CN109048923A - A kind of fruit sorting machine people's control system - Google Patents
A kind of fruit sorting machine people's control system Download PDFInfo
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- CN109048923A CN109048923A CN201811225675.0A CN201811225675A CN109048923A CN 109048923 A CN109048923 A CN 109048923A CN 201811225675 A CN201811225675 A CN 201811225675A CN 109048923 A CN109048923 A CN 109048923A
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- sorting machine
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 60
- 238000001514 detection method Methods 0.000 claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 2
- 238000005086 pumping Methods 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 101150025671 tim8 gene Proteins 0.000 description 3
- 101150074789 Timd2 gene Proteins 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 235000007688 Lycopersicon esculentum Nutrition 0.000 description 1
- 240000003768 Solanum lycopersicum Species 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
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- 238000004364 calculation method Methods 0.000 description 1
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- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of fruit sorting machine people's control systems, it is characterized in that, including main control module and the detection device being connect with the control module, electromagnetic relay and each motor driving plate, the electromagnetic relay is connect with grabbing device, each motor driving plate connects one to one with each mechanical arm driving motor, and the mechanical arm driving motor and mechanical arm correspond；The grabbing device is arranged in the mechanical arm tail end；The detection device detects fruit position.Each mechanical arm driving motor is each equipped with encoder, and the encoder connects with corresponding mechanical arm driving motor, motor driving plate and to form closed-loop system.The present invention has many advantages, such as that speed is fast, precision is high, compared to manual sorting, can greatly improve working efficiency, save cost and a large amount of manpowers.
Description
Technical field
The invention belongs to fruits to sort grading plant technical field, and in particular to a kind of fruit sorting machine people control system
System.
Background technique
Agricultural is conventional industries and basic industry, occupies highly important status.China's land resource is abundant, weather conditions
It is suitable for that suitable large area grows fruit vegetables.1999, China became Production of fruit big country, and wherein the annual output of tomato exists
Have been approached 650,000 tons within 2016.Currently, the process of China's picking fruit, sorting classification relies primarily on manually to carry out.Fruit point
Picking classification is the important ring in fruit production, using manually to conventional method heavy workload, the low efficiency of fruit sorting classification.
Moreover, because the activity of people is limited by many conditions, and with the lengthening of working time, it cannot be guaranteed that sorting classifier
The accurate and efficiency made.
Summary of the invention
In order to solve above-mentioned technical problem, the present invention devises a kind of fruit sorting machine people's control system, mentions
The high efficiency and accuracy of fruit sorting, realizes the automation process of fruit sorting.
In order to solve above-mentioned technical problem, the invention adopts the following technical scheme:
A kind of fruit sorting machine people's control system, including main control module and the detection device being connect with the control module,
Electromagnetic relay and each motor driving plate, the electromagnetic relay are connect with grabbing device, each motor driving plate and each machine
Tool arm driving motor connects one to one, and the mechanical arm driving motor and mechanical arm correspond；The grabbing device setting
In the mechanical arm tail end；The detection device detects fruit position.
Further, each mechanical arm driving motor is each equipped with encoder, the encoder and corresponding mechanical arm
Driving motor, motor driving plate connect to form closed-loop system.
Further, the encoder is photoelectric encoder.
Further, the main control module, each motor driving plate, each mechanical arm driving motor are each attached on fixed platform, institute
It is fixed on the support frame to state fixed platform, electromagnetic relay and detection device.
Further, the fixed platform is a circular plate structure, and the periphery of circular plate structure is evenly equipped with the slot of multiple rectangles,
Mounting hole is provided with beside each slot to install corresponding motor driving plate and mechanical arm driving motor, the slot and institute
State mechanical arm one-to-one correspondence.
Further, the main body of the main control module is the STM32F407 chip with ARM framework.
Further, the mechanical arm driving motor uses servo step motor；The motor driving plate is to corresponding mechanical arm
Driving motor corner carries out losing step detection, and is accordingly compensated.
Further, the detection device includes photoelectric sensor and vision detection system.
Further, the photoelectric sensor uses the scattered reflection type photoelectric sensor of model E18-D80NK.
Further, the grabbing device includes sucker, the fixing end of the sucker sequentially pass through the central through hole of moving platform,
The central through hole of locating cover is threadedly coupled with fixture nut；The moving platform is connect with each mechanical arm；The sucker uses
Vacuum chuck flexible, is connected on vacuum evacuation device.
