Research On Automatic Feeding System Of Chinese Fast Food

Chinese fast food with its unique taste, reasonable nutrition, which are favored by consumers. However,due to the polymorphism of food and the low level of the food automation equipment in our country,it’s difficult for chinese fast food to be bulk packaged,and to restrict the pace that chinese fast food industry move forward the market and industrialization. The research of Chinese fast food automatic feeding system includes:(1) the chinese fast food multi axis conveyor chain;(2)the chinese fast food feeding robot. Focus on studing the movement characteristics of chinese fast food conveyor chain system and the dynamic characteristics of chinese fast food chain system in the stepping motion laws,as well as, the kinematics, statics, dynamics, joint trajectory planning and motion control scheme design and other related content of the feeding robot.The main research is as follows:Firstly, the transmission characteristics of Chinese fast food chain was analyszd. Based on the theory of chain transmission speed fluctuation, the slope simplified theoretical model and the meshing impact equivalent mechanical model were established. Through analysis of multi-axis conveyor chain transmission characteristics by ADAMS, I studied the speed variation rule of transverse and longitudinal、the rule of meshing impact between sprocket wheel roller, chain tension change rule and natural frequency of delivery period of transverse vibration and longitudinal.At the same time, it found that the slope conveying section of slope angle at the vicinity of 65 degrees had good transmission characteristic.Secondly, the dynamics of Chinese fast food stepping chain were analyszd by ADAMS. Researched the influence of the characteristics of the spring and the motion law on the dynamic characteristics of the system.The research achievements showed that the MCV motion curve with uniform velocity was helpful to improve the dynamic response of the system,and the frequency of meshing impact force was the lowest on the condition that the system is driven by MCV. For the entire conveyor chain system, whether it is the return or transmission segment, the tension in the C segment of the chain is the best, the A segment is the worst.Then, the kinematics and trajectory planning of the feeding robot were analyszd. Through the reasonable arrangement of the material system and combined with the position requirements, determining that feeding robot was the open chain robot joints with 3 degrees of freedom. In view of the characteristics of Chinese style fast food solid state food, completed the structural design of the feeding robot manipulator. According to the motion characteristics of the feeding robot, established the kinematics equation of feed robot, solved the inverse solution of the kinematic equation, verified the correctness of inverse kinematics solution by ADAMS simulation.And the simulation showed that there was a mutation in the path point of the curve that obtained by using the three degree polynomial interpolation method. Schemed Robot joint space trajectory planning by using combinatorial polynomial,and Calculated and plotted the displacement, velocity, acceleration and jump curve of each joint by using MATLAB/M function. The results showed that the trajectory which obtained by using combinatorial polynomial satisfied the requirement of stable grasping.Finally, the dynamics and motion control scheme of the feeding robot were analyszd. Analysed static analysis of the feeding robot and completed the preliminary selection of each joint motor and reducer. Established the dynamic equation of the feeding robot by using the Lagrange method,and obtained the driving torque of each joint by using MATLAB/M function. The simulaiton results showed that the selected motor and reducer meet the requirements of the work. According to the functional requirements of the feeding robot completed the design of motion control scheme for feeding robot.