Abstract
Objective: Improve the sorting effect of single-piece ham package. Methods:Combined with automatic control, machine vision and other technologies, a sorting system capable of identifying single-chip ham defects was designed based on a Delta parallel robot. The kinematics and dynamics model of 2-DOF Delta parallel robot was established, and then the Delta parallel robot was optimized. The composition of control system and the algorithm of image processing were designed. Results: The system can successfully identify impurities and creases, with the recognition rate of up to 95%. It can also accurately and efficiently sort single-piece ham package, with the sorting success rate of more than 98%, and the sorting efficiency of more than 160 packets per minute. Conclusion： The sorting system can realize continuous operation of identification, grasping, handling, sorting and eliminating.
Publication Date
11-23-2022
First Page
104
Last Page
109
DOI
10.13652/j.spjx.1003.5788.2022.60080
Recommended Citation
Yinming, Wang and Dan, Zhang
(2022)
"Development of single-piece ham package defect recognition and sorting system based on parallel robot,"
Food and Machinery: Vol. 38:
Iss.
10, Article 18.
DOI: 10.13652/j.spjx.1003.5788.2022.60080
Available at:
https://www.ifoodmm.cn/journal/vol38/iss10/18
References
[1] 叶鹏达,尤晶晶,仇鑫,等.并联机器人运动性能的研究现状及发展趋势[J].南京航空航天大学学报,2020,52（3）:363-377.YE P D,YOU J J,QIU X,et al.Status and development trend of motion performance in parallel robot[J].Journal of Nanjing University of Aeronautics & Astronautics,2021,42（21）:207-212.
[2] 康晓娟.Delta并联机器人的发展及其在食品工业上的应用[J].食品与机械,2014,30（5）:167-172.KANG X J.Development and application of delta parallel robot[J].Food & Machinery,2014,30（5）:167-172.
[3] 顾涵,付瑞玲,张磊,等.基于ADT8940A1运动控制器的食品分拣控制系统设计[J].包装工程,2021,42（21）:207-212.GU H,FU R L,ZHANG L,et al.Design of food sorting control system based on ADT8940A1 motion controller[J].Packaging Engineering,2021,42（21）:207-212.
[4] 陈永平,王凯凯.基于ABB机器人的双追踪传送包装系统设计[J].包装工程,2020,41（1）:116-122.CHEN Y P,WANG K K.Design of double transmission tracking packaging system based on ABB robot[J].Packaging Engineering,2020,41（1）:116-122.
[5] 姚学峰,李超.基于改进NURBS曲线插补算法的食品分拣机器人轨迹规划[J].食品与机械,2022,38（3）:80-85.YAO X F,LI C.Trajectory planning method of food sorting robot based on improved NURBS curve interpolation algorithm[J].Food ＆ Machinery,2022,38（3）:80-85.
[6] 王秋红,孙以正.基于并联机器人的块状食品包装定位方法[J].包装工程,2022,43（1）:177-182.WANG Q H,SUN Y Z.Positioning method of block food packaging based on parallel robot[J].Packaging Engineering,2022,43（1）:177-182.
[7] 包光旋,黄家才,李耀,等.基于视觉的并联机器人智能分拣系统设计与实现[J].南京工程学院学报（自然科学版）,2021,19（1）:7-11.BAO G X,HUANG J C,LI Y,et al.Vision-based intelligent sorting system for parallel robots[J].Journal of Nanjing Institute of Technology（Natural Science Edition）,2021,19（1）:7-11.
[8] 陈亚琳,宋增禄.袋装食品快速自动分拣系统设计[J].食品工业,2021,42（4）:299-302.CHEN Y L,SONG Z L.The design of bag food fast automatic sorting system[J].The Food Industry,2021,42（4）:299-302.
[9] 贾超广,肖海霞.机器视觉的食品包装快速分拣系统[J].食品工业,2021,42（5）:276-279.JIA C G,XIAO H X.Rapid sorting system of food packaging based on machine vision[J].The Food Industry,2021,42（5）:276-279.
[10] 赵鹏宇,王宗彦,丁培燎,等.基于机器视觉的并联机器人工件识别定位[J].制造技术与机床,2021（12）:15-20.ZHAO P Y,WANG Z Y,DING P L,et al.Location identification of parallel robot based on machine vision[J].Manufacturing Technology ＆ Machine Tool,2021（12）:15-20.
[11] 商德勇,章林,牛艳奇,等.煤矸分拣机器人设计与关键技术分析[J].煤炭科学技术,2022,50（3）:232-238.SHANG D Y,ZHANG L,NIU Y Q,et al.Design and key technology analysis of coal-gangue sorting robot[J].Coal Science and Technology,2022,50（3）:232-238.
[12] 赵鹏宇,王宗彦,何晓,等.基于机器视觉的Delta机器人目标识别算法研究[J].工具技术,2022,56（3）:113-117.ZHAO P Y,WANG Z Y,HE X,et al.Research on target recognition and grabber of delta robot based on machine vision[J].Tool Engineering,2022,56（3）:113-117.
[13] 代慧,朱洪雷.基于包装生产线的3-PUU并联机器人的动力学研究[J].包装工程,2021,42（13）:257-261.DAI H,ZHU H L.Dynamics study of 3-PUU parallel robot based on packaging production line[J].Packaging Engineering,2021,42（13）:257-261.
[14] 程子华.基于机器视觉的残缺饼干分拣系统开发[J].现代食品科技,2022,38（2）:313-318,325.CHENG Z H.Development of incomplete biscuit sorting system based on machine vision[J].Modern Food Science and Technology,2022,38（2）:313-318,325.
[15] 陈立辛,王磊,乔印虎,等.基于深度学习的花生米缺陷识别分拣方法研究[J].包装与食品机械,2022,40（3）:65-70.CHEN L X,WANG L,QIAO Y H,et al.Deep learning-based peanut rice appearance defect identification and sorting method study[J].Packaging and Food Machinery,2022,40（3）:65-70.