家禽净膛机械手末端执行器的设计及运动学分析

针对家禽净膛过程中末端执行器操作空间小、抓取灵活等特点,对家禽净膛机械手末端执行器进行总体设计,并设计三指三关节家禽自动净膛末端执行器的结构。通过对机械手末端执行器手指腱绳伸缩量与关节角度的变化规律、手指的工作姿态、手指干涉分析等进行分析研究,获得家禽末端执行器净膛抓取时的最佳指节倾斜倒角。应用D-H矩阵通过齐次矩阵变换建立家禽机械手末端执行器的模型,对末端执行器进行运动学求解,验证所建立的末端执行器模型的正确性与可行性。     

刺参机械去脏工艺的试验研究

刺参(Stichopus aponicus)去脏是刺参前处理加工的重要环节.目前刺参去脏加工多采用手工开腔去脏的方式.为提高刺参前处理加工效率,实现机械化加工,以辽宁大连、浙江嵊泗出产的刺参为试验对象,利用刺参特有的排脏生理特性,设计机械模拟装置(滚筒机构和振动机构)对刺参进行刺激.试验结果显示,滚动和振动刺激都能使刺参排脏,排脏率达到90%.刺激强度是刺参机械去脏的重要工艺指标,直接影响刺参机械去脏的效率.     

家禽自动取内脏技术及装备在我国的应用前景

阐述国内外家禽取内脏技术研究现状,详细介绍了近年来我国家禽自动取内脏技术应用环境的变化,进而提出了加速家禽自动取内脏技术及其装备在我国研发并应用的必要性,以及自动取内脏关键技术的技术难点和研究方法。     

Comparison of orbital prosthesis motility following enucleation or evisceration with sclerotomy with or without a motility coupling post in dogs

Objective  To evaluate motility of silicone orbital implants and corneoscleral prostheses, with and without use of a motility coupling post (MCP) in dogs.
Animals studied  Eighteen mixed-breed dogs.
Procedures  The motility of an orbital silicone implant and corneoscleral prosthesis after enucleation ( n  = 6), evisceration ( n  = 6), or use of a MCP with evisceration ( n  = 6) in dogs were compared. One eye from each dog had surgery whereas the opposite eye was used as a control. Clinical evaluations were performed three times a week. Histopathology of the orbital tissues was performed 8 and 12 weeks after surgery.
Results  Implant motility in dogs with evisceration (vertical movement [VM] 8.04 ± 2.13; horizontal movement [HM] 11 ± 3.05) and evisceration with MCP (VM 9.61 ± 1.59); HM was significantly greater than the enucleation group (VM 0.51 ± 0.5; HM 1.22 ± 0.68) ( P <  0.01). Prosthetic motility in dogs with evisceration with MCP was significantly greater than in dogs with evisceration; dogs with evisceration had significantly greater motility than dogs with enucleation ( P <  0.01). No postoperative complications were observed in any of the groups. No significant abnormalities were noted on histopathology.
Conclusions  MCP placement in silicone orbital implants significantly enhanced the prosthetic motility in dogs. This study supports the use of MCP in silicone orbital implants to enhance corneoscleral prosthesis motility and cosmetics in dogs.     

Modified evisceration technique in a golden eagle (Aquila chrysaetos)

Two different modified techniques have been described for enucleation in raptors, including the transaural approach and the globe-collapsing procedure. This case report describes an alternative, modified evisceration procedure in a mature female Golden Eagle (Aquila chrysaetos). The advantages of this procedure are decreased anesthetic time, ease of procedure, decreased risk of excessive traction of the optic nerve, decreased intraoperative orbital trauma, and preservation of the natural symmetry of the head. The major disadvantage of this procedure is that it does not allow complete histologic examination of the globe. Patients with intraocular infection or neoplasia, or significant orbital disease may be poor candidates for this technique.     

刺参吐脏再生的组织学研究

以中国山东地区的养殖刺参（Apostichopus jalxmicus）为研究材料，将体长10～15cm的刺参，通过注射KCI（0．35mol／L）诱导吐脏。采用组织学方法对刺参吐脏和再生过程进行观察，结果表明，刺参吐脏后便开始再生，吐脏后的第2天可观察到呼吸树主干及分支结构。腹部肠系膜在吐脏后逐渐增厚，第5天可观察到肠上皮与肌肉组织，再生出具有功能的新肠管的时间大约为2周。本研究旨为刺参再生的进一步研究以及刺参的养殖生产提供基础理论依据。     

小型智能化家禽低内脏破损率净膛流水线设计

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。