driver for Two-Phase Four-Wire Stepper Motor Based on STM32[D].Huainan:Anhui University of Science and Technology,2017.(in Chinese with English abstract)
[26]付辉,温丝丝,苟芳,等.QT用户界面的设计与实现[J].中国新通信,2014(17):104.Fu Hui,Wen Sisi,Gou Fang,et al.Design and implementation of QT user interface[J].China New Telecommunications,2014(17):104.(in Chinese with English abstract)
[27]张增虎,李博,郭锐.嵌入式Linux平台下MPlayer图形用户界面的实现[J].电视技术,2014(5):74-76.Zhang Zenghu,Li Bo,Guo Rui.Realization of MPlayer graphical user interface in embedded Linux platform[J].TVtechnology,2014(5):74-76.(in Chinese with English abstract)
[28]方世烟,林东.基于Qt的电纸书图形用户界面设计[J].计算机系统应用,2012(3):216-219.Fang Shiyan,Lin Dong.Qt-based electronic paper book graphical user interface design[J].Computer system applications,2012(3):216-219.(in Chinese with English abstract)
[29]毕洁英.基于Qt的嵌入式系统GUI的设计与实现[D].济南:山东师范大学,2016.Bi Jieying.Embedded System GUI Design and Implementation Based on Qt[D].Jinan:Shandong Normal University,2016.(in Chinese with English abstract)
[30]谢学刚.基于Qt5.0的机器人上位机系统的设计[D].哈尔滨:东北农业大学,2016.Xie Xuegang.The Robot PC System Design Based on Qt5.0[D].Harbin:Northeast Agricultural University,2016.(in Chinese with English abstract)
[31]王丽红,阎楚良,叶金鹏,等.QNZ15型家禽自动取内脏机设计与试验[J].农业机械学报,2010,41(增刊1):220-224.Wang Lihong,Yan Chuliang,Ye Jinpeng,et al.Design and experiment of poultry automatic taking entrails machine of QNZ15 model[J].Transactions of the Chinese Society of Agricultural Machinery,2010,41(S1):220-224.(in Chinese with English abstract)
[2]尹彦勋.中国肉鸡产业的发展现状及趋势[C].全球肉鸡产业论坛暨第二届中国白羽肉鸡产业发展大会,2010.
[3]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 and equipment of waterfowl slaughtering and processing in China and its development trend[J].Meat industry,2005(12):1-4.(in Chinese with English abstract)
[4]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,2009(10):93-96.Ma Pengwei,Wang Lihong,Ye Jinpeng,et al.Poultry automatic visceral technology and equipment in China's application prospects[J].Agricultural Products Processing,2009(10):93-96.(in Chinese with English abstract)
[5]王猛,李阳阳,叶金鹏.家禽自动掏膛机械手的发展和应用现状[J].农产品加工,2014(5):62-64.Wang Meng,Li Yangyang,Ye Jinpeng.Development and Application of Poultry Automatic Evisceration Manipulator[J].Agricultural Products Processing,2014(5):62-64.(in Chinese with English abstract)
[6]蒋俊强.家禽自动开膛机械手结构及运动参数研究[D].北京:中国农业机械化科学研究院,2016.Jiang Junqiang.Research on Structure and Movement Parameters of Poultry Automatic Bellow[D].Beijing:China Agricultural Mechanization Research Institute,2016.(in Chinese with English abstract)
[7]Rudolf J Tieleman.Poultry eviscerating:US4435878[P].1984-03-13.
[8]Tieleman Edward Johannes.Device for eviscerating poultry:EP0432317Al[P].1991-06-91.
[9]Meyn,Cornelis.Apparatus for removing the entrails from the abdominal cavity of poultry:EP0538943Bl[P].1995-01-11.
[10]Evert Kilkstra.Eviscerating device for poultry:US5713786[P].1998-02-03.
[11]王猛.夹取式家禽自动掏膛机械手结构和运动参数的研究[D].北京:中国农业机械化科学研究院,2014.Wang Meng.Study on Structure and Trajectory Parameter of the Grippable Automatic Evisceration Manipulator for Poultry[D].Beijing:Chinese Academy of Agricultural Mechanization Science,2014.(in Chinese with English abstract)
[12]王丽红.基于数字化设计的家禽取内脏机关键技术研究[D].北京:中国农业机械化科学研究院,2011.Wang Lihong.Research on Key Technology of Poultry Taking Visceral Machine Based on Digitized Design[D].Beijing:China Agricultural Mechanization Research Institute,2011.(in Chinese with English abstract)
[13]章军.六关节三指苹果抓取机械手的自适应柔性分析[J].农业工程学报,2010,26(1):140?144.Zhang Jun.Analysis of adaptive flexibility of three-finger manipulator with six-joint for grasping apple[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2010,26(1):140?144.(in Chinese with English abstract)
[14]李程程.七自由度机械臂控制系统设计与研究[D].南京:东南大学,2016.Li Chengcheng.Seven Degrees of Freedom Arm Control System Design and Research[D].Nanjing:Southeast University,2016.(in Chinese with English abstract)
[15]李江道.空间机械臂机电一体化关节的设计与控制[D].上海:上海交通大学,2012.Li Jiangdao.Space Mechanical Arm Mechanical and Electrical Integration of The Joint Design and Control[D].Shanghai:Shanghai Jiao tong University,2012.(in Chinese with English abstract)
[16]刘牧歌.五自由度搬运机械手关键技术研究[D].锦州:辽宁工业大学,2016.Liu Muge.Research on Key Technologies of Five-DOFHandling Manipulator[D].Jinzhou:Liaoning University of Technology,2016.(in Chinese with English abstract)
[17]陈磊.六自由度关节型喷涂机器人结构设计及分析[D].重庆:重庆大学,2015.Chen Lei.Structural Design and Analysis of a Six-DOF Joint Type Painting Robot[D].Chongqing:Chongqing University,2015.(in Chinese with English abstract)
[18]徐元昌.工业机械手[M].北京:中国轻工业出版社,2001.
