基于树莓派控制的苹果大小分级机械臂的设计

Design of Apple Size Grading Manipulator Based on Raspberry Pie Control

由于现在大部分地区对于苹果的大小分级的效率较低,课题组通过使用Python编程和OpenCV图像处理设计了一款机械臂。机械臂是使用树莓派主板进行控制的,舵机实现机械臂各个关节处的转动,从而实现机械臂六个自由度的旋转。树莓派主板是在2012年发售的,它体积虽小,却具有电脑的所有基本功能,所以功能强大。利用机械臂实现对苹果分级的高效率运行,从而解放劳动力,降低成本。仿真结果表明:1)分级成功率都大于90%,成功率很高;而且表面破损率都很低,效率很高,达到了设计要求,可以应用到流水线作业中,实现苹果分级的规模化生产。2)分级范围越小,误差越大,因此应注意设计分级梯度。3)机械臂运行时性能平稳,生产效率高,可以应用到生产流水作业中。

Due to the low efficiency of apple size classification in most areas,the research group designed a manipulator by using Python Programming and OpenCV image processing.The manipulator is controlled by the raspberry pie motherboard,and the steering gear realizes the rotation of each joint of the manipulator,so as to realize the rotation of the manipulator with six degrees of freedom.Raspberry pie motherboard was launched in 2012.Although it is small,it has all the basic functions of the computer,so it is powerful.The mechanical arm is used to realize the efficient operation of apple grading,so as to liberate the labor force and reduce the cost.The simulation results show that:1) The success rate of classification is higher than 90%.Moreover,the surface damage rate is very low,and the efficiency is very high,which meets the design requirements.It can be applied to the assembly line operation to achieve the large-scale production of apple grading.2) The smaller the classification range,the greater the error,so attention should be paid to the design of the classification gradient.3) The mechanical arm has stable operation performance and high production efficiency,which can be applied to production flow operations.