Design Of Mask Automatic Packaging System Based On Delta Parallel Robot

With the rapid development of society,the production mode based on human labor can not meet the needs of modern industrial production.The extensive application of robotics technology can effectively solve the problem of low labor efficiency.Based on the actual demand of mask production line of a company in Heilongjiang Province,this paper designs an automatic mask packaging system based on Delta parallel robot with Delta parallel robot as the carrier.First of all,the principle and process of mask packaging production line are analyzed.Combined with the technical requirements of mask automatic packaging,the mechanical structure and motion form of Delta parallel robot are analyzed.A simplified model is given.On the basis of this,the algorithm of position inverse solution and positional forward solution is analyzed to lay the foundation for robot path planning.Secondly,aiming at the distribution characteristics of the mask on the production line,and based on the speed control of the conveyor belt and the visual location prediction of the target,an object grabbing strategy based is presented,which provides a practical method for improving the efficiency of the robot.Finally,according to the system integration technology,the automatic packaging production experimental platform with Delta parallel robot as the core is built by hardware module,and the feasibility and effectiveness of the "automatic mask packaging system based on Delta parallel robot" is verified.In this paper,we design and create an automatic sorting and packaging experimental platform based on Delta robot for mask production.The end of the robot can effectively complete the planned track movement,and can finish the mask accurately and accurately.At the same time,through the screening of the mask position,the system can pick up the mask at 80 bags / minute sorting rate and achieve the design requirements.The automatic mask packaging system based on Delta parallel robot designed in this paper has certain reference value for the intellectualization and standardization of the product automatic sorting production line.Due to the limited professional level of the author,there are still some shortcomings in this design.There is a certain difference between the laboratory environment and the actual production environment of the factory,which will adversely affect the accuracy of the end effector.In addition,with the wide application of Delta robots,the speed requirements for Delta robots are becoming higher and higher,which may trigger the end Vibration occurs.Therefore,the author will continue to study these issues in subsequent work.