Optimum Design Of Humanoid Dual-Arm Tea-frying Robot System

At present,the general type robot is generally used in the industry,and the universal robot has many advantages such as high flexibility,versatility and shorten the research period.However,for some specific industries,high flexibility doesn't benefits to the enterprise,but it will increase the difficulty of operation and the cost of use.In the tea industry,tea processing equipment currently uses simple machines to process tea,such as roller compactors and steam killers.Although such a device is simple and easy to operate.However,the single processing method is inflexible,and the single processing method Easy to cause breakage of the tea and reduce the efficiency of the product.This paper aims at improving the design of tea processing equipment.Based on the knowledge of robotics,on this paper,research a humanoid robotic system to reduce the destruct rate of tea.First,inspired by the human hands process of tea-making,according to the traditional manual processing technology,we propose a basic model of the humanoid tea-making robot,and imitating the manual processing to finish tea-making.The whole process of tea-making includes heating and stir-frying.Base on tea-make process,degree of freedom,the working space,the working speed and the working load are designed for the robot.Optimizing the parameters of the whole model of the robot.The mechanical mechanism size is optimized according to the optimal design principle of the machine under the premise of satisfying the basic indicators.According to the electrical characteristics of the system with strong electricity and weak electricity,an independent power supply unit with multiple outputs is designed.The DS18B20 temperature sensor fusion PID control algorithm is used to monitor and adjust the temperature of the heating pot in real time.Then,using the visual aid system to assist the human-armed machine,the problem of the volume change caused by the fresh tea in the process of greening,this paper uses the visual scheme of the CMOS camera to collect the area information of the tea in the heating pot.The visual algorithm is used to analyze the area information of the tea,to obtain the distribution of the tea in the heating pot,and to guide the robot arm to use the optimal working path to complete the stir-fry action.Finally,through the experiment of extracting fresh green leaves,the effectiveness of the artificial Dual-Arm tea-roasting robot designed in this paper was verified.Experiments show that the artificial Dual-Arm fried tea robot can accurately fit the surface of the heating pot,and the damage rate of the tea is also reduced.When the volume of the tea changes,the human-like dual-arm robot system can be quickly adjusted.The trajectory of the frying,and the temperature of the heating pot is controlled within a reasonable range,and the use of a human-armed tea machine to complete the smashing process has a good application prospect in the development of the tea industry.