Key Technology Research Of Parallel Pick-place Robot For Packaging Bagged Food

In the packaging process of the electronics,food and medicine and other industry products, much operation work is simple but highly repetitive such as picking and packing.In order to improve the packaging efficiency and ensure the quality of the products,it usually needs to use automation equipment at high speed and positional accuracy to complete these operations.According to the actual working condition of the automatic packing in the packaging production line, the paper designs and develops a pick-place robot based on packaging the light pouch food provided in disorder.The main research fields include the construction and design of mechanical structure scheme,the displacement analysis for mechanism,the research of reachable workplace, pick-place motion trajectory planning,the construction of control system hardware platform,software system design and other aspects.The main research content of the paper is as follows:1.Based on the analysis of the actual demand in the light pouch food automation packing condition,build the mechanical structure scheme of the 4-DOF parallel pick-place robot with angle adjustment for end-effector.According to the establishment of mechanism simplified model,use the closed-loop geometric vector equation built by its close geometric relationships to study the forward and inverse position kinematics solutions of the mechanism.On the basis of forward displacement analysis combined with its own constraint conditions,calculate the reachable workspace of the robot end-effector.2.Given that the parallel pick-place robot is used in high-speed operation occasions,propose adopting modified trapezoidal trajectory planning mode to design and research the trajectory plannings of the parallel pick-place robot moving end-effector for improving the motion stability.Through establishing virtual prototype model of the robot in Pro/E,the feasibility of its trajectory planning scheme is verified by kinematics simulation in Adams.3.Based on the general functional requirements for the control system of the parallel pick-place robot,build the control system structure.Set up the motion control system hardware platform based on“IPC+PMAC”.Take “industrial camera+image acquisition card” as main components to construct the hardware structure scheme of visual system.4.Design the software development process of the control system of the parallel pick-place robot,According to the requirements of system design for locating and picking the accurate position of the disordered pouch food,realize the development of robot visionsystem software by using Labview software and IMAQ Vision platform, and complete the research for 4-axis linkage control of the parallel pick-place robot by means of PWEIN software development environment included in PMAC.