Research And Experiment On Experimental Device Of Egg Intelligent Handling Based On Parallel

At present,egg processing production line most of China's egg processing enterprises used lack of intelligent sorting equipment with automatic feeding,in general,it uses manual feeding,manual sorting and manual packaging.Manual work is of low efficiency and high labor costs,and there is a risk of infection of eggs and disease contamination.Delta parallel robot has the advantages of high speed,high precision and intelligence,it is widely used in sorting,packaging and handling operations in food,medical,electronics and other industries.Combined with the machine vision technology,it can easily locate and identify the product.In this paper,it designs a kind of egg intelligent handling experimental device based on machine vision and Delta parallel robot.The purpose is to use a set of experimental devices to achieve the whole plate feeding from the box to the processing line experiment and to achieve sorting which can pick up eggs from the production line to the box experiments,and to provide technical support for division of multi-robot collaboration in the practical application.The main research results include:(1)It designed egg automatic picking and feeding equipment based on machine vision and Delta parallel robot.The device consists of an egg conveyor line,a box transport line,a machine vision system,a Delta parallel robot body,sucker end actuator and a robot control system.Egg delivery line can transport 6 rows of eggs in variable speed,it is the same as the actual delivery of egg processing lines in egg processing enterprises.The box transport line is used to transport the whole box of eggs or empty boxes.The two conveyor lines are both equipped with position and speed detection sensors.The machine vision system is installed at the other end of the egg transport line,and it can capture the egg images on the production line and obtains the location information for each egg.The end effector is designed for two tasks and it two categories,one is the combination sucker with variable pitch which can feed 30 eggs and another is a sucker which can feed single egg.The robot body is Delta parallel robot of 3 degree of freedom produced by the Xin Song company.Parallel robots and sucker end actuators are used for the completion of automatic feeding and intelligent sorting and intelligent packaging process of egg handling.(2)Motion control: According to the requirements of feeding eggs,under the premise of a certain robot speed,in order to gain the highest efficiency,it is necessary to ensure the shortest path,and to ensure that the egg delivery line and egg packaging line parallel.For this specific situation,the path is set the movement at the same level directly to ensure the shortest path requirement.For single egg picking work requirements,the eight kinds of common placement schemes are analyzed and the detailed path planning is carried out,and the motion control is realized by analyzing the inverse and positive solutions of Delta parallel robot.(3)Visual positioning: According to the working requirements of intelligence feeding eggs,the position of eggs on the egg delivery line is confirmed.By completing the camera's connection settings,the control of the camera is achieved.In the debugging process,compared the different processing methods and the effect of different parameters,and finally the optimal process parameters are selected.By setting the communication with the parallel robot,with the rotary encoder on the transmission line,a parallel robot for the real-time control of the target location of is achieved.It lay the foundation for the realization of egg picking.(4)Test and conclusion: the automatic feeding eggs test is completed using the combination sucker with variable pitch which can feed 30 eggs,and it was found that the end effector could finish the loading of the whole egg.The speed of the robot should not be too fast and the speed of the parallel robot is set to 400 ~ 800mm/s because the combination sucker is heavier.Egg of the intelligent packaging test is completed using a sucker which can feed single egg,for the eight different placement trajectories,control experiments were conducted by the control variable method,the evaluation index are the number of picking success and the picking time,it was found that picking rate of the program four is 100%,and the time of picking 30 eggs is 67 s,they are better than the other seven programs.