基于PLC的水果分拣机器人动作控制优化

Optimization of Fruit Sorting Robot Action Control Based on PLC

随着水果产量的不断扩大,水果分拣带来的劳动力剧增形势也越发严峻。传统水果分拣作业主要依赖人工进行,分拣方式单一,分拣效率低、速度慢,且分拣精度不高。为解决这一难题,设计了一种基于PLC的水果分拣机器人,利用机器人的动力学数学模型,对机器人动作控制进行优化,完成了机器人控制系统的总体方案设计。分别对系统的硬件和软件进行设计,硬件设计主要包括硬件模块选型及确定各执行模块运行参数,并完成了PLC内部I/O地址分配以及梯形图的编制。最后,通过试验验证了该水果分拣机器人动作控制系统的安全性和稳定性,结果表明:机器人可有效地完成水果分拣作业,分拣效率高,速度快,且分拣精度高,具有较大的推广价值。

With the continuous expansion of fruit production, the sharp increase in labor force brought by fruit sorting is also becoming more and more severe. Traditional fruit sorting operations mainly rely on manual labor. The single sorting method has low sorting efficiency, slow speed, and low sorting accuracy. In order to solve this problem, a fruit sorting robot based on PLC is designed in this paper. The robot’s dynamic mathematical model is used to optimize the robot’s motion control, and the overall scheme design of the robot control system is completed. Designed with software. The hardware design mainly includes the selection of hardware modules, the determination of the operating parameters of each execution module, the completion of the PLC internal I/O address allocation and the preparation of the ladder diagram. Finally, the experimental verification of the fruit sorting robot motion control system The safety and stability, the results show that the robot can effectively complete fruit sorting operation, with high efficiency and speed, and high sorting accuracy, which has certain research significance for the reduction of agricultural costs and has a large promotion value.