CN117546900A - Nondestructive grabbing and separating device and method for pig heart - Google Patents
Nondestructive grabbing and separating device and method for pig heart Download PDFInfo
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- CN117546900A CN117546900A CN202410038224.5A CN202410038224A CN117546900A CN 117546900 A CN117546900 A CN 117546900A CN 202410038224 A CN202410038224 A CN 202410038224A CN 117546900 A CN117546900 A CN 117546900A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 210000004204 blood vessel Anatomy 0.000 claims abstract description 9
- 210000004400 mucous membrane Anatomy 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 29
- 210000004712 air sac Anatomy 0.000 claims description 13
- 238000005452 bending Methods 0.000 claims description 12
- 238000007789 sealing Methods 0.000 claims description 9
- 230000001066 destructive effect Effects 0.000 claims description 7
- 230000003993 interaction Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 230000036544 posture Effects 0.000 claims description 3
- 239000000758 substrate Substances 0.000 abstract description 6
- 230000005484 gravity Effects 0.000 abstract description 3
- 230000008859 change Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 210000004877 mucosa Anatomy 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22B—SLAUGHTERING
- A22B5/00—Accessories for use during or after slaughtering
- A22B5/0005—Eviscerating devices, e.g. removing rectum, anus, intestines, brain tissue, hypophysis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
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- Food Science & Technology (AREA)
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Abstract
The invention provides a nondestructive grabbing and separating device and method for pig hearts, wherein the device comprises a substrate, a guide rail is fixedly connected to the substrate, a first lifter is movably arranged on the guide rail, a second lifter is fixedly connected to one end of the guide rail, scissors are fixedly arranged at the lower part of the first lifter, and flexible clamping jaws are fixedly arranged at the lower part of the second lifter; the flexible clamping jaw comprises a base, balloon fingers are distributed below the base in a circular array, traction ropes are arranged in the balloon fingers, and the form of the balloon fingers after pre-deformation is adjusted through the traction ropes so as to grasp the pig heart. The pre-deformation is realized through the balloon finger, the final grabbing of the pig heart is realized through the traction rope, and the balloon finger is not influenced by the tension of blood vessels and mucous membranes and the gravity of the pig heart due to the inextensibility of the traction rope, so that the balloon finger is stably grabbed on the pig heart, and the damage to the pig heart is avoided by utilizing the flexibility of the balloon finger.
Description
Technical Field
The invention relates to a nondestructive grabbing and separating technology of pig hearts, in particular to a nondestructive grabbing and separating device and method for pig hearts.
Background
After the whole pig is segmented, the pig heart is naked and leaked at the abdomen and is connected with the blood vessel and the mucosa, when the blood vessel and the mucosa are cut after the pig heart is manually grasped, the grasping force can be automatically changed, but the conditions of grasping omission or damage and the like still occur, the efficiency of manually treating the pig heart is low, the breakage rate is high, and the product quality is unstable; when the current manipulator grabs the pig heart and then cuts blood vessels and mucous membranes, the pig heart slightly deviates from a fixed position to cause grabbing failure and even to grab the heart, so that the efficiency is low, the number of defective heart products is increased, the yield is reduced, and constant high-quality assembly line processing cannot be realized.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a nondestructive grabbing and separating device and method for pig hearts, and aims to reduce the breakage rate of grabbing pig hearts by a manipulator and improve the working efficiency.
The nondestructive grabbing and separating device for the pig heart comprises a substrate, wherein a guide rail is fixedly connected to the substrate, a first lifter is movably arranged on the guide rail, one end of the guide rail is fixedly connected with a second lifter, scissors for automatically cutting off blood vessels and mucous membranes below the pig heart are fixedly arranged at the lower part of the first lifter, and the first lifter is used for driving the scissors to move up and down below the first lifter; the lower part of the second lifter is fixedly provided with a flexible clamping jaw, the flexible clamping jaw is used for downwards grabbing the pig heart, and the second lifter is used for driving the flexible clamping jaw to lift and move below the second lifter; the flexible clamping jaw comprises a base, balloon fingers are distributed below the base in a circular array, traction ropes are arranged in the balloon fingers, and the form of the balloon fingers after pre-deformation is adjusted through the traction ropes so as to grasp the pig heart.
