鸡蛋彩盒装箱生产线设计与试验  

Design and test of flexible packing line for egg color box

作　　者：张融[1,2] 王树才[1] 王玉泉[1] 蔡恒亮 王凤强 Zhang Rong;Wang Shucai;Wang Yuquan;Cai Hengliang;Wang Fengqiang(College of Engineering,Huazhong Agricultural University,Wuhan 430070,China;Green Fan Manufacturing Cooperation of Hubei Province,Wu Chang Institute of Technology,Wuhan 430065,China;Hubei Shendan Health Food Co.,Ltd.,Xiaogan 432600,China)

机构地区：[1]华中农业大学工学院,武汉430070 [2]武昌工学院绿色风机制造湖北省协同创新中心,武汉430065 [3]湖北神丹健康食品有限公司,孝感432600

出　　处：《农业工程学报》2020年第22期298-307,共10页Transactions of the Chinese Society of Agricultural Engineering

基　　金：湖北省自然科学基金指导性项目(2019CFC918);湖北省高等学校优秀中青年科技创新团队计划项目(T201636);公益性行业(农业)科研专项项目(201303084);湖北省公益性科研研究项目(GYN0090);中央高校基本建设项目(2012MBDX003)。

摘　　要：为了满足消费者需求,鸡蛋被包装成规格众多的礼品彩盒,这给彩盒装箱自动化带来了巨大困难,由于彩盒大小多变,每箱装入数量不同,加上鸡蛋的易碎物理特性,目前,国内禽蛋加工企业均采用人工装箱。该研究为实现对鸡蛋机械自动装箱,研发出基于直角坐标机械手的彩盒装箱搬运机构,通过机械臂轨迹规划算法,计算出直角坐标机械手各单元的运动轨迹,设计了鸡蛋彩盒柔性装箱生产线,并实现产业化。为了保证装箱过程中机械手夹持彩盒稳定可靠,同时,避免生产线共振导致盒内鸡蛋的破损,该研究首先对彩盒基本物性及所需包装防护性能进行跌落试验、压力试验、扫频试验和随机振动试验,确定鸡蛋彩盒包装的防护性能参数,包括临界跌落高度、无破损夹持力、共振频率、无破损鸡蛋运输系统激励。由彩盒跌落试验得出盒内鸡蛋破损临界跌落高度为290 mm;压力试验确定彩盒夹持力小于870 N时,盒内鸡蛋无破损;扫频试验确定彩盒包装件共振频率范围为10~15 Hz;随机振动试验确定系统的激励需小于等于0.52 g2/Hz。在彩盒物性参数测定值约束下,采用Siemens PLC S7-200 Smart作为中央控制器,MCGS触摸屏界面,配合可以根据彩盒大小、规格和入箱彩盒数量要求而快速拆装更换的夹板和导入架,实现了鸡蛋彩盒柔性、高效、低破损装箱。该生产线设计的直角坐标机械手X、Z轴的最大有效行程分别为750、380 mm;X轴移动线速度0~199 mm/s可调,Z轴移动线速度0~149 mm/s可调;Y轴夹爪板运动轨迹最大行程200 mm,最大线速度50 mm/s。整机额定功率1.5 kW。生产线在企业包装流水线上运行11个月,机械装置及控制系统软硬件稳定可靠。对生产线进行了为期10 d的现场测试,结果显示:包装线完成每箱6盒、每箱4盒的装箱效率分别为96.2和120.4箱/h,是人工装箱效率的4~6倍,同时还可节省3~6名辅助工,测试全Different varieties of gift boxes are commonly used to pack eggs,in order to satisfy the demands of consumers.It has brought great difficulties for the automatic packing of eggs.At present,manual packing is often used in egg processing industry in China,considering the variable size of color box,the different quantity of each box,and the fragile physical characteristics of eggs.In this study,a flexible cartoning,and handling mechanism was developed for the color boxes to realize the automatic packing of eggs.The movement trajectory in a Cartesian coordinate manipulator was planned,using the trajectory planning algorithm,thereby to industrialize the flexible packing production line for an egg color box.Besides,the basic physical properties and the packing protection performance of the color box were tested,including drop test,pressure test,frequency sweep test and random vibration test,in order to ensure the stability and reliability for the manipulator holding the color box and avoid the damage of the eggs in the box that caused by the resonance of the production line.The protective performance parameters for the color box were detected,including the critical drop height,the non-damaged clamping force,the resonance frequency,and the non-damaged egg transport system excitation.In the drop test of color box,the results showed that the critical drop height of eggs in the box was 290 mm,while,in the pressure test,the eggs in the box cannot damaged when the clamping force of the color box was less than 870 N.In addition,the frequency test of the color box proved that the resonance frequency of the color box package was 10-15 Hz,and the random vibration test determined that the excitation of the system can meet Grms≤0.52 g2/Hz.The splint and the guide frame can be quickly disassembled under the constraints of the physical parameters for the color box.The egg box can be boxed with flexibility,high efficiency,and low damage using the central controller(Siemens PLC S7-200 Smart)and the touch screen(MCGS)according to the

关 键 词：包装 鸡蛋 彩盒包装 柔性包装生产线 扫频试验 跌落试验 

分 类 号：SS667.1[理学—计算数学] O242[理学—数学]