农业工程学报2016，Vol.32Issue(8)：48-55,8.DOI:10.11975/j.issn.1002-6819.2016.08.007
禽蛋自动捡拾系统结构设计及机械手运动规划
Structure design of egg auto-picking system and manipulator motion planning
摘要
Abstract
At present, egg collection device appears that the automatic degree is low, and cannot meet the needs of automatic egg production in China. In order to solve the problem, this paper designs an egg auto-picking device. Such device consists of egg transport device, shake correcting device, egg picking execution device and automatic control system. Egg transport device comprises silica gel tank conveyor belt, driving roller with optical encoder, driven roller, servo motor and conveyor belt clamping device. Egg transport device is used for collecting, storing and transferring eggs. Shake correcting device is composed of spring, pulse electromagnet and beat parts. Several shake correcting devices are installed in the correcting area under the conveyor belt with equal space. Shake correcting device is used for arranging eggs on conveyor belt by a disorderly state into an ordered arrangement state. Egg picking execution device includes parallel picking-up structure and control system. Egg picking execution device is used for picking up eggs and transferring them to plate. Parallel picking-up structure consists of active arm, slave arm and picking manipulator. Picking manipulator is composed of rotation steering gear, enhancement steering gear, silicone sucker, and vacuum holes. The working process of egg auto-picking device is as follows: when the eggs go into the picking area, the proximity sensor will sense the array of eggs on the conveyor belt. The received signals by MCU(microcontroller unit) are transferred to personal computer (PC) controller via RS232 serial port. PC controller receives signals and calculates real-time coordinates for each egg. The PCL-839 control card based on PC controls the stepper motor drive through a closed loop controller. When the driving arm motor moves, the vacuum sucker at the end of the picking manipulator will trace the eggs and eventually pick up them. Simultaneously, SCM(single chip microcomputer) receive signals sent by the PC controller, and the steering gear controls the vacuum sucker to rotate upward by 90°. In this way eggs can be made vertical. At last, the picking manipulator transfers eggs on a tray. The eggs auto-picking device achieves the automatically picking up the eggs on the assembly line, improves the efficiency of egg automatic picking and frees up the labor. Picking manipulator is a core component of egg auto-picking device, and directly affects the success rate of egg picking and the working efficiency. By analyzing the working process of picking manipulator, the enhancement steering gear’s output torque and the sucker’s suction pressure are determined.On this basis, suitable enhancement steering gear of picking manipulator and suction pump are selected. In the process of research, we focus on the structural design of picking manipulator, the manipulator path planning, the route tracking prediction and the picking-laying solutions. Finally, the prototype of automatic egg collection device is manufactured; at the same time, the test of the success rate of egg picking, the egg picking-up speed and the optimization picking-laying solution is conducted.The results show that automatic egg collection device has the advantages of simple working and reliable location. Egg picking success rate reaches 98.3%, and the fastest operating speed of picking up the eggs into the pan can reach 2.4 s. The shortest time of optimum picking-laying solution is 73.2 s when the execution device picks up 30 eggs.This conclusion provides the reference for the structural design of picking device in automatic egg production systems.关键词
机械化/控制/自动化/禽蛋自动捡拾/捡拾机械手/路径规划/取蛋-放蛋方案Key words
mechanization/control/automation/eggs auto-picking/picking manipulator/path planning/pick-lay solution分类
信息技术与安全科学引用本文复制引用
苑进,李扬,刘雪美,赵新学,何林飞..禽蛋自动捡拾系统结构设计及机械手运动规划[J].农业工程学报,2016,32(8):48-55,8.基金项目
国家自然科学基金资助项目（51475278）；山东科技发展计划资助项目（2014GNC112010）；山东省农机装备研发创新计划项目（2015YB201）；“十二五”国家科技支撑计划资助项目 （）
