孵化蛋车装卸机械臂的设计与试验
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摘要
针对箱式孵化蛋车装卸时,受蛋车高度和蛋盘尺寸的影响,人工装卸效率低、强度大等问题,设计了一种蛋车自动装卸机械臂。根据蛋车自动装卸机械臂的功能需求,装卸机械臂由升降机构和具有高度差的剪叉式装卸机构组成,剪叉式装卸机构中的刚性传递机构完成蛋盘的抓取,柔性传递机构完成蛋盘的输送。依据种蛋承受的最大冲击力要求,通过对蛋盘装卸过程中升降机构的动力学和静力学分析,研究了种蛋的受力情况,优化了系统的启停控制。样机试验结果表明,蛋盘装卸的垂直定位误差小于1.6 mm,水平定位误差小于0.5 mm,装卸成功率为100%,装卸效率达450盘/h,无种蛋破损现象。研究结果为蛋盘的自动装卸装置设计提供了有效的参考依据,促进了孵化工艺流程的自动化。
Aiming at the problems of the low efficiency and the high strength when manual operation in loading and unloading of box-type hatching egg by the height of egg yard and the size of egg dish,the design of the automatic loading and unloading manipulator of egg vehicle is composed by lifting mechanism and scissor type combination mechanism with high difference,which is based on the geometrical and dynamic analysis through the process of loading and unloading in the egg tray.The egg tray of the crawling was completed by the rigid transmission mechanism in the scissor type combination mechanism,and the delivery of the egg tray was completed by the flexible transmission agencies.According to the maximum impact requirement of the eggs,the turn on and off control of the system was optimized by analyzing the dynamics of the eggs in the process of egg loading and unloading.The results showed that in the process of egg tray loading and unloading,the vertical positioning error was less than 1.6mm,the horizontal positioning error was less than 0.5mm,the loading and unloading success rate was 100%,the loading and unloading efficiency was 450/h,and the eggs were not damaged.The effective loading and unloading reference data are provided by this result,for the automatic loading and unloading device design of the egg tray,which promotes the automation of the incubation process.
Aiming at the problems of the low efficiency and the high strength when manual operation in loading and unloading of box-type hatching egg by the height of egg yard and the size of egg dish,the design of the automatic loading and unloading manipulator of egg vehicle is composed by lifting mechanism and scissor type combination mechanism with high difference,which is based on the geometrical and dynamic analysis through the process of loading and unloading in the egg tray.The egg tray of the crawling was completed by the rigid transmission mechanism in the scissor type combination mechanism,and the delivery of the egg tray was completed by the flexible transmission agencies.According to the maximum impact requirement of the eggs,the turn on and off control of the system was optimized by analyzing the dynamics of the eggs in the process of egg loading and unloading.The results showed that in the process of egg tray loading and unloading,the vertical positioning error was less than 1.6mm,the horizontal positioning error was less than 0.5mm,the loading and unloading success rate was 100%,the loading and unloading efficiency was 450/h,and the eggs were not damaged.The effective loading and unloading reference data are provided by this result,for the automatic loading and unloading device design of the egg tray,which promotes the automation of the incubation process.
引文
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[2]张彦杰,贾玲霞,李爱芬,等.禽流感H9亚型SD696株疫苗生产工艺改进试验[J].中国兽药杂志,2011,45(1):45-48.ZHANG Yan-jie,JIA Ling-xia,LI Ai-fen,et al.Experiment of improve technological process on avian influenza virus(H9)srain SD696vaccine production[J].Chinese Journal of Veterinary Drug,2011,45(1):45-48.
[3]王红旗,王庆林.移动机械手鲁棒自适应模糊控制[J].控制与决策,2010,25(3):461-465.WANG Hong-qi,WANG Qing-lin.Robust and adaptive fuzzy control for mobile manipulator[J].Control and Decision,2010,25(3):461-465.
