基于STM32的自动分拣机器人研发  

Development of Automatic Sorting Robot Based on STM32

作　　者：关开荣 葛嘉骏 张治敏 GUAN Kairong;GE Jiajun;ZHANG Zhimin(School of Intelligent Manufacturing and Materials Engineering,Gannan University of Science and Technology,Ganzhou 341000,China)

机构地区：[1]赣南科技学院智能制造与材料工程学院,江西赣州341000

出　　处：《金属矿山》2024年第12期223-230,共8页Metal Mine

基　　金：江西省高等学校教学改革研究课题(编号:JXJG-23-36-1)。

摘　　要：传统人工分选石英脉型钨矿存在作业条件差、劳动强度大、经济效益差、分选效果不理想等问题,尽管X射线智能分选机效果好,但设备价格昂贵,给中小型矿山带来了一定的经济压力。为此,设计了一款自主移动、物料识别、自动分拣、自动放入仓位的自动分拣机器人;以STM32为控制核心,采用视觉技术,实时采集并提取图像特征信息来判别不同颜色的石英脉型钨矿物料;以机械臂作为执行机构,在不同高度和方位完成物料的抓取与放置;在试验条件下,机器人能平稳运行。研究结果表明:STM32自动分拣机器人能代替人工对石英脉型钨矿进行有效分选,制造成本低,适合中小型矿山使用,可为同类型钨矿分选提供借鉴。The traditional manual separation quartz vein type tungsten mine has poor working conditions,high labor intensity,poor economic benefits and unsatisfactory sorting effect,and the X-ray intelligent sorting machine has good effect,but the equipment is expensive,which brings a certain economic pressure to small and medium-sized mines.To this end,an automatic sorting robot with autonomous movement,material recognition,automatic sorting and automatic warehousing is designed.STM32 is the control core,and visual technology is used to collect and extract image feature information in real time to identify quartz vein type tungsten ore materials of different colors.The robot arm is used as the executive mechanism to grasp and place materials at different heights and orientations.Under test conditions,the robot can run smoothly.The study results show that the STM32 automatic sorting robot can effectively sort quartz vein type tungsten ore instead of manual,with low manufacturing cost,which is suitable for small and medium-sized mining enterprises,and can provide reference for the same type of tungsten ore separation.

关 键 词：自动分拣 机器人 STM32 石英脉型钨矿 

分 类 号：TD454[矿业工程—矿山机电]