Research On Collaborative Robot For Food Packaging Line

With the rapid development of economy and the improvement of science and technology in modern industry,people pay more and more attention to the transformation and upgrading of manufacturing industry.For the food processing industry,the improvement of the level of automated production is the prerequisite for product transformation and upgrading.Traditional food processing and production mostly use artificial feeding.This method not only cannot meet the growing industrial requirements,but also has high artificial strength,low production efficiency and high defective rate.Therefore,the automation of production is very important for the food processing industry.In order to solve the above problems in the actual production of the enterprise,this topic designed a food packaging line operation collaborative robot,which is mainly divided into: 1.The preparation conveyor line used for feeding and sorting before product packaging;2.Follow the packaging line stepping cycle "Grab-carry-place" loading robot.Combining the research status and technology of robotics and collaborative control at home and abroad,combined with the process of product processing and the actual situation of feeding,this paper studies the collaborative control system of feeding,grabbing,carrying and placing of food packaging line operation collaborative robot,and develops the overall design scheme of the system.The overall scheme is mainly divided into material preparation conveyor line system,manipulator follow-up control system,and CFD-4 packaging line on the site of the enterprise.Each system is independent of each other and cooperates with each other through multi position sensors.First of all,in terms of mechanical structure,according to the location and size of the field packaging line and action requirements,the type and transmission scheme of the feeding robot are determined,and the key components are selected and designed;the mechanical structure of the feeding conveyor line is determined.Then,in the aspect of control system,according to the master plan of control demand,PLC is the main controller,the hardware of control system is selected and designed,the external wiring of PLC and the circuit of main control system are completed;according to the demand of collaborative control of the system,the edge detection method is used to detect the step-by-step cycle of sealing line,and thecollaborative control program with self adaptability and hysteresis is designed In order to solve the problem of cooperation conflict between the robot and the package line step by step.Finally,in the aspect of human-computer interaction,the design of touch screen human-computer interface is completed,which facilitates the operation and monitoring of the staff.In terms of machine debugging,the food packaging line designed and manufactured in collaboration with the robot machine was installed and debugged at the enterprise site,and the program was loaded into the PLC to test each functional module,completing the trial production work on the production line;Good completion is coordinated with the positioning and grabbing of the preparation conveying line,and can meet the production cycle of the packaging line 13.5S,in turn,4 products are put into the cooperative operation of the packaging station in sequence.As a result,the automation transformation of the enterprise is realized,the labor intensity of the labor is reduced,the production efficiency of the enterprise is improved,and it is applied in the actual production of the enterprise,and good results are obtained.