便携式自动割胶机器人关键技术研究  

Research on the Key Technology of Portable Automatic Glue-Cutting Robot

作　　者：罗庆生[1] 林彬彬 李凯林 王彦 LUO Qing-sheng;LIN Bin-bin;LI Kai-lin;WANG Yan(School of Electrical and Mechanical Sciences,Beijing Institute of Technology,Beijing 100081,China;School of Mechanical and Vehicular Engineering,Beijing Institute of Technology,Beijing 100081,China;Hainan Middle School,Haikou Hainan 571158,China)

机构地区：[1]北京理工大学机电学院,北京100081 [2]北京理工大学机械与车辆学院,北京100081 [3]海南中学,海南海口571158

出　　处：《机械设计与制造》2022年第12期15-19,28,共6页Machinery Design & Manufacture

基　　金：海南省2017年重点研发计划项目(ZDYF2017015)。

摘　　要：天然橡胶产业正阔步向机械化、自动化、智能化方向进发,涌现出一些自动割胶装置,但普遍存在适应性差、可靠性低、实用性弱的不足。针对上述情况,设计了一款便携式自动割胶机器人,该机器人由机械部分与控制部分组成,机械部分由抱紧机构、刀具进给机构和切削运动机构构成,控制部分采用分布式与整体式控制体系相结合的方式,使用arduino控制切削运动的步进电机,主控制方面采用树莓派3B为底层驱动完成指令发送,在控制部分的协调控制之下,机器人的机械部分发挥出保持牢固、运动平稳、切槽均匀、作业快速等特点。对机器人的总体结构与工作原理进行详细阐述之后,对其运动功能的实现进行了深入分析,并将机器人置于真实胶林环境进行了验证实验,实验结果表明该机器人设计合理,关键技术过硬,能够显著提高自动割胶装置在适应性、可靠性、实用性方面的技术水平。The natural rubber industry is making strides towards mechanization,automation,and intelligence,and some automatic rubber tapping devices have emerged,but they generally suffer from poor adaptability,low reliability,and weak practicability.In view of the above situation,a portable automatic rubber tapping robot is designed.The robot is composed of a mechanical part and a control part.The mechanical part is composed of a holding mechanism,a tool feed mechanism and a cutting motion mechanism.The control part adopts a distributed and integrated control system.In a combined way,the arduino is used to control the stepper motor of the cutting movement.The main control uses Raspberry Pi 3B as the bottom driver to complete the command transmission.Under the coordinated control of the control part,the mechanical part of the robot exerts a firm hold and movement Stability,uniform grooving,and fast operation.After expounding the overall structure and working principle of the robot in detail,the realization of its motion function is analyzed in depth,and the robot is placed in a real rubber forest environment for verification experiments.The experimental results show that the robot design is reasonable and the key technology is excellent.It can significantly improve the technical level of the automatic rubber tapping device in terms of adaptability,reliability and practicability.

关 键 词：便携式自动割胶机器人 机械结构 控制系统 ARDUINO 树莓派3B 运动功能 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]