[4]金波,林龙贤.果蔬采摘欠驱动机械手爪设计及其力控制[J].机械工程学报,2014,50(19):1-8.JIN Bo,LIN Long-xian.Design and force control of an underactuated robotic hand for fruit and vegetable picking[J].Journal of Mechanical Engineering,2014,50(19):1-8.
[5]WANG Hai-feng,LI Bin,LIU Guang-yu,et al.Design and test of pineapple harvesting manipulator[J].Transactions of the Chinese Society of Agricultural Engineering,2012,28(Supplement 2):42-46,5.
[6]姬伟,程风仪,赵德安,等.基于改进人工势场的苹果采摘机器人机械手避障方法[J].农业机械学报,2013,44(11):253-259.JI Wei,CHENG Feng-yi,ZHAO De-an,et al.Obstacle avoidance method of apple harvesting robot manipulator[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(11):253-259.
[7]熊俊涛,叶敏.多类型水果采摘机器人系统设计与性能分析[J].农业机械学报,2013,44(1):230-235.XIONG Jun-tao,YE Min.System design and performance analysis on multi-type fruit harvesting robot[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(1):230-235.
[8]刘继展,刘炜.面向立柱栽培的移栽机器人设计与协调运动仿真[J].农业机械学报,2014,45(7):48-53.LIU Ji-zhan,LIU Wei.Design and coordinated motion simulation of transplanting robot for column cultivation[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(7):48-53.
[9]王田苗,陶永.我国工业机器人技术现状与产业化发展战略[J].机械工程学报,2014,50(9):1-13.WANG Tian-miao,TAO Yong.Research status and industrialization development strategy of chinese industrial[J].Journal of Mechanical Engineering,2014,50(9):1-13.
[10]KORAYEM M H,NIKOOBIN A,AZIMIRAD V.Maximum load carrying capacity of mobile manipulators optimal control approach[J].Robotica,2008,27(1):147-159.
[11]GHASEMI M H,KASHIRI N,DARDEL M,et al.Analytical design of optimal trajectory with dynamicload-carrying capacity for cable-suspended manipulator[J].International Journal of Advanced Manufacturing Technology,2012,60(1/4):317-327.
[12]GASPARETTO A,ZANOTTO V.Optimal trajectory planning for industrial robots[J].Advances in Engineering Software,2010,41(4):548-556.
[13]王明顺,关守平.一种分类机械手的研制与开发[J].东北大学学报(自然科学版),2006,27(9):957-960.WANG Ming-shun,GUAN Shou-ping.Research and development of a sorting manipulator[J].Journal of Northeastern University(Natural Science),2006,27(9):957-960.
[14]付铁,李金泉.一种新型高速码垛机械手的设计与实现[J].北京理工大学学报,2007,27(1):17-20.FU Tie,LI Jin-quan.Novel design and implementation of a high-speed palletizing manipulator[J].Transactions of Beijing Institute of Technology,2007,27(1):17-20.
[15]李玉航,梅江平.一种新型4自由度高速并联机械手动力尺度综合[J].机械工程学报,2014,50(19):32-40.LI Yu-hang,MEI Jiang-ping.Dynamic dimensional synthesis of a 4-DOF high-speed parallel manipulator[J].Journal of Mechanical Engineering,2014,50(19):32-40.
[16]杨玉维,赵新华.基于多体动力学特性的机械手时间最优轨迹规划[J].机械工程学报,2014,50(7):8-13.YANG Yu-wei,ZHAO Xin-hua.Trajectory optimization of manipulator for minimum working time based on multibody dynamic characters[J].Journal of Mechanical Engineering,2014,50(7):8-13.
[17]陶莎,胡志华.单元化三级装卸搬运作业链集成优化的三层进化算法[J].系统工程理论与实践,2014,34(8):17-20.TAO Sha,HU Zhi-hua.A three-stage evolutionary algorithm for three-stage unit material handing operations[J].Systems Engineering Theory&Practice,2014,34(8):17-20.
[18]HAYASHI S,SHIGEMATSU K,YAMAMOTO S,et al.Evaluation of a strawberry-harvesting robot in a field test[J].Biosystems Engineering,2010,105(2):160-171.