The method further comprises the following steps: azimuth adjusting devices are arranged between the scissors and the first lifter and between the flexible clamping jaw and the second lifter, each azimuth adjusting device comprises a swinging mechanism and a rotating mechanism, each first lifter and each second lifter are fixedly connected with the corresponding rotating mechanism, each rotating mechanism is used for driving the swinging mechanism to rotate, and each scissors and each flexible clamping jaw are fixedly connected with the corresponding swinging mechanism; when the device works, the rotating mechanism drives the swinging mechanism to rotate, and the corresponding swinging mechanism drives the scissors and the flexible clamping jaw to swing respectively, so that the postures of the scissors and the flexible clamping jaw are adjusted.
The method further comprises the following steps: the patch type pressure sensor is fixedly arranged on the inner ring side of the air sac finger and is used for collecting the acting force of the pig heart on the air sac finger in real time.
The method further comprises the following steps: the air bag finger comprises a plurality of joints and sealing sleeves wrapping the joints in sequence, the outer ring sides of the adjacent joints are hinged with each other, the sealing sleeves are contracted by extracting gas in the sealing sleeves, so that the joints are driven to swing towards the inner ring side of the air bag finger, and the air bag finger is further enabled to be deformed; one end of the traction rope is fixedly connected to the joints of the finger tips of the air bags, the middle parts of the traction rope sequentially penetrate through the middle parts of other joints, the other end of the traction rope is wound on a winder arranged in the base, and the shrinkage of the traction rope is controlled through the winder.
A non-destructive grasping and separating method for pig hearts, comprising the following steps:
step 1: identifying the pig heart according to the visual identification system to obtain the edge curvature of the pig heart;
step 2: according to the edge curvature, the fingers of the air bag are correspondingly pre-deformed;
step 3: the air bag fingers are controlled to grasp the pig heart through the traction rope, and the acting force of the pig heart on the air bag fingers is collected in real time through the pressure sensor；
Step 4: according to the pulling force and acting force of the pulling wireThe moment balance equation of interaction adjusts the pulling force of the pulling rope +.>Thereby completing the grasping of the pig heart.
The method further comprises the following steps:wherein->For the length of the traction wire passage hole to the connection part, < >>For the angle of deflection between the first adjacent joints, < >>Is the modulus of elasticity>Is the length of the joint beam, < > and->Is the height of the connecting beam, < >>Is the cross-sectional width of the connecting beam, < >>For acting force->Horizontal angle of>For the deflection angle of the joint close to the air sac finger tip +.>And->The horizontal distance and the vertical distance from the contact point between the outer surface of the pig heart and the inner side of the tip of the clamping jaw to the joint are respectively.
The method further comprises the following steps:wherein, the method comprises the steps of, wherein,and->Is a component force applied to the joints in the middle of the finger with air bags by deformation of the joints due to bending>And->Is a joint bending moment which is applied to the joint in the middle of the finger of the air bag by the deformation of the joint caused by bending>Is the force from the pig heart exerted on the joints in the middle of the balloon finger, +.>And->Is the deflection angle of the joint between two adjacent joints at the middle of the finger of the air bag, +.>Force of pig heart on each joint of air sac finger +.>Horizontal distance to proximal joint, < >>Is the length of the joint traction wire channel at the middle of the finger of the air bag.