Further, the periphery of the moving platform is evenly equipped with multiple groups connection boss；Every group of connection boss includes two boss,
Circular through hole is machined on boss to be rotatablely connected with corresponding mechanical arm tail end.
Further, groove structure is provided with to accommodate the locating cover, groove knot in the middle part of one end end face of the moving platform
The bottom of structure is provided with several location holes；Be provided on one end end face of the locating cover several positioning columns with the location hole
Cooperation.
Further, there are three the mechanical arms, the movement of three mechanical arm driving motors is mutually indepedent.
Fruit sorting machine people's control system has the advantages that
(1) in the present invention, the main body executing agency sorted using the mechanical arm being arranged in parallel as fruit has speed fast, smart
Spend the advantages that high.Compared to manual sorting, working efficiency can be greatly improved, avoids sorting result from varying with each individual, saves into
Sheet and a large amount of manpowers.
(2) in the present invention, end executive module uses sucker structure, and sucker uses flexible material, can be in sort process
In avoid that fruit is caused to damage.
(3) of the invention, it is easy to disassemble using modularized design；It is at low cost, good economy performance；Size is appropriate, structure is tight
It gathers, is easy to operate, is safe and reliable.
(4) the STM32F407 family chip that the control module core that the present invention uses is developed for STMicw Electronics, has
FPU unit is integrated with part DSP instruction, and compared to traditional fixed-point calculation processor, flop operating speed has advantage.And its
The working frequency of 168MHz makes the family chip have higher execution speed and code efficiency, improves the real-time of system,
It is more efficient to keep sorting rapider.
(5) present invention uses 57HSE112-D25 type servo step motor, which has higher speed
More stable torque, make parallel mechanical arm when executing grasping movement more express delivery, precisely, stablize.
(6) in the present invention, each mechanical arm driving motor motor driving plate matched with its and encoder are formd
One closed-loop system, motor driving plate can carry out motor corner to lose step detection, and accordingly be compensated, and further improve
The accuracy and stability of mechanical arm grasping movement.
Detailed description of the invention
Fig. 1: the modular construction schematic diagram of fruit sorting machine people's control system in embodiment of the present invention；
Fig. 2: the structural schematic diagram of fruit sorting machine people in embodiment of the present invention；
Fig. 3: the structural schematic diagram of grabbing device in embodiment of the present invention；
Fig. 4: the structural schematic diagram of fixed platform in embodiment of the present invention；
Fig. 5: the work flow diagram of fruit sorting machine people's control system in embodiment of the present invention.
Description of symbols:
1-main control module；2-photoelectric sensors；3-electromagnetic relays；4-grabbing devices；41-suckers；42-moving platforms；
43-locating covers；44-fixture nuts；51-motor driving plates I；52-motor driving plates II；53-motor driving plates III；
61-stepper motors I；62-stepper motors II；63-stepper motors III；71-encoders I；72-encoders II；73-codings
Device III；81-mechanical arms I；82-mechanical arms II；83-mechanical arms III；9-fixed platforms；91-slots；92-mounting holes；10—
Vision detection system.
Specific embodiment
With reference to the accompanying drawing, the present invention will be further described:
Fig. 1 to Fig. 5 shows the specific embodiment of fruit sorting machine people's control system of the present invention.Fig. 1 is present embodiment
The modular construction schematic diagram of middle fruit sorting machine people's control system；Fig. 2 is fruit sorting machine people in present embodiment
Structural schematic diagram；Fig. 3 is the structural schematic diagram of grabbing device in present embodiment；Fig. 4 is the knot of fixed platform in present embodiment
Structure schematic diagram；Fig. 5 is the work flow diagram of fruit sorting machine people's control system in present embodiment.
As shown in Figure 1, fruit sorting machine people's control system in present embodiment, including main control module 1 and with control
Detection device, electromagnetic relay 3 and each motor driving plate that molding block 1 connects, electromagnetic relay 3 are connect with grabbing device 4, respectively
Motor driving plate connects one to one with each mechanical arm driving motor, and mechanical arm driving motor and mechanical arm correspond, crawl
Device 4 is arranged in mechanical arm tail end.Detection device detects fruit position；It is dynamic that the control grabbing device 4 of electromagnetic relay 3 carries out crawl
Make.
