摘要
为了解决农忙时节易破损果实采摘困难、批量采摘劳动量大的问题,对采摘机械手进行了改进,将PLC可编程控制器引入到了机械手的伺服控制系统中,从而可以快速、高效地对水果进行采摘,并可以实现定位、采摘和收取果实等一系列的自动化控制。为了验证电气伺服控制系统的可行性,对采摘机械手进行了性能测试,包括果实的采摘成功率和破损率。试验结果表明:采用PLC可编程控制器后,采摘机械手具有较高的采摘成功率,且破损率较低,可以满足高精度采摘的需求。
In order to solve the problems of difficult harvesting and large amount of labor in batch harvesting,the picking manipulator was improved,and the PLC programmable controller was introduced into the servo control system of the manipulator,so that the fruit could be picked quickly and efficiently,and the positioning,harvesting and harvesting could be realized. Take a series of automatic control,such as fruit. In order to verify the feasibility of the electric servo control system,the performance of the harvesting manipulator was tested. The test items include the success rate and the damage rate of the fruit. The experimental results show that it has a higher success rate and a lower damage rate for harvesting manipulator with PLC programmable controller,which can meet the high precision of picking needs.
作者
尤向阳
You Xiangyang(Sanmenxia Polytechnic,Sanmenxia 472000,China;College of Applied Engineering,Henan University of Science and Technology,Sanmenxia 472000,China)
出处
《农机化研究》
北大核心
2019年第12期220-223,228,共5页
Journal of Agricultural Mechanization Research
基金
河南省科技攻关项目(182102210479)
