基于PLC的采摘机器人平台设计与研究

随着我国农业生产规模的扩大,日益增长的劳动力需求和落后的传统农业生产方式之间的矛盾越来越突出。采摘作业是农业生产中较为普遍的环节,为克服传统采摘作业效率低、安全隐患大等问题,设计了基于PLC的采摘机器人平台,完成了机器人平台的结构设计。同时,通过建立机器人的动力学模型,求解了各关节机构与采摘目标之间的运动关系,通过硬件选型和硬件设计,确定了合理可靠的功能模块,并完成各个模块与PLC控制器输入输出接口的外部接线设计,最后完成了机器人平台的软件流程设计。生产实践表明:该采摘机器人平台结构简单、控制精度高,具有较高的安全性和稳定性,有较大的推广价值。

Design and Research of Picking Robot Platform Based on PLC

With the expansion of China's agricultural production scale,the contradiction between the increasing labor demand and the backward traditional agricultural production methods has become increasingly prominent.The agricultural picking operation is a relatively common link in agricultural production.In order to overcome the problems of low efficiency and serious safety hazards in traditional picking operations,this paper studies and designs the PLC-based picking robot platform,completes the structural design of the robot platform,and builds the robot.The dynamic model solves the motion relationship between each joint mechanism and the picking target.Through hardware selection and hardware design,the reasonable and reliable function modules are determined,and the external wiring design of each module and PLC controller input and output interface is completed.Finally,the software flow design of the robot platform was completed.At present,the robot has been put into agricultural production.The facts show that the picking robot platform has simple structure,high control precision,high safety and stability,and has great promotion value.