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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. [ABSTRACT FROM AUTHOR]

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