Preferably, each mechanical arm driving motor is each equipped with encoder, encoder and corresponding mechanical arm driving motor,
Motor driving plate connects to form closed-loop system.
Preferably, encoder is photoelectric encoder.In the present embodiment, encoder is all made of the unrestrained of model E18-D80NK
Reflective photoelectric sensor, is detected for reset motor, and distance of reaction is adjusted between 8cm-14cm.
Preferably, as shown in Fig. 2, main control module 1, each motor driving plate, each mechanical arm driving motor, which is each attached to, to be allocated
On platform 9, fixed platform 9, electromagnetic relay 3 and detection device are fixed on the support frame.In the present embodiment, support frame is not drawn
Frame.
Preferably, fixed platform 9 is a circular plate structure, and the periphery of circular plate structure is evenly equipped with the slot 91 of multiple rectangles,
Mounting hole 92 is provided with beside each slot 91 to install corresponding motor driving plate and mechanical arm driving motor, slot 91 with
Mechanical arm corresponds the movement to facilitate mechanical arm, as shown in Figure 4.
Preferably, main control module 1 is the single-chip microcontroller based on STM32, and the main body of main control module 1 is with ARM framework
STM32F407 chip.
Preferably, mechanical arm driving motor uses servo step motor；Motor driving plate is to corresponding mechanical arm driving motor
Corner carries out losing step detection, and is accordingly compensated.In the present embodiment, mechanical arm driving motor is watched using 57HSE112-D25 type
Take stepper motor.Traditional stepper motor is compared, which has higher speed and more stable torque.Except power supply
Outside, each servo step motor needs 2 control signals, PUL and DIR.PUL is pulse signal, whenever give PUL input an arteries and veins
Signal is rushed, stepper motor turns an angle, referred to as step angle, continuous pulse signal is inputted to PUL, according to pulse signal
Frequency and quantity can carry out speed regulation and angle control to stepper motor.DIR is direction signal, controls the rotation of stepper motor
Direction.Main control module 1 sends motor control signal to each motor driving plate, and each motor driving plate drives corresponding stepper motor,
Forward or reverse, rotate different angle, realize the movement of each mechanical arm, the final moving platform 42 for realizing mechanical arm tail end exists
Translational motion in space X, tri- directions Y, Z.
Preferably, detection device includes photoelectric sensor 2 and vision detection system 10, and photoelectric sensor 2 is scattered reflection type
Photoelectric sensor.In the present embodiment, photoelectric sensor 2 is used for using the scattered reflection type photoelectric sensor of model E18-D80NK
Fruit arrival is detected whether, distance of reaction is adjusted between 23cm-27cm.The specific location of the detection fruit of vision detection system 10
Information.
Preferably, as shown in Figures 2 and 3, grabbing device 4 includes sucker 41, and the fixing end of sucker 41 sequentially passes through dynamic flat
The central through hole of platform 42, the central through hole of locating cover 43 are threadedly coupled with fixture nut 44；Moving platform 42 is connect with each mechanical arm；
Moving platform 42 keeps horizontal with ground always.Sucker 41 uses vacuum chuck flexible, is connected on vacuum evacuation device.
Specifically, the periphery of moving platform 42 is evenly equipped with multiple groups connection boss；Every group of connection boss includes two boss, convex
Circular through hole is machined on platform to be rotatablely connected with corresponding mechanical arm tail end, as shown in Figure 3.
Specifically, groove structure is provided in the middle part of one end end face of moving platform 42 to accommodate locating cover 43, groove structure
Bottom is provided with several location holes；Several positioning columns are provided on one end end face of locating cover 43 to cooperate with location hole, such as Fig. 3
It is shown.
In the present embodiment, there are three mechanical arms, is mechanical arm I 81, mechanical arm II 82 and mechanical arm III 83 respectively；Mechanical arm
There are three driving motors, is stepper motor I 61, stepper motor II 62 and stepper motor III 63 respectively；There are three motor driving plates,
It is motor driving plate I 51, motor driving plate II 52 and motor driving plate III 53 respectively；Stepper motor I 61, II 62 and of stepper motor
Stepper motor III 63 is each configured with encoder I 71, encoder II 72 and encoder III 73, as shown in Figure 1, motor driving plate I
51 drive mechanical arm I 81 by stepper motor I 61, and motor driving plate II 52 drives mechanical arm II 82 by stepper motor II 62,
Motor driving plate III 53 drives mechanical arm III 83 by stepper motor III 63, and the movement of three mechanical arms is mutually indepedent.Encoder I
71, encoder II 72 and encoder III 73 acquire III 63 stepper motor I 61, stepper motor II 62 and stepper motor corners respectively
Degree, and motor driving plate corresponding thereto is connected.The actual angle that each encoder turns over stepper motor feeds back to correspondence
Motor driving plate, motor driving plate can carry out motor corner to lose step detection, and carry out corresponding angle compensation.
