Article(id=1324333597229982098, tenantId=1146029695717560320, journalId=1319690209941618849, issueId=1324333573712511176, articleNumber=null, orderNo=null, doi=10.12398/j.issn.2096-7217.2026.01.016, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1739894400000, receivedDateStr=2025-02-19, revisedDate=1743091200000, revisedDateStr=2025-03-28, acceptedDate=null, acceptedDateStr=null, onlineDate=1793675334507, onlineDateStr=2026-11-03, pubDate=1771084800000, pubDateStr=2026-02-15, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1793675334507, onlineIssueDateStr=2026-11-03, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1793675334507, creator=13701087609, updateTime=1793675334507, updator=13701087609, issue=Issue{id=1324333573712511176, tenantId=1146029695717560320, journalId=1319690209941618849, year='2026', volume='7', issue='1', pageStart='1', pageEnd='196', issueExtLink='null', onlineDate='null', pubDate='1771084800000', pubDateStr='2026-02-15', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1793675328901, creator='13701087609', updateTime=1793872389599, updator='13701087609', preIssue=null, nextIssue=null, articleTotal=null, ext={EN=IssueExt(id=1325160106287039215, tenantId=1146029695717560320, journalId=1319690209941618849, issueId=1324333573712511176, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1325160106287039216, tenantId=1146029695717560320, journalId=1319690209941618849, issueId=1324333573712511176, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null, downloadFileDto=null}, startPage=151, endPage=157, ext={EN=ArticleExt(id=1324333597393559955, articleId=1324333597229982098, tenantId=1146029695717560320, journalId=1319690209941618849, language=EN, title=Design and experimentation of a contour-adaptive variable-rate automatic salting machine for ham, columnId=null, journalTitle=Journal of Intelligent Agricultural Mechanization, columnName=null, runingTitle=null, highlight=null, articleAbstract=

To address the challenges of inconsistent salt content and low production efficiency in traditional Chinese ham curing processes—issues arising from the reliance on manual expertise and the lack of automated salting equipment—this study developed an automated three-dimensional profiling and variable-rate salting machine. The system integrates machine vision, dynamic variable control, and 3D contouring technology while adhering to traditional craftsmanship. The overall structure and operational principles of the salting machine are elaborated with detailed analysis and design of key components, including the ham transfer mechanism, vision detection system, and automated salting mechanism. The machine achieves full-process automation in salt quantity calculation, non-uniform path planning, and adaptive salt spraying, effectively resolving the instability caused by irregular ham morphology and significant weight variations. A machine vision-based 3D feature recognition method is proposed, utilizing high-precision cameras to capture morphological characteristics and construct a “three-pick positions” database for key salting regions. Combined with deep learning algorithms, this method generates differentiated salting paths that align with the traditional requirement of “more salt at three-pick positions, less salt in intermuscular areas”. A dynamic weighing-precision salting collaborative system is designed, incorporating gravity sensing and a graded vibratory feeder controlled via PID algorithms to dynamically adjust vibration amplitude, ensuring salt dispensing accuracy within ±5 g. A three-axis linear-module-driven flexible robotic arm integrates real-time trajectory correction, achieving 1 mm positioning accuracy for the salting nozzle. Coupled with a variable-aperture nozzle that dynamically adjusts salting intensity and travel speed (0-0.3 m/s), the system significantly enhances salt layer uniformity on complex curved ham surfaces. Experimental results demonstrate that the machine achieves a production rate of 123 hams/hour within a ham carcass weight range of 6-15 kg, with an average salt application error rate of 7.42%, meeting design requirements in adaptability and precision. This research realizes full automation of the ham salting process and provides critical technical support for the standardization and intelligent transformation of traditional meat processing industries.

, authors=Tao ZHENG¹, Xiaozhong MA², Mingdong FAN², Ke SHENG¹, Yulin ZHOU³, Changqing CHEN⁴, authorsList=Tao ZHENG, Xiaozhong MA, Mingdong FAN, Ke SHENG, Yulin ZHOU, Changqing CHEN, authorCompany=null, correspAuthors=Changqing CHEN, authorNote=, correspAuthorsNote=, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null), CN=ArticleExt(id=1324333597657801108, articleId=1324333597229982098, tenantId=1146029695717560320, journalId=1319690209941618849, language=CN, title=火腿仿形可变量自动上盐机的设计与试验, columnId=0, journalTitle=智能化农业装备学报（中英文）, columnName=, runingTitle=null, highlight=null, articleAbstract=

针对我国火腿上盐腌制工序缺乏自动化设备且依赖工人技术和经验导致火腿含盐量波动大、生产效率低的问题，为稳定火腿含盐量、提升火腿品质，本研究遵循传统制作工艺，设计研制了一款集成机器视觉、动态变量控制与三维仿形技术的火腿仿形可变量自动上盐机。阐述上盐机整机结构和工作原理，对腿坯转移机构、视觉检测机构、自动上盐机构等关键部件进行分析和设计。该上盐机实现了火腿腌制过程中盐量精准计算、非均匀路径规划与自适应喷盐的全流程自动化，解决了因原料腿坯形态不规则、重量差异显著导致含盐量不稳定的难题；提出基于机器视觉的腿坯三维特征识别方法，通过高精度摄像头捕捉腿坯形态特征并构建“三签位”关键区域数据，结合深度学习算法生成差异化喷盐路径，使盐量分布匹配传统工艺中“三签位多盐、肌间少盐”的要求；设计动态称重—精准供盐协同系统，采用重力传感与分级振动盘联控技术，通过PID算法动态修正振动盘振幅，确保实际出盐重量精度在±5 g以内；设计三轴直线模组驱动的柔性上盐机械臂，集成轨迹实时修正功能，使喷盐头在三维空间内达到1 mm定位精度，配合可变口径喷嘴动态调节喷盐强度与行进速度（0~0.3 m/s），显著提升复杂曲面腿坯的盐层非均匀性要求。试验结果表明：该上盐机在6~15 kg腿坯质量范围内，生产效率达123只/h，上盐量平均误差率7.42%，适用范围广、上盐量误差小，各参数满足设计要求。本研究实现了火腿上盐工序的全程自动化，为传统肉制品加工业的标准化与智能化转型提供了关键技术支撑。

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ZHENG Tao, E-mail: 52380832@qq.com

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郑涛，男，1985年生，浙江金华人，高级工程师；研究方向为智能农业机械。E-mail：52380832@qq.com

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郑涛，男，1985年生，浙江金华人，高级工程师；研究方向为智能农业机械。E-mail：52380832@qq.com

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