Design And Experimental Analysis Of Frozen Fish Block Palletizing Manipulator In Fishing Vessel

With the development of offshore fishing,the requirements for professionalization,standardization and modernization of fishing vessels have also been continuously improved.At present,the gradual conversion of traditional fishing vessels into the capture,processing,quick freezing and refrigeration of multi-purpose fishing vessels has become an irresistible trend.Especially in the fishing refrigerating system,after the frozen fish blocks are processed,the fishing vessel staff will tidy the frozen fish in the refrigerated cabin.Due to the high work intensity,low work efficiency,poor work environment,and the damage to the crew's health,an artificial pallet truck urgently needs to design a frozen fish block palletizing manipulator to complete the automated palletizing of frozen fish block in the reefer cabin and realize the machine substitution.In this paper,according to the work requirements of the frozen fish block palletizing in fishing vessels,determine the configuration of the frozen fish block palletizing manipulator,design a special manipulator end effector,select the appropriate servo motor,design safety alarm modules and moisture-proof electric heating modules to increase the stability of palletizing manipulator.Through the comparison of various control schemes,the open control system scheme of the PC+ motion control card was determined.After the completion of the overall design,the kinematics analysis of the palletizing manipulator is performed using the D-H method,and then the function requirements of the frozen fish block palletizing manipulator for the fishing vessels are implemented.Realize palletizer manipulator software initialization,parameter setting,motion control,automation palletizing,system monitoring and security alerts by calling the library function.Finally,the dissertation discusses the motion control test,safety alarm test and automatic palletizing test of the frozen fish block palletizing manipulator of the fishing vessel.The test results show that the palletizing manipulator has good performance and can meet the predetermined design requirements.