基于并联机器人的禽蛋包装生产线的研究与试验

Research and Experiment of Egg Packaging Production Line Based on Parallel Robot

目的 为了提高禽蛋包装加工的效率和成本,设计了一台基于并联机器人的禽蛋拾放包装生产线。方法 根据禽蛋装盘的实际需求,设计了一条禽蛋包装加工生产线,主要由输送部分、并联机器人、传感器、蛋托输送部分等组成,对机器人的拾放路径和拾放方案作了伦理分析和计算,并通过实验比较得到了机器人拾放的最优方案。结果 对64种拾放方案均进行3次试验,每次均完成一整托30枚鸡蛋的取放,结果表明机器人的拾蛋成功率为99.3%,在保证成功率和精度的前提下,机器人完成一次拾放过程,最快速度为2.4s。结论 此禽蛋拾放包装生产线的设计符合预期设计要求,为并联机器人在禽蛋包装上的应用提供了技术支持。

The work aims to design a parallel robot based egg picking and placing packaging production line to improve the efficiency and cost of egg packaging processing. According to the actual demand of egg packaging, an egg packaging and processing production line was designed, which consisted of conveying part, parallel robot, sensor, egg carb conveying part, etc. The ethical analysis and calculation were made on the picking and placing path and scheme of the robot, and the optimal picking and placing scheme of the robot was obtained through experimental comparison. Three tests were carried out for each of the 64 picking and placing schemes, and the picking and placing of 30 eggs in a whole group was completed each time. The success rate of the picking and placing robot was 99.3%. Under the premise of ensuring the success rate and accuracy, the fastest speed of the robot for one round of picking and placing was 2.4 seconds.The design of the egg picking and placing packaging production line is in line with the expected design requirements,which provides technical support for the application of the parallel robot in egg packaging.