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张磊,王树才.基于Delta并联机器人的禽蛋智能捡拾试验[J].华中农业大学学报,2018,37(3):117-124
基于Delta并联机器人的禽蛋智能捡拾试验
Studies on experimental device of egg intelligent handling based on parallel
投稿时间:2017-04-26  
DOI:
中文关键词:  禽蛋  Delta并联机器人  机器视觉  运动控制
英文关键词:egg  Delta-parallel robot  machine vision  motion control
基金项目:公益性行业(农业)科研专项(201303084)
作者单位E-mail
张磊 华中农业大学工学院武汉 430070 604369948@qq.com 
王树才 华中农业大学工学院武汉 430070 wsc01@mail.hzau.edu.cn 
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中文摘要:
      针对当前禽蛋加工生产线中分段处置过程工序多、生产线长、累计破损率大、设备成本高等问题,采用一种基于机器视觉的Delta并联机器人,实现在生产线上将合格禽蛋捡拾到标准蛋盘并按照一定的顺序逐层整齐摆放的高速智能捡拾。通过基于视觉的动态禽蛋个体进行定位,确定不同搬运路径的智能轨迹规划,对实现智能捡拾的机器人控制程序进行设计并对禽蛋智能捡拾进行测试。结果表明,采用基于视觉的Delta并联机器人可以实现禽蛋智能捡拾和装盘工作目标,机器人运行速度达1 250 mm/s,捡拾效率为0.414 2~0.447 8 枚/s,漏捡率小于3.33%。
英文摘要:
      The egg processing production line used in most of the egg processing enterprises in China lack of intelligent sorting equipment.Manual loading,sorting and packaging is generally used.Artificial methods are inefficient due to its high labor costs and risk of infection and contamination of eggs.The current egg processing line has some problems including disposal segment,multi-step,long production line,a large cumulative damage and high equipment costs and so on.A Delta-parallel robot based on machine vision was used to realize high-speed intelligent picking of eggs on the production line,which can pick up qualified eggs to the standard egg tray in accordance with a certain order by layer placed neatly.The completed dynamic positioning of the individual egg and the intelligent trajectory planning for different handling paths based on machine vision was studied.The robot control program was designed to achieve intelligent picking up.Experiments of pick up eggs and transfer them to an egg tray intelligently were conducted.Results showed that the use of delta parallel robot based on visual can realize the egg picking up and loading.Robot operating speed is 1 250 mm/s,with pick up efficiency of 0.414 2-0.447 8/s and leakage rate of less than 3.33%.It will provide technical support for the practical application of multi-robot division of labor.
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