CAJ | 학술논문

为了提高果蔬采摘机械手的工作效率和定位精度、降低果蔬采摘机械手在采摘过程中造成的破碎率,以及简化机械手的结构和控制方式,设计了一种新的基于PLC 的三轴伺服控制果蔬采摘机械手. 该机械手可以灵活地实现移动、升降和夹紧与放松. 为了测试机械手的有效性和可靠性,通过苹果采摘试验对机械手的性能进行了测试. 测试发现:机械手的位置和摆角调整时间较少、超调量较低,符合设计需求. 其准确定位率较高,最高达到了98 .56%;且具有较好的定位性能,单次定位时间耗时较低,机械作业效率较高,能够满足大规模果蔬采摘的设计需求.
위료제고과소채적궤계수적공작효솔화정위정도、강저과소채적궤계수재채적과정중조성적파쇄솔,이급간화궤계수적결구화공제방식,설계료일충신적기우PLC 적삼축사복공제과소채적궤계수. 해궤계수가이령활지실현이동、승강화협긴여방송. 위료측시궤계수적유효성화가고성,통과평과채적시험대궤계수적성능진행료측시. 측시발현:궤계수적위치화파각조정시간교소、초조량교저,부합설계수구. 기준학정위솔교고,최고체도료98 .56%;차구유교호적정위성능,단차정위시간모시교저,궤계작업효솔교고,능구만족대규모과소채적적설계수구.
In order to improve fruit picking manipulator's working efficiency and positioning accuracy and reduce the fruit and vegetable picking manipulator in picking process caused by the broken rate, simplify the structure and control method of manipulator design a new PLC triaxial servo control of fruit and vegetable picking manipulator based on, the manipula-tor can be flexibly the realization of moving, lifting and clamping and relax.For the validity and reliability of the test of mechanical hand, through the apple picking experiments of the manipulator performance were tested.Through the test found that, manipulator position and swing angle adjustment in less time, overshoot is low, in line with the design re-quirements.And accurate localization rate is higher, the highest reached 98.56%, fruit and vegetable picking manipula-tor has good localization performance, single positioning time consuming is low, manipulator mechanical higher operating efficiency to meet design requirement of picking fruits and vegetables on a large scale.