Study On The Flour Bag Palletizing Robot Based On Machine Vision

With the development of industrial technology and increase of market demands, industrial robots have become indispensable equipment in the field of modern industrial. An enterprise of flour production plans to use robots instead of manual palletizing way, which aims at improving production efficiency, reducing costs and labor intensity of workers. Due to the special production process of this enterprise, different types and position of the flour bag should be palletized respectively in the same production line. But at present the general palletizing robot can’t meet the requirements. Thus, this article taking the question as the breakthrough point to introduce the technology of machine vision and study on the flour bag palletizing robot system based on machine vision. The main contents and achievements of this paper are as follows:Firstly, according to the type of flour sack and posture recognition problem machine vision recognition system was constructed and the vision system of camera calibration was completed. SIFT algorithm was applied to identify the type of flour sacks accurately. Based on the correct matching feature points and feature points, the rotation angle of flour was identified by the affine transformation of the feature point and the centroid position of flour sacks was obtained via image processing techniques, which got the automatic identification of flour sack types and pose.Secondly, based on the setting characteristics of the flour bags on the transmission line, this paper designed a picking up gripper which was used for gripping flour bags. Then finite element analysis of typical working conditions such as statics and kinematics were executed. Numerical results showed that design of the gripper could satisfy the strength requirements. Stress of the cylinder during the process of gripping and movements of the roll shaft at the end of the gripping finger were analyzed. In addition, the key movement parameters of gripper were grasped and it was the basis for further optimization design of the gripper.Thirdly, the main working parameters and the whole layout of the flour palletizing system were analyzed. Besides, Cartesian robot of four DOF which was used for grapping flour bags was designed, and the 3-D model of Cartesian robot was built. Modal analysis on the whole structure of the robot was conducted and resonance cycle of each order, frequency and modal vibration mode were obtained, which showed that the robot would not occur resonance during its working and the dynamic characteristics were well.Finally, the control system of the palletizing using PC and PLC control structures robot was designed preliminarily. Furthermore, the interface of the robot control system was written by Matlab GUI and a detailed plan of the stack location flour was carried out. Besides, PLC controller was assigned according to the selection and the input/output port. What’s more, PLC controller controlling the servo motor during the process of the stack and the path of the robot was analyzed to ensure the palletizing operation to conduct smoothly.