When work, as shown in figure 5, firstly, main control module 1 controls three machines after fruit information is transferred to main control module 1
Tool arm turns over respective angles, is moved to moving platform 42 above fruit from initial position and is grabbed；Then, mechanical arm turns over one
Determine angle, moving platform 42 is made to be moved to fixed position and unclamps fruit；Finally, moving platform 42 returns to initial position, it is next
The crawl of fruit is prepared.
It requires specifically, being classified according to platform, after control panel electrification reset, system is initialized first.At the beginning of system
Beginningization includes resetting all peripheral hardwares, initialization Flash interface, configuration system clock, initialization GPIO input and output, initialization
Serial ports and configuration preference level, initializing universal timer TIM2, initialization motor pulses output timer.After system initialization,
Carry out key detection.Robot is resetted first, motor corner and mechanism position is made to reply initial position.Later, it presses
Corresponding key opens serial ports and interrupts reception fruit data, and carries out finishing analysis to data, judges whether it meets data structure
Standard.Then control motor corner is executed, robot crawl is completed and places subprogram.
Specifically, realize the basis that controls robot using 57 servo step motors, be to the corner revolving speed of motor into
Row is accurately controlled.The scheme that the design uses is to be sent to motor driver using STM32F4 control panel to send control command, electricity
Machine driver forms control electric current, realizes the control to motor by analysis and Control order.The control panel that design is selected can connect
By the signal of servo step motor encoder, the step phenomenon of losing of motor is detected, and is able to carry out corresponding amendment.Driving
The connection type of plate and control panel uses the connection type of common-anode, so setting motor enable end and motor steering end
Afterwards, the pulse number and motor corner of control panel output are in a linear relationship under normal conditions, and frequency and the motor speed of pulse are in
Linear relationship.Design uses the output comparison pattern of the advanced control timer TIM8 of STM32F407, generates three tunnel umber of pulses and frequency
The controllable pulse square wave of rate.TIM8 works when exporting comparison pattern, there is a programmable register.To timer
Relevant configuration is carried out, opening timing device function, after numerical value is written to programmable register, timer starts to count up, when reaching
To after the numerical value, the level of relevant pins is inverted, and is generated and is interrupted, counter clear.By changing write-in programmable register
Numerical value, the pulse frequency that can be exported to pin control；The interrupt number generated by statistics, and its sum is limited
System, the pulse number that can be exported to pin control.Pulse control signal is generated using TIM8 output comparison pattern, it can be with
Realization controls the movement of servo step motor substantially.If setting A indicates the programmable register value of control pulse frequency, B
, then there is following relationship in the interruption sum for indicating statistics.
A=(168/ (pre- divider ratio+1))/(2* pulse frequency)
B=motor driving plate segments * 2/360 * motor corner * reduction ratio
Specifically, the implementing procedure of reset motor subprogram are as follows: carried out using photoelectric sensor to the master arm being connected to the motor
Detection after detecting, closes the pulse output channel of corresponding motor.After three pulse output channels are all closed, to motor
Angle is modified, and completes reset motor.
After reset motor, opens serial ports and receive program, receive fruit data.Crawl point is calculated according to data and puts
Coordinate a little is set, crawl is executed and places program.Firstly, mobile end waits fruit to be moved to conveyer belt to crawl point top
Crawl point.When optoelectronic switch detect fruit be moved to grab start position when, system control fruit sorting machine people end decline
To crawl point, electromagnetic relay switch is connected, opens grabbing device and fruit is grabbed.Later, "door" type path rail is calculated
Mark interpolated point to motor corner, enable timer TIM2, every 100ms executes a motor movement subfunction, more new motor
Steering, corner, revolving speed, so that robot end is moved to set-point along "door" type path.Electromagnetic relay is controlled, crawl is closed
Device puts down fruit, returns initial position, completes the classification to fruit and places task.