[19]周江.STM32单片机原理及硬件电路设计研究[J].数字技术与应用,2015(11):1.Zhou Jiang.STM32 Singlechip Principle and Hardware Design[J].Digital Technology and Applications,2015(11):1.(in Chinese with English abstract)
[20]桑勇,李锋涛,代月帮,等.面向伺服电机的STM32单片机控制系统设计[J/OL].机电工程技术,2015,44(11):65-72.Sang Yong,Li Fengtao,Dai Yuebang,et al.Design of STM32Microcontroller Control System for servo motor[J/OL].mechanical and electrical engineering technology,201544(11):65-72.(in Chinese with English abstract)
[21]邱恒.基于STM32单片机的直流电机调速系统设计研究[J].电子世界,2016(7):156-158.Qiu Heng.Design and research of DC motor speed regulation system based on STM32 single chip microcomputer[J].electronic world,2016(7):156-158.(in Chinese with English abstract)
[22]龚金成,谌建飞,赵丹,等.步进电机远程控制方案的设计及实现[J].机电工程,2016(11):1398-1402.Gong Jincheng,Shen Jianfei,Zhao Dan,et al.Design and Realization of Stepping Motor Remote Control Scheme[J].Mechanical and Electrical Engineering Technology,2016(11):1398-1402.(in Chinese with English abstract)
[23]徐建国.步进电机智能控制的设计与实现[J/OL].电子技术与软件工程,2016(22):139.Xu Jianguo.Design and realization of stepping motor intelligent control[J/OL].Electronic Technology and Software Engineering,2016(22):139.(in Chinese with English abstract)
[24]户佩佩,朱振伟.步进电机和伺服电机在十字滑台控制中的应用[J/OL].轻工科技,2016(3):53-54.Hu Peipei,Zhu Zhenwei.Application of stepping motor and servo motor in cross slide control[J/OL].Light Industry Technology,2016(3):53-54.(in Chinese with English abstract)
[25]高伟康.基于STM32的两相四线步进电机高精度驱动器设计[D].淮南:安徽理工大学,2017.Gao Weikang.Design of High Precision Driver for Two-Phase Four-Wire Stepper Motor Based on STM32[D].Huainan:Anhui University of Science and Technology,2017.(in Chinese with English abstract)
[26]付辉,温丝丝,苟芳,等.QT用户界面的设计与实现[J].中国新通信,2014(17):104.Fu Hui,Wen Sisi,Gou Fang,et al.Design and implementation of QT user interface[J].China New Telecommunications,2014(17):104.(in Chinese with English abstract)
[27]张增虎,李博,郭锐.嵌入式Linux平台下MPlayer图形用户界面的实现[J].电视技术,2014(5):74-76.Zhang Zenghu,Li Bo,Guo Rui.Realization of MPlayer graphical user interface in embedded Linux platform[J].TVtechnology,2014(5):74-76.(in Chinese with English abstract)
[28]方世烟,林东.基于Qt的电纸书图形用户界面设计[J].计算机系统应用,2012(3):216-219.Fang Shiyan,Lin Dong.Qt-based electronic paper book graphical user interface design[J].Computer system applications,2012(3):216-219.(in Chinese with English abstract)
[29]毕洁英.基于Qt的嵌入式系统GUI的设计与实现[D].济南:山东师范大学,2016.Bi Jieying.Embedded System GUI Design and Implementation Based on Qt[D].Jinan:Shandong Normal University,2016.(in Chinese with English abstract)
[30]谢学刚.基于Qt5.0的机器人上位机系统的设计[D].哈尔滨:东北农业大学,2016.Xie Xuegang.The Robot PC System Design Based on Qt5.0[D].Harbin:Northeast Agricultural University,2016.(in Chinese with English abstract)
[31]王丽红,阎楚良,叶金鹏,等.QNZ15型家禽自动取内脏机设计与试验[J].农业机械学报,2010,41(增刊1):220-224.Wang Lihong,Yan Chuliang,Ye Jinpeng,et al.Design and experiment of poultry automatic taking entrails machine of QNZ15 model[J].Transactions of the Chinese Society of Agricultural Machinery,2010,41(S1):220-224.(in Chinese with English abstract)