The invention has the beneficial effects that: the pre-deformation is realized through the balloon finger, the final grabbing of the pig heart is realized through the traction rope, and the balloon finger is not influenced by the tension of blood vessels and mucous membranes and the gravity of the pig heart due to the inextensibility of the traction rope, so that the balloon finger is stably grabbed on the pig heart, and the damage to the pig heart is avoided by utilizing the flexibility of the balloon finger.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic cross-sectional view of a position adjustment device according to the present invention;
FIG. 3 is a graph showing the relationship between the joints and the traction ropes in the finger of the present air bag;
FIG. 4 is a graph showing the relationship between the joints and the traction ropes in the finger of the present air bag;
fig. 5 is a schematic view of the structure of the connecting beam in the finger of the present air bag.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings. Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention. The terms left, middle, right, upper, lower, etc. in the embodiments of the present invention are merely relative concepts or references to the normal use state of the product, and should not be construed as limiting.
The nondestructive grabbing and separating device for the pig heart comprises a substrate 1, wherein a guide rail 2 is fixedly connected to the substrate 1, a first lifter 4 is movably arranged on the guide rail 2, a second lifter 3 is fixedly connected to one end of the guide rail 2, scissors 6 for automatically shearing blood vessels and mucous membranes below the pig heart are fixedly arranged at the lower part of the first lifter 4, and the first lifter 4 is used for driving the scissors 6 to move up and down below the first lifter 4; a flexible clamping jaw 7 is fixedly arranged at the lower part of the second lifter 3, the flexible clamping jaw 7 is used for downwards grabbing the pig heart, and the second lifter 3 is used for driving the flexible clamping jaw 7 to lift and move below the second lifter 3; the flexible clamping jaw 7 comprises a base 71, balloon fingers 72 are distributed below the base 71 in a circular array, and a traction rope 8 is arranged in the balloon fingers 72 as shown in combination with fig. 3, and the pre-deformed form of the balloon fingers 72 is adjusted through the traction rope 8 so as to grasp the pig heart.
The position adjusting devices 5 are arranged between the scissors 6 and the first lifter 4 and between the flexible clamping jaw 7 and the second lifter 3, as shown in fig. 2, the position adjusting devices 5 comprise swinging mechanisms and rotating mechanisms, the first lifter 4 and the second lifter 3 are fixedly connected with the corresponding rotating mechanisms, the rotating mechanisms are used for driving the swinging mechanisms to rotate, and the scissors 6 and the flexible clamping jaw 7 are fixedly connected with the corresponding swinging mechanisms; when the device works, the rotating mechanism drives the swinging mechanism to rotate, and the corresponding swinging mechanism drives the scissors 6 and the flexible clamping jaw 7 to swing respectively, so that the postures of the scissors 6 and the flexible clamping jaw 7 are adjusted. The first lifter 4 and the second lifter 3 are vertically arranged telescopic cylinders, in particular to an electric actuating cylinder, the rotating mechanism comprises a miniature first servo motor 51, the body of the first servo motor 51 is fixedly connected with the telescopic ends of the corresponding telescopic cylinders, and the rotating shaft of the first servo motor 51 is vertically arranged downwards; the swing mechanism comprises a base 52, the upper part of the base 52 is fixedly connected with a rotating shaft of a first servo motor 51, a spherical gear 55 is rotatably arranged at the lower part of the base 52, the spherical shape of the spherical gear 55 is positioned on the axis of the rotating shaft of the first servo motor 51, the lower part of the spherical gear 55 is fixedly connected with corresponding scissors 6 or flexible clamping jaws 7 through a fixed rod 56, the upper part of the spherical gear 55 is meshed with a driving gear 54 rotatably arranged inside the base 52, and the driving gear 54 is driven by a second servo motor 53 fixedly arranged on the base 52.
