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ZHENG Tao, E-mail: 52380832@qq.com
Outline
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.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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