一种气动机器人垃圾分拣系统的设计与分析  

Design and Analysis of a Pneumatic Robot Garbage Sorting System

作　　者：王华[1] WANG Hua(Electrical and Mechanical Engineering,Shangqiu Polytechnic,Shangqiu,Henan 476005)

机构地区：[1]商丘职业技术学院机电工程系,河南商丘476005

出　　处：《液压与气动》2022年第9期86-91,共6页Chinese Hydraulics & Pneumatics

基　　金：河南省重点研发与推广专项(科技攻关)(212102210533);河南省高等职业学校青年骨干教师培养计划(2020GZGG078);河南省高等学校重点科研项目(22B470010)。

摘　　要：为解决垃圾分拣实现自动化分拣的问题,提高生产效率,降低生产成本,设计了一种气动机器人视觉垃圾分拣系统。利用气压控制回路实现对机械手运动的控制,采用棋盘格标定法对相机进行标定,标定结果误差相对较小。实验结果表明:利用气压控制的机械手定位和抓取效果良好。利用棋盘格标定的相机,机械手抓取平均误差小于3 mm。该分拣系统在一定条件下能够满足垃圾分拣,具有结构简单、易操作、分拣精准、效率高、成本低等特点,为后续实现垃圾智能化分拣设备研制提供参考依据。In order to solve the problem of automatic garbage sorting, improve production efficiency and reduce production costs, a kind of pneumatic robot visual garbage sorting system is designed. Air pressure control loop are used to control the movement of the robot. Using checkerboard calibration method to calibrate the camera, and the calibration error is relatively small. The experimental results show that the manipulators using air pressure control have good positioning and grasping effects. The average grasping error of the manipulator is less than 3 mm by using the checkerboard calibration camera. The sorting system can meet the requirements of garbage sorting under certain conditions. It has the characteristics of simple structure, easy operation, accurate sorting, high efficiency, low cost and so on. It provides a reference basis for the subsequent development of intelligent garbage sorting equipment.

关 键 词：机器视觉 机械手 相机标定 分拣系统 

分 类 号：TH138[机械工程—机械制造及自动化] TS255[轻工技术与工程—农产品加工及贮藏工程]