Blister Collection System Design And Research Of Manipulaor Trajectory Planning

With the growing demand in the medical and pharmaceutical market,the demand for equipment in various pharmaceutical industries is becoming more and more diversified.The aluminum-plastic blister pack is a very important packaging form in the pharmaceutical industry,aluminum-plastic blister packer and blister.The board cartoning machine is usually manufactured by different equipment manufacturers.The connection between the two is usually customized,which is not conducive to small batch and drug trial production.There is no equipment for automatic collection of blister boards in the market.In order to meet this demand,this paper designs a blister board automatic collecting device,which is used to connect the blister board packaging machine and the blister board cartoning machine.It has a good application prospect for the production of small batches of aluminum-plastic packaging drugs and food.The blister board collection system is used to solve the blister board collection problem produced by the blister machine,and the blister board can be collected for sealing test or boxing.The manipulator is widely used in the field of automatic loading and unloading.The manipulator trajectory planning is of great significance to the working performance of the manipulator.According to the system design requirements,the system has high requirements for the time of the manipulator to run for one cycle.In order to meet the system design requirements,it is necessary to The trajectory of the manipulator is planned and trajectory optimized.In this paper,we researched the needs of users,and based on the production automation of other industries,designed a fully automatic blister board collecting device.The device is installed in the back process of the blister board packaging machine,and the blister board packaging machine can be used.The packaged medicine board is transported and collected to facilitate various tests and tests on the blister board.At the same time,the blister board can be subsequently packaged.The main research contents of this paper are as follows:Firstly,according to the needs of users and the special requirements in the process of integrated drug production,the overall structure of the blister board collecting device is designed.According to the overall design of the device,the mechanical design,electrical principle design and control program design of the device are completed respectively.Subsequent modification and expansion,using the controller+HMI man-machine interface,and in order to adapt to the blister board of different specifications and shapes,the mechanical arm is used as the transfer power for the blister plate.When replacing the blister plate specifications,The tool can be quickly adapted to the tooling at the end of the arm.In order to increase the operating efficiency of the arm as much as possible,the SCARA robot arm us ed in the project is targeted,and the trajectory planning is carried out to achieve the predetermined operational target.The trajectory planning of the manipulator is realized by the third-order B-spline curve.In order to optimize its trajectory,the genetic algorithm is first used to optimize its trajectory.To optimize its trajectory further,a quantum genetic algorithm is proposed for the joint manipulator.Track optimization parameters.Through MATLAB software simulation analysis,the analyzed and calculated data is applied in the system,and the predetermined design goals are achieved,and the effectiveness of the algorithm is verified.This paper analyzes the problem of blister board collection in the pharmaceutical production process,integrates the production methods used in other industries,designs the aluminum-plastic blister board collecting device,and proposes the use of quantum genetic algorithm to optimize its trajectory parameters.In the commissioning operation,the designed collection device has completed the predetermined design goals and has certain use value.