In addition, a patch type pressure sensor is fixedly arranged on the inner ring side of the air sac finger 72, and the pressure sensor is used for collecting the acting force of the pig heart on the air sac finger 72 in real time; the balloon finger 72 comprises a plurality of joints connected in sequence and sealing sleeves wrapping the joints 721, the outer ring sides of the adjacent joints 721 are mutually hinged, and the sealing sleeves are contracted by extracting gas in the sealing sleeves, so that the joints 721 are driven to swing towards the inner ring side of the balloon finger 72, and the balloon finger 72 is deformed; one end of the haulage rope 8 is fixedly connected to a joint 721 at the fingertip of the air bag finger 72, the middle part of the haulage rope 8 sequentially penetrates through the middle parts of other joints 721, the other end of the haulage rope 8 is wound on a winder arranged in the base 71, the retraction of the haulage rope 8 is controlled through the winder, the winder is driven by a miniature third servo motor, and the third servo motor and the winder are not shown in the figure; the joint 721 has a trapezoid structure, the inner ring side of the joint 721 is a small head end, and the outer ring side of the joint is a big head end; in this embodiment, the joint 721 located in the middle of the air bag finger 72 is in an isosceles trapezoid shape, and the traction rope 8 is arranged in the middle of the isosceles trapezoid in a penetrating manner, so that the joint 721 can be controlled conveniently and calculation is convenient.
When in operation, the device comprises: firstly, recognizing the position of a pig heart in a viscera stack according to a trained target recognition network, feeding back a recognition area result to a control center, and then moving a flexible clamping jaw 3 to the position right above the pig heart by a six-degree-of-freedom mechanical arm 100 according to path planning;
feeding back distance data obtained by calibrating camera parameters to a control center, calculating the distance between the flexible clamping jaw 3 and a pig heart to be clamped, enabling the six-degree-of-freedom mechanical arm 100 to drive the flexible clamping jaw 3 to move downwards and approach the pig heart, enabling the flexible clamping jaw 3 to be perpendicular to the ground, enabling the flexible clamping jaw 3 to be pre-deformed firstly, enabling the second lifter 3 to drive the flexible clamping jaw 3 to contact the pig heart and grab the pig heart, enabling the flexible clamping jaw 3 to be finely adjusted through a traction rope 8, providing rigid support, and finishing clamping the pig heart; after the flexible clamping jaw 3 finishes clamping the heart, the second lifter 3 drives the flexible clamping jaw 3 to ascend, and then the clamping force of the flexible clamping jaw 3 on the pig heart is controlled through fine adjustment of the traction rope 8; the scissors 6 are then moved under the pig heart and the blood vessels and mucous membranes connected to the pig heart are cut off.
The nondestructive grabbing and separating method for the pig heart is based on the nondestructive grabbing and separating device for the pig heart and comprises the following steps of:
step 1: the pig heart is identified according to the visual identification system, and the edge curvature of the pig heart is obtained；
The visual recognition system mainly comprises a depth camera, a depth image of a pig heart and a traditional RGB image are obtained through the depth camera, and a YOLOv5 target detection method trained by a large amount of image data is used for the obtained pigThe heart edge is subjected to feature recognition and extraction, and through three-dimensional coordinate transformation of a depth camera, pixel point information is fused, and tangential rotation angles of corresponding curvature calculation intervals are obtainedArc length variation->Calculating the edge curvature according to formula (1)>；
Wherein,for changing the tangential rotation angle of the balloon finger in the original state into the specified angle interval +.>For changing the arc length of the finger of the air bag to the specified angle interval in the original state;
step 2: according to the edge curvature, the fingers of the air bag are correspondingly pre-deformed;
in connection with FIG. 3, to achieve balloon finger gripping of the pig heart and based on edge curvatureThe pre-transformation configuration state which is fitted with the pig heart as much as possible is realized, and the bending change angle of each joint of the air bag finger needs to be established>And the pulling distance of the traction ropeIs a function of the relationship equation of (2).