For automatic sorting machine people, the present invention devises fruit classification robot control system, completes entire control
Process design, the function of realizing automatic sorting and fruit is classified.It is smaller to the damage of fruit in sort process, more
Efficiently, can be realized robot precisely, quickly the fruit on conveyer belt is positioned and is grabbed and is classified, save
Cost and a large amount of manpowers.
Compared to existing sorting machine people, 57 servo step motors that the present invention uses can more smoothly drive mechanical arm
Group movement keeps crawl placement movement more stable, shakes smaller while smaller to the damage of fruit.
Present system has write the program of system control, and is tested.By testing on the spot, the system is demonstrated
The function of automatic sorting can be substantially met, the metastable carrying of essence and classification can be carried out to the fruit on conveyer belt.
Above in conjunction with attached drawing, an exemplary description of the invention, it is clear that realization of the invention is not by aforesaid way
Limitation, as long as use the inventive concept and technical scheme of the present invention carry out various improvement, or it is not improved will be of the invention
Conception and technical scheme directly apply to other occasions, be within the scope of the invention.
Claims (10)
1. a kind of fruit sorting machine people's control system, which is characterized in that connect including main control module and with the control module
Detection device, electromagnetic relay and each motor driving plate connect, the electromagnetic relay are connect with grabbing device, each motor
Driving plate connects one to one with each mechanical arm driving motor, and the mechanical arm driving motor and mechanical arm correspond；It is described
Grabbing device is arranged in the mechanical arm tail end；The detection device detects fruit position.
2. fruit sorting machine people's control system according to claim 1, which is characterized in that each mechanical arm driving electricity
Machine is each equipped with encoder, and the encoder connects to form closed loop system with corresponding mechanical arm driving motor, motor driving plate
System.
3. fruit sorting machine people's control system according to claim 1 or 2, which is characterized in that the main control module,
Each motor driving plate, each mechanical arm driving motor are each attached on fixed platform, the fixed platform, electromagnetic relay and detection device
It fixes on the support frame.
4. fruit sorting machine people's control system according to claim 3, which is characterized in that the fixed platform is a circle
Hardened structure, the periphery of circular plate structure are evenly equipped with the slot of multiple rectangles, are provided with mounting hole beside each slot to install
Corresponding motor driving plate and mechanical arm driving motor, the slot and the mechanical arm correspond.
5. fruit sorting machine people's control system according to claim 1,2 or 4, which is characterized in that the main control module
Main body be STM32F407 chip with ARM framework.
6. fruit sorting machine people's control system according to claim 1,2 or 4, which is characterized in that the mechanical arm drives
Dynamic motor uses servo step motor；The motor driving plate carries out corresponding mechanical arm driving motor corner to lose step detection, and
Accordingly compensated.
7. fruit sorting machine people's control system according to any one of claims 1 to 6, which is characterized in that the detection dress
It sets including photoelectric sensor and vision detection system.
8. fruit sorting machine people's control system according to any one of claims 1 to 7, which is characterized in that the crawl dress
It sets including sucker, the fixing end of the sucker sequentially passes through the central through hole and fixed spiral shell of the central through hole of moving platform, locating cover
Box thread connection；The moving platform is connect with each mechanical arm；The sucker uses vacuum chuck flexible, and it is true to be connected to pumping
On empty device.
9. fruit sorting machine people's control system according to claim 8, which is characterized in that the periphery of the moving platform is equal
It is furnished with multiple groups connection boss；Every group of connection boss includes two boss, be machined on boss circular through hole with corresponding machine
The rotation connection of tool arm end.
10. fruit sorting machine people's control system according to any one of claims 1 to 9, which is characterized in that the mechanical arm
There are three, the movement of three mechanical arm driving motors is mutually indepedent.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811225675.0A CN109048923A (en) | 2018-10-21 | 2018-10-21 | A kind of fruit sorting machine people's control system |
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|---|---|---|---|
| CN201811225675.0A CN109048923A (en) | 2018-10-21 | 2018-10-21 | A kind of fruit sorting machine people's control system |
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Family
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|---|---|---|---|---|
| CN110548685A (en) * | 2019-08-15 | 2019-12-10 | 大连大华中天科技有限公司 | Three-axis quick sorting robot system |
| CN114769135A (en) * | 2022-04-07 | 2022-07-22 | 杭州电子科技大学 | Sucking disc formula plastic part sorting machine |
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