构建基于机电一体化的教育自动化分拣系统

Benjamin Jackvony, M. Jouaneh
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引用次数: 0

摘要

本文讨论了作为综合机电一体化教育项目设计的自动分拣机的开发过程。该项目集成了机械和电气设计,包括机械臂、微控制器、传感器和执行器。分拣机利用颜色识别技术对三种不同颜色的木块进行分拣。木块通过一个料斗系统堆叠并投放到传送带上,料斗系统采用一个电磁致动器和一个伺服器,每次以特定的间隔释放一个木块。传送带连续运行时,每个色块都会经过一个颜色传感器,该传感器会监测颜色,并向三个伺服机械臂中的一个发出信号,引导色块进入相应的滑道。每个滑道都配有一个电容式接近传感器,该传感器会向机器人控制器发送电压信号,排队指令机器人从每个滑道底部拾取木块并将其送回料斗,从而形成一个连续运行的分拣系统。本文详细介绍了系统各部分的设计和集成,以及控制软件的开发。所设计的系统可以每 8.05 秒投放一次木块,在感测到每个木块后 5 秒内对其进行分拣,并每 12 秒将其送回分拣系统,其颜色感测准确率为 97%,故障率约为 7%。该系统利用各种低成本、易获得和开源的部件实现了快速可靠的分拣。该项目是适合机电一体化教育的高性价比解决方案的典范,展示了开发自动分拣系统所面临的诸多挑战。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Building an Educational Automated Mechatronics-Based Sorting System
This paper discusses the development of an automated sorting machine designed as a comprehensive mechatronics educational project. The project integrates mechanical and electrical design, incorporating a robot arm, a microcontroller, sensors, and actuators. The sorting machine uses color identification to sort wooden blocks of three different colors. The blocks are stacked and dropped onto a conveyor belt by a hopper system that employs a solenoid actuator and a servo to release one block at a time at specific intervals. As the belt runs continuously, each block passes under a color sensor, which monitors the color and signals one of three servo-powered mechanical arms to guide the block into the appropriate chute. Each chute is equipped with a capacitive proximity sensor that sends a voltage signal to the robot controller, queuing commands for the robot to pick up the blocks from the bottom of each chute and return them to the hopper to form a continuously running sorting system. This paper details the design and integration of the system’s various elements and the development of the control software. The designed system can drop blocks every 8.05 s, sort each block within 5 s of being sensed, and return them to the sorting system every 12 s. It has a color-sensing accuracy of 97%, with a failure rate of around 7%. The system achieved quick and reliable sorting using various low-cost, accessible, and open-source parts. The project exemplifies a cost-effective solution suitable for mechatronics education, demonstrating the numerous challenges involved in developing automated sorting systems.
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