Wherein,is the total number of joints>For the length of the traction wire passage hole to the connection part, < >>For the initial angle between jaw joint and joint, +.>Is->Angle after pre-deformation of each joint;
because deformation of the jaw joints per se is ignored, each joint deflects by an angleChanges in (c) and the angle between the jointsIs inversely related to the variation of (a), namely:
wherein,for the initial angle between adjacent joints +.>Is the deflection angle between adjacent joints;
the curvature after the pre-deformation is aimed at the balloon finger, and the bending characteristics among materials are the same because the materials used for each joint of the balloon finger are the same, so that the whole deflection angle of the whole clamping jaw after the pre-deformation can be calculated according to the change angle after the deformation of each jointThe method comprises the following steps:
wherein,is the total number of joints>For the initial angle between adjacent joints +.>For the angle of deflection between adjacent joints +.>For each joint deflection angle.
In order to realize the change of deflection angle by more accurate control, namely, the change of the finger angle of the air bag is transferred to the change length of the motor to the traction ropeIn the control of (a), the retraction of the traction rope is driven by the reel to realize the deflection angle of the finger of the air bag +.>Control of the variation, therefore, the length of the variation of the hauling rope is to be established +.>And deflection angle->The relation equation between them is:
wherein,indicating the variable length of the hauling rope->Is the total number of joints>For the length of the traction wire passage hole to the connection part, < >>Initial angle between adjacent joints;
and the curvature of the air bag finger after pre-deformation is equal to the edge curvatureThe method comprises the following steps:
pulling the hauling-rope by the reel and changingSimultaneously controlling the change angle of the finger of the air bag>The air sac fingers are converted into corresponding curvatures, the pre-transformation before the air sac fingers grasp the heart is finally realized, and the clamping efficiency is improved;
step 3: the air bag fingers are controlled to grasp the pig heart through the traction rope, and the acting force of the pig heart on the air bag fingers is collected in real time through the pressure sensor；
Step 4: according to the pulling force and acting force of the pulling wireThe moment balance equation of interaction adjusts the pulling force of the pulling rope +.>Thereby completing the grabbing of the pig heart;
in the process that the air bag finger contacts the pig heart, as the shape of the pig heart can be changed, the contact force of each joint of the air bag finger is different, so that each joint needs to be analyzed respectively, and as shown in the figure 5, the adjacent joints are hinged through joint beams, the length direction of the connecting beams is consistent with the tangential direction of the air bag finger, the width direction of the connecting beams is perpendicular to the radial direction of the air bag finger, and the height direction of the connecting beams is along the radial direction of the air bag finger; firstly, analyzing joints at the fingertips of air bags, after the pig heart is clamped by the air bags, in order to keep the clamping stable, namely to achieve a static balance state, a moment balance equation of force interaction between the air bags and the pig heart needs to be established, and the force exerted by the air bags is reflected in the pulling force of a pulling ropeApplying; therefore, the moment balance equation is:
wherein,for the bending moment exerted on the joints at the tips of the balloon finger, +.>And->The horizontal distance and the vertical distance from the contact point between the outer surface of the pig heart and the inner side of the tip of the clamping jaw to the joint are respectively +.>For acting force->Horizontal angle of>For deflection of joints near the tips of the balloon fingersAngle, when->Is->Get +.1>；
Due to the pulling force of the traction rope in the process of clamping the pig heartForce applied to the joints of the air-bag finger by gravity to the pig heart>Force from pig heart applied to joints of air-bag finger +.>Tension of traction rope +.>The equilibrium relationship equation between can be expressed as:
wherein, among them,for the length of the traction wire passage hole to the connection part, < >>For the angle of deflection between the first adjacent joints, < >>Is the modulus of elasticity>Is the length of the joint beam, < > and->Is the height of the connecting beam, < >>Is the cross-sectional width of the connecting beam;
when the air bag finger is stressed by a plurality of external forces perpendicular to the joints of the pig heart in the process of actually clamping the pig heart, the joint stress of the air bag finger is not present at a single tip joint stress, and the acting force and the traction rope tension of each joint of the air bag finger are established when the air bag finger is acted by a plurality of external forces perpendicular to the joints of the pig heart in the state of clamping the pig heartA static model of the relationship between this is shown in connection with FIG. 4 for +.>Middle joint->And (3) carrying out stress analysis and setting out a force and moment balance equation: namely:
thus, the external force can be calculated sequentially from the second intermediate joint (the first joint is the joint at the fingertip)Is +.>The relation between the tension +.>The method comprises the following steps:
，
wherein,and->Is a component force applied to the joints in the middle of the finger with air bags by deformation of the joints due to bending>And->Is a joint bending moment which is applied to the joint in the middle of the finger of the air bag by the deformation of the joint caused by bending>Is the force from the pig heart exerted on the joints in the middle of the balloon finger, +.>And->Is the deflection angle of the joint between two adjacent joints at the middle of the finger of the air bag, +.>Force of pig heart on each joint of air sac finger +.>Horizontal distance to proximal joint, < >>Is the length of the joint traction wire channel at the middle of the finger of the air bag.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A harmless grabbing and separating device for pig heart, its characterized in that: the pig heart lifting device comprises a base plate, wherein a guide rail is fixedly connected to the base plate, a first lifter is movably arranged on the guide rail, a second lifter is fixedly connected to one end of the guide rail, scissors for automatically cutting off blood vessels and mucous membranes below a pig heart are fixedly arranged at the lower part of the first lifter, and the first lifter is used for driving the scissors to lift and move below the first lifter; the lower part of the second lifter is fixedly provided with a flexible clamping jaw, the flexible clamping jaw is used for downwards grabbing the pig heart, and the second lifter is used for driving the flexible clamping jaw to lift and move below the second lifter; the flexible clamping jaw comprises a base, balloon fingers are distributed below the base in a circular array, traction ropes are arranged in the balloon fingers, and the form of the balloon fingers after pre-deformation is adjusted through the traction ropes so as to grasp the pig heart.
2. The non-destructive grabbing and separating device for pig hearts according to claim 1, wherein: azimuth adjusting devices are arranged between the scissors and the first lifter and between the flexible clamping jaw and the second lifter, each azimuth adjusting device comprises a swinging mechanism and a rotating mechanism, each first lifter and each second lifter are fixedly connected with the corresponding rotating mechanism, each rotating mechanism is used for driving the swinging mechanism to rotate, and each scissors and each flexible clamping jaw are fixedly connected with the corresponding swinging mechanism; when the device works, the rotating mechanism drives the swinging mechanism to rotate, and the corresponding swinging mechanism drives the scissors and the flexible clamping jaw to swing respectively, so that the postures of the scissors and the flexible clamping jaw are adjusted.
3. The non-destructive grabbing and separating apparatus for pig hearts according to claim 1 or 2, wherein: the patch type pressure sensor is fixedly arranged on the inner ring side of the air sac finger and is used for collecting the acting force of the pig heart on the air sac finger in real time.
4. A non-destructive grabbing and separating device for a pig heart according to claim 3, wherein: the air bag finger comprises a plurality of joints and sealing sleeves wrapping the joints in sequence, the outer ring sides of the adjacent joints are hinged with each other, the sealing sleeves are contracted by extracting gas in the sealing sleeves, so that the joints are driven to swing towards the inner ring side of the air bag finger, and the air bag finger is further enabled to be deformed; one end of the traction rope is fixedly connected to the joints of the finger tips of the air bags, the middle parts of the traction rope sequentially penetrate through the middle parts of other joints, the other end of the traction rope is wound on a winder arranged in the base, and the shrinkage of the traction rope is controlled through the winder.
5. The nondestructive grabbing and separating method for the pig heart is characterized by comprising the following steps of: the non-destructive grabbing and separating device for pig hearts according to claim 4, comprising the following steps:
step 1: identifying the pig heart according to the visual identification system to obtain the edge curvature of the pig heart;
step 2: according to the edge curvature, the fingers of the air bag are correspondingly pre-deformed;
step 3: the air bag fingers are controlled to grasp the pig heart through the traction rope, and the acting force of the pig heart on the air bag fingers is collected in real time through the pressure sensor；
Step 4: according to the pulling force and acting force of the pulling wireThe moment balance equation of interaction adjusts the pulling force of the pulling rope +.>Thereby completing the grasping of the pig heart.
