In order to solve the sorting technology problem in food production caused by more kinds of food and the big differences, and based on the parallel robot and visual technology, operation scheme of the sorting system was designed. At the present, the sorting system of domestic and foreign technology of the design is not mature in the area of complex packaging and small volume of food. According to the functional requirements of high-speed robot vision system, the hardware system of different food location and classification is more accurate, and complete the software design of control system. Through the research on the system that it can meet the design requirements, and improve the sorting and packaging efficiency of small food effectively,as well as reducing labor intensity.

Publication Date


First Page


Last Page





[1] 晏祖根, 王立权, 孙智慧. 面向食品生产的高速自动分拣系统的研究[J]. 包装工程, 2009, 30(7): 16-18.
[2] 宫赤坤, 蓝黎恩, 熊吉光. Delta并联机器人设计分析与实现[J]. 机械传动, 2014, 38(5): 61-63.
[3] 黄真, 赵永生, 赵铁石. 高等空间机构学[M]. 北京: 高等教育出版社, 2006: 45-46.
[4] 刘振宇, 赵彬, 邹风山. 机器视觉技术在工件分拣中的应用[J]. 计算机应用于软件, 2012, 29(11): 87-91.
[5] 王忠平, 李响, 马永, 等. 基于坐标式机器人的瓶坯装箱系统[J]. 食品与机械, 2011, 27(5): 134-136.
[6] 刘凤臣, 陈凯, 张良安, 等. 基于Delta-s的高速果奶装箱机器人工程示范[J]. 食品与机械, 2011, 27(6): 171-175.
[7] Zhang L M. Integrated optimal design of Delta robot using dynamic performance indices[D]. Tianjin: Tianjin University, 2011: 62-64.
[8] 许德群, 肖衡. 我国包装与食品机械发展现状及趋势[J]. 包装与食品机械, 2011, 29(5): 47-50.
[9] 张良安, 马寅东, 单家正, 等. 基于遗传算法和Petri网络的机器人装配生产线平衡方法[J]. 食品与机械, 2012, 28(2): 79-82.
[10] 朱学建, 马永, 冯渝, 等. 直角坐标机器人瓶坯装箱生产线控制系统[J]. 食品与机械, 2012, 28(6): 187-189.
[11] 张少文, 吴学梅. 新型烹饪机器人锅具运动机构的设计及运动学仿真[J]. 食品与机械, 2013, 29(4): 92-94.

Included in

Food Science Commons



To view the content in your browser, please download Adobe Reader or, alternately,
you may Download the file to your hard drive.

NOTE: The latest versions of Adobe Reader do not support viewing PDF files within Firefox on Mac OS and if you are using a modern (Intel) Mac, there is no official plugin for viewing PDF files within the browser window.