| With the continuous development of automated office technology,China has become a major producer of automated office equipments and consumables in the world.As a common automated office equipment consumable,the rubber roller has a large share in the consumable market.However,the rubber roller manufacturer lacks of automatic packaging equipment in packaging process and still uses manual packaging method,which seriously affects the efficiency of the manufacturer.In this paper,a new type of rubber roller intelligent packaging system is designed using the gantry robot structure and joint manipulator structure,which takes the “two-fold nailing” packaging standard of the rubber roller as the design requirement,and aims to improve packaging efficiency and packaging quality.The purpose is to realize the fully automatic packaging line of the rubber roller.The specific content is as follows:1.The mechanical arm conveying device is designed by using the joint manipulator structure,and adopts the camera installation mode of "eye to hand".The system collects the image information of the packaging bag through the camera,and uses image processing technology to identify and position the packaging bag.At the same time,The system uses a five-degree-of-freedom manipulator as the research object.After D-H modeling and kinematic analysis of the system,I complete the design of motion planning for the robotic arm through the Move It! package in the ROS development environment,and use the Arduino platform to complete the design of joint control for the robotic arm.2.The robber roller automatic packaging system is designed by using the gantry robot structure,and adopts PLC-based-embedded-assisted control mode.Through the multi-axis linkage control of the robotic arms and the action control of the end effectors in the automatic bag delivery unit,automatic bag opening unit,automatic robber roller delivery unit,and automatic packaging unit,the "two-fold nailing" automatic packaging of the rubber roller is realized.At the same time,by building a human-computer interaction platform and applying industrial wireless communication technology,I realize the site monitoring and the remote cloud-platform management of the system.3.According to the design of the rubber roller intelligent packaging system,I build an experimental platform in the experimental environment.which uses the“two-fold nailing” packaging specifications of the rubber roller and the efficiency of manual packaging as the working indicators.Then,I carry out many experimental tests on the identification and positioning of packaging bag,handling and transportation of packaging bag,and automatic packaging of the rubber roller.Finally,the experimental platform verifies the feasibility and reliability of the the rubber roller intelligent packaging system,and elaborates the next research aspects and work content of the system. |