6. The method for non-destructive grabbing and separating of pig heart of claim 5, which comprises the following steps ofIs characterized in that:wherein->For the length of the traction wire passage hole to the connection part, < >>For the angle of deflection between the first adjacent joints, < >>Is the modulus of elasticity>Is the length of the joint beam, < > and->Is the height of the connecting beam, < >>Is the cross-sectional width of the connecting beam, < >>For acting force->Horizontal angle of>For the deflection angle of the joint close to the air sac finger tip +.>And->The horizontal distance and the vertical distance from the contact point between the outer surface of the pig heart and the inner side of the tip of the clamping jaw to the joint are respectively.
7. The non-destructive grabbing and separating method for pig hearts according to claim 6, wherein:wherein->Andis a component force applied to the joints in the middle of the finger with air bags by deformation of the joints due to bending>And->Is a joint bending moment which is applied to the joint in the middle of the finger of the air bag by the deformation of the joint caused by bending>Is the force from the pig heart exerted on the joints in the middle of the balloon finger, +.>And->Is the deflection angle of the joint between two adjacent joints at the middle of the finger of the air bag, +.>Force of pig heart on each joint of air sac finger +.>Horizontal distance to proximal joint, < >>Is the length of the joint traction wire channel at the middle of the finger of the air bag.
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| CN202410038224.5A CN117546900B (en) | 2024-01-11 | 2024-01-11 | Nondestructive grabbing and separating device and method for pig heart |
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| CN202410038224.5A CN117546900B (en) | 2024-01-11 | 2024-01-11 | Nondestructive grabbing and separating device and method for pig heart |
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| CN117546900B CN117546900B (en) | 2024-03-22 |
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| CN114986534A (en) * | 2022-06-28 | 2022-09-02 | 北京工业大学 | Integrated rigid-flexible coupling manipulator |
| WO2023036752A1 (en) * | 2021-09-09 | 2023-03-16 | Teknologisk Institut | A robotic working tool and a robotic meat handling system for use in slaughterhouses |
| EP4186653A1 (en) * | 2021-11-25 | 2023-05-31 | Helmut-Schmidt-Universität, Universität der Bundeswehr Hamburg | Automatic gripper |
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2024
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106826902A (en) * | 2017-02-27 | 2017-06-13 | 中国石油大学(华东) | Bionic flexible manipulator |
| CN206855476U (en) * | 2017-06-27 | 2018-01-09 | 武汉库柏特科技有限公司 | A kind of flexible three-finger configuration manipulator |
| CN107712010A (en) * | 2017-08-28 | 2018-02-23 | 华中农业大学 | The net thorax arm end effector of butchering fowl |
| CN108453766A (en) * | 2018-03-08 | 2018-08-28 | 南京航空航天大学 | A kind of bionical dexterity of multi-joint is done evil through another person finger |
| CN108858270A (en) * | 2018-07-31 | 2018-11-23 | 苏州软体机器人科技有限公司 | A kind of flexible finger and the soft grasping device comprising flexible finger |
| WO2023036752A1 (en) * | 2021-09-09 | 2023-03-16 | Teknologisk Institut | A robotic working tool and a robotic meat handling system for use in slaughterhouses |
| EP4186653A1 (en) * | 2021-11-25 | 2023-05-31 | Helmut-Schmidt-Universität, Universität der Bundeswehr Hamburg | Automatic gripper |
| CN114986534A (en) * | 2022-06-28 | 2022-09-02 | 北京工业大学 | Integrated rigid-flexible coupling manipulator |
| CN114986556A (en) * | 2022-07-20 | 2022-09-02 | 苏州科技大学 | Pneumatic flexible joint grasping device and control method thereof |
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