基于柔索传动的香菇分拣机械手研究  

Research of High Quality Letinous Edodes Sorting Flexible Cable Transmission Manipulator

作　　者：王晓丽[1,2] 黄大志 赵伟名 高力 邓海洋 WANG Xiaoli;HUANG Dazhi;ZHAO Weiming;GAO Li;DENG Haiyang(,Jiangsu Key Laboratory of Function Control Technology for Advanced Materials,Huaihai Institute of Technology,Lianyungang Jiangsu 222005,China;,Marine Resources Development Institute of Jiangsu（Lianyungang）,Huaihai Institute of Technology,Lianyungang Jiangsu 222005;,Jiangsu Key Laboratory of Large Scale EngineeringEquipment Inspection and Control,Xuzhou Institute of Technology,Xuzhou Jiangsu 221000,China;,Schoolof Mechanical and Ocean Engineering,Huaihai Institute of Technology,Lianyungang Jiangsu 222005,China)

机构地区：[1]江苏省先进材料功能调控技术重点实验室,淮海工学院,江苏连云港222005 [2]江苏省海洋资源开发研究院(连云港),淮海工学院,江苏连云港222005 [3]徐州工程学院江苏省大型工程装备检测与控制重点建设实验室,江苏徐州221000 [4]淮海工学院机械与海洋工程学院,江苏连云港222005

出　　处：《机床与液压》2018年第11期21-26,共6页Machine Tool & Hydraulics

基　　金：江苏省先进材料功能调控技术重点实验室资助项目(JKLFCTAM1705); 淮海工学院自然科学基金项目(Z2017007); 连云港市科技项目(CG1608); 江苏省大型工程装备检测与控制重点建设实验室资助项目(JSKLEDC201307)

摘　　要：面对香菇分拣过程中出现的人工挑拣和包装劳动量大、生产率低、难以精确控制分级指标等问题,研制了柔索传动的五自由度机械手,用于优质香菇的分拣。设计了整个柔索传动机构,包括机械臂的设计、钢丝绳的固定、钢丝绳预紧力的调整、底座电机的排布以及电机的固定。设计了整个机械手的控制系统,包括硬件电路的设计和图像处理设计。该机器人采用精密柔索传动技术,有效实现动力机构和执行机构的分离,使机械臂的结构配重得到优化;同时采用视觉检测系统,运用图像处理技术,增强了运动的智能化,准确实现优质食用菌的抓取;由传感器组成的闭环控制系统,使机器人的重复定位精度更高,可实现接近360°的全方位工位物料的抓取;该产品适用性范围广,不仅可以运用到香菇加工线上的分拣,还可以运用到其他预包装食品的分拣上。Facing the problem of appeared in the process of mushroom and sorting manual picking and packing with large amount of labor,low productivity and difficult to precise control classification indexes,a flexible drive five degree of freedom（ 5-Do F） manipulator is designed,used for high quality mushroom and sorting. The overall flexible transmission mechanism was designed,including the design of mechanical arm,steel wire rope fixed,the adjustment of pre-tightening force and the base of the motor configuration and fixing. The overall manipulator control system was designed,including hardware circuit and image processing. The robot was used of the precision flexible transmission technology,effective motivation mechanism and separation of the actuator,the structure of the mechanical arm counterweight was optimized. At the same time,using visual inspection system and the image processing technology,enhanced the movement of intelligent,the capture of high quality edible fungus was accurately realized. Closed loop control system was composed of sensors,improved the repositioning precision of the robot,which could realize the full range of close to 360 degrees fetching station materials. The product applicability is wide,and can not only be applied to sort of processing line of edible fungi,but also applied to other pre-packaged food sorting.

关 键 词：优质香菇 分拣机器人 精密柔索传动 图像处理 

分 类 号：TH39[机械工程—机械制造及自动化]