基于Delta机器人的食品生产线动态目标抓取方法  

Dynamic target grasping method of food production line based on Delta robot

作　　者：毕宪东 王振[2] 李朝龙 BI Xian-dong;WANG Zhen;LI Chao-long(Anyang Secondary Vocational and Technical School,Anyang,Henan 455000,China;Henan University of Science and Technology,Luoyang,Henan 471000,China;North China University of Technology,Tangshan,Hebei 063210,China)

机构地区：[1]安阳中等职业技术学校,河南安阳455000 [2]河南科技大学,河南洛阳471000 [3]华北理工大学,河北唐山063210

出　　处：《食品与机械》2022年第6期117-122,共6页Food and Machinery

基　　金：河南省职业教育教学改革研究与实践项目(编号:豫教[2021]57990)。

摘　　要：目的:解决当前食品生产中Delta机器人在动态目标抓取方面存在的精度差、效率低等问题。方法:提出了一种新的动态目标抓取方法用于食品生产线中Delta机器人的抓取控制,通过传送带的偏移量和编码器的反馈值计算目标的动态位置,优化目标的抓取顺序,并结合门型轨迹和改进的梯形加减速算法对动态目标进行抓取。通过试验对优化前后的控制方法进行分析。结果:在20mm/s的输送速度下,优化前后机器人漏抓率由3.33%降至0,抓取速度从0.756个/s提高到0.860个/s;在30 mm/s的输送速度下,优化前后机器人漏抓率从8.83%降至0,抓取速度从0.885个/s提高到1.130个/s。结论:动态目标抓取方法能有效提高Delta机器人的抓取效率。Objective:In order to solve the problems of poor accuracy and low efficiency of delta robot in dynamic target grasping in current food production.Methods:A new dynamic target grasping method was proposed for the grasping control of delta robot in food production line.The dynamic position of the target was calculated through the offset of the conveyor belt and the feedback value of the encoder,and the grasping order of the target was optimized.The dynamic target was grasped by combining the door trajectory and the improved trapezoidal acceleration and deceleration algorithm.The control methods before and after optimization were analyzed through experiments.Results:At the conveying speed of 20 mm/s,the missed grasping rate of the robot before and after optimization decreased from 3.33%to 0,and the grasping speed increased from 0.756 s^(-1) to 0.860 s^(-1).At the conveying speed of 30 mm/s,the missed grasping rate of the robot before and after optimization was reduced from 8.83%to 0,and the grasping speed was increased from 0.885 pieces/s to1.130 pieces/s.Conclusion:The dynamic target grasping method can effectively improve the grasping efficiency of delta robot.

关 键 词：Delta机器人 动态目标 抓取方法 门型轨迹 梯形加减速算法 食品生产线 

分 类 号：TS205[轻工技术与工程—食品科学] TP242[轻工技术与工程—食品科学与工程]