Design Of Automatic Feeding Robot For Raw Materials Of Traditional Chinese Medicine

At present,the raw materials in the raw material pre-treatment workshop of the traditional Chinese medicine plant are transported to the pharmaceutical plant,and the process of net selection,warehousing,ex warehouse,washing and cutting raw materials processing and feeding is dominated by manual forklift.The manual feeding efficiency is low,the manual labor is tedious,the safety is poor,and the dust generated by the raw material feeding of traditional Chinese medicine cannot be handled in time.It is one of the guarantees to ensure the final efficacy and quality of traditional Chinese medicine to design the logistics of traditional Chinese medicine reasonably and scientifically,and to perfect the rational plan of raw materials of traditional Chinese medicine.The development of Chinese herbal medicine needs to keep pace with the times in the aspects of automation of traditional Chinese medicine production,logistics and storage of traditional Chinese medicine,intelligent control of traditional Chinese medicine,etc.The Research on the system layout,system balance,production scheduling and robot operation control methods of mobile feeding robot in the logistics system of traditional Chinese medicine raw material production will improve the automation of raw material batching,transportation and feeding of traditional Chinese medicine,and then improve High drug production capacity,quality and technical level of China in this field are of great significance.Based on the production transformation project of a Chinese herbal medicine company in Shandong Province,this paper studies and designs a feeding robot for raw materials of traditional Chinese medicine.Combined with theory and practice,it analyzes and studies the mechanical structure,control system construction,control algorithm,feeding system and other aspects of the feeding robot,so as to realize the research and application of the whole feeding robot.In this paper,after field investigation in the feeding workshop of traditional Chinese medicine plant,aiming at the feeding task demand and the environmental problems of the production workshop,the mechanical structure of the feeding robot is designed in modular partition,including the clamping mechanism,the turning feeding mechanism and the dust collection mechanism.According to the planning of the feeding workshop and the automatic route,the robot chooses the mobile carrier of the magnetic guidance mode,and constructs the driving module of the diagonal double steering wheel to complete the design of the driving module.Finally,according to the performance requirements,other parts are selected and designed.According to the mechanical design and functional requirements of the feeding robot,the hardware of the control system is built.Complete the design and selection of STM32 chip central controller,hardware magnetic sensor and obstacle avoidance sensor based on arm,and build the hardware control idea.Design the steering wheel motor control module,analyze and determine the steering wheel movement control strategy,and carry out the hardware selection and hardware analysis of the steering wheel module control.Finally,for the robot feeding part,the hardware design of clamping action control module and automatic feeding control module is carried out,and the control logic of clamping module and automatic feeding module is analyzed to complete the DC servo motor drive designControl system software design based on the completion of control system hardware construction.According to the environment of the production site,the optimal feeding automation route is designed.Aiming at the problems of narrow space of the automation route and many circulation workshops,the movement model of the double steering wheel running in the automatic route feeding robot is analyzed,and the classical PID control algorithm is adopted to determine the movement of the double steering wheel in the path finding.The PID parameters are adjusted by the empirical value trial and error method and simulated by MATLAB Simulink The real system response shows that PID algorithm can effectively improve the path finding process of robot.According to the whole feeding operation and management,the general framework of Chinese herbal medicine feeding system is built,and the matching logic and workflow of the feeding system are introduced.Finally,the paper summarizes the design parameters of the feeding robot,and carries out the experiment test,the experiment record and the experiment analysis of the feeding robot's moving path finding system and the parking positioning accuracy.The results show that the parking positioning accuracy of the feeding robot is 100%,the maximum parking fluctuation is 0.02M,the positioning error is less than 2.5%,and the walking operation system is stable,accurate,robust and the parking positioning accuracy All of them meet the actual production demand.