摘要
为取代人工装箱工作,满足不同直径苹果经视觉分级后自动装箱的生产需求,提高苹果后端抓取自动装箱生产效率,构建了基于PAC控制的模块化控制系统。机器人利用在线差动追踪技术控制运动模组,高速且柔性地实现了不同直径苹果的自动装箱,可适应果径为50~80 mm的苹果,3.5 s内单次最多抓取5个苹果,平均抓取成功率约98.50%。通过对实验样机装箱生产数据的分析,发现自动装箱机器人的生产节拍达到了预期效果,机器人可以针对无法抓取的空托盘,根据实际情况采用补抓机制进行有选择的抓取,大幅降低了果农的劳动强度。
In order to meet the production requirements of automatic packing application for a variety of apples with different diameters after visual classification,and to replace manual packing work and improve the production efficiency of apple back-end grasping automatic packing,the robot is investigated based on the modular control system of PAC controller robot,using online differential tracking technology to control the motion module,and realizes the application of automatic packing with different diameters with high speed and flexibility.The robot is suitable for apples with a maximum fruit diameter ranging 50~80 mm,and is able to grab a maximum of 5 apples in a single grab within 3.5 s,and the average capture success rate is about 98.55%.Through the data analysis of the packing production of the experimental prototype,the production pace of the automatic packing robot has reached the expected effect.The robot can grasp the empty tray which cannot be grabbed by the exception,and adopts the catch mechanism according to the actual situation to carry out selective grasping,which greatly reduces the labor intensity of the fruit farmers.
作者
陈立辛
张春燕
乔印虎
CHEN Lixin;ZHANG Chunyan;QIAO Yinhu(College of Mechanical Engineering, Anhui Science and Technology University, Fengyang 233100, China)
出处
《河南工程学院学报（自然科学版）》
2021年第2期43-47,共5页
Journal of Henan University of Engineering：Natural Science Edition
基金
安徽省自然科学基金面上项目(1908085ME166)
安徽省教育厅协同育人项目(GXXT-2019-018)。
关键词
模块化控制系统
差动追踪
自动装箱
补抓机制
modular control system
differential tracking
automatic packing
fill catch mechanism
