Design and Experiment of Safflower Intelligent Picking end Effector System

Aiming at the problems of low degree of intelligent mechanization, high labor intensity and low efficiency of manual picking of safflower silk, a terminal actuator system structure which can match the intelligent picking of safflower silk was studied. The material characteristics of safflower silk were statistically analyzed, and the picking demand and key influencing factors of the picking head were identified. Taking Omron cp1e series PLC as the control core, the intelligent picking end effector test bench system was designed. According to the working requirements of the end effector, the electrical control system was constructed and the bench test was built. With the help of design expert software and CCD experimental design method, the mathematical regression model of cutting motor speed and lifting motor speed on silk picking success was obtained, and the optimal combination parameters were determined through optimization numerical module optimization. The test bench verification was carried out. The results showed that the continuous influence factors, the cutting motor speed had more significant influence on the picking success rate than the lifting motor speed. When the cutting motor speed was 31.7 r/min and the lifting motor speed was 51.3 r/min, the picking success rate was more than 90%, and the error between the experimental value and the theoretical optimization value was within 2.5%, which met the operation requirements of intelligent picking end effector.