| 摘要: |
| 目的 为了提高鸡蛋的包装效率、缩短加工周期，在整体鸡蛋包装系统工作流程的基础上，设计一种用于鸡蛋自动包装的机器人，对鸡蛋进行自动装箱。方法 通过分析包装机器人的机械本体结构和控制系统，设计鸡蛋包装机器人末端抓手的运动轨迹。为了提高鸡蛋的包装效率和抓手的运动柔性，对末端抓手的速度控制进行算法研究。结果 对鸡蛋装箱作业过程进行了仿真研究，验证了算法设计的合理性，实际装箱实验表明该系统具有效率高、自动化程度高以及运动柔性高等特点。结论 该鸡蛋包装机器人系统实际应用较好，具有广阔的市场应用前景。 |
| 关键词: 包装机器人 鸡蛋包装 轨迹规划 速度控制 |
| DOI：10.19554/j.cnki.1001-3563.2018.23.020 |
| 分类号:TP273 |
| 基金项目: |
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| Design and Research of a Kind of Egg Packaging Robot System |
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HE Yu-hai
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Jiangxi University of Technology, Nanchang 330098, China
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| Abstract: |
| The work aims to design an automatic egg packaging robot to automatically pack the eggs based on the general arrangement of egg packaging system, in order to improve egg packaging efficiency and shorten the processing cycle. On the basis of analyzing the mechanical structure and control system of the packaging robot, the trajectory of the gripper at the end of the egg packaging robot was designed. To improve the egg packaging efficiency and motion controllability of the gripper, the speed control algorithm of the gripper at the end was researched. The simulation study on the egg packaging process was conducted, which verified the rationality of the algorithm design. The actual packaging experiment showed that, the system had high efficiency, high automation and high flexible movement, etc. The proposed egg packaging robot system is practically applied, and has a broad market application prospect. |
| Key words: packaging robots egg packaging trajectory planning speed control |
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