Design and implementation of automatic apple crating robot technology

摘要

In this paper, in order to automate the apple packing process using robotics, we designed a set of automatic apples packing robot equipment, which can realize the function of automatic picking and automatic packing of apples placed on round trays in a single row as required. This paper will firstly design a set of assembly line which can transport the graded apples to the operation area for boxing operation, and then transport the completed boxed cartons to the encapsulation area. Then, according to the design parameters of the assembly line, the body, drive system and control system of the boxing robot were designed and the overall 3D modeling of the equipment was completed. Finally, through simulation experiments, it was found that the robot could grasp up to 5 apples at one time, and the robot's grasping success rate was 99% and above. The robot can automatically identify empty trays and carry out selective grasping. It has alarm and catching mechanism for abnormal conditions, so this design can well replace manual work for all-weather and high-efficiency apple crating operation, which is of certain significance for mechanized automation of apple industry.