智能剖竹机上料机械手试验研究  

Experimental study on the intelligent bamboo-splitting machine’s charging manipulator

作　　者：温永璐 刘天湖[1] 李桂棋 聂湘宁 陈凤明 吴子迪 WEN Yong-lu;LIU Tian-hu;LI Gui-qi;NIE Xiang-ning;CHEN Feng-ming;WU Zi-di(College of Engineering,South China Agricultural University,Guangzhou 510642)

机构地区：[1]华南农业大学工程学院,广东广州510642

出　　处：《机械设计》2020年第12期37-42,共6页Journal of Machine Design

基　　金：广东省科技计划项目(2017A010102024,2017A020208052)。

摘　　要：剖竹机传统的手工上料方法非常危险,智能剖竹机能够实现自动上料、智能换刀,应用前景广阔。上料机械手是智能剖竹机的重要部件。上料的成功率和对心率是开发毛竹上料机械手必须考虑的因素。文中通过试验研究一种自主开发的气动毛竹上料机械手的抓取成功率、对心率和抓取动态特性。研究过程中根据直径大小将毛竹毛坯分成60~85,85~110和110~135 mm 3个梯度,开发了大臂长度分别为210,220和230 mm的机械手进行试验,并利用加速度传感器测量抓取动态特性。试验结果表明臂长为220 mm的机械手平均抓取成功率为100%,但臂长为210 mm和230 mm的机械手分别只有96%和98.67%。因此,臂长为220 mm的机械手能可靠地抓取各种直径的毛竹。拟合出机械手抓取响应时间-胚料直径关系曲线与指数函数曲线近似,平均加速度-胚料直径曲线与幂函数曲线近似。For the traditional bamboo-splitting machine,the manual method of charging is dangerous.Therefore,this article focuses on the intelligent bamboo-splitting machine,characterized by automatic feeding and intelligent tool-changing,which has a broad prospect.The charging manipulator is an important part of the intelligent bamboo-splitting machine.In terms of product development,such factors as capturing rate,centering rate and dynamic characteristics must be taken into account.Firstly,three different manipulators,with their arm length of 210,220 and 230 mm respectively,are developed for a series of experiments.Then,the bamboo blanks are divided into three gradients(60~85,85~110 and 110~135 mm)according to the diameter difference.The accelerators are adopted to identify the dynamic characteristics and a high-speed CCD is used to record the grasping process.The experimental results show that grasping rate of the manipulator with the arm length of 220 mm is as high as 100%,but that of the manipulators with the arm length of 210 mm and 230 mm is 96%and 98.67%respectively.Thus,the manipulator with the arm length of 220 mm is adaptable to grasp the bamboo blanks of different diameters.The curve of the relationship between the grasping time and the diameter of the embryo is similar to that of the exponential function.The curve of the relationship between the average acceleration and the diameter of the embryo is approximate to that of the power function.

关 键 词：智能剖竹机 上料机械手 抓取试验 抓取成功率 对心率 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]