Research And Development Of The Cigarette Parcel Material Processing System Based On Intelligent Robot

The outer material of cigarette parcel,which is composed of cardboard and film,is a typical cigarette parcel outer packaging.It is usually used to ensure the integrity and safety of cigarette parcel during transportation,but the outer packaging must be processed before the cigarette parcel is used in production.The automatic and efficient recycling of the outer material of the cigarette parcel can effectively enhance the degree of automation for the production line,alleviate the labor intensity of workers,and improve the interests of the company.Aiming at the problems of on-site space constraints,grab real-time constraints,and diversification of material types in the task of recycling outer material of cigarette parcel,this paper deeply studies the high-precision material classification algorithm,grasping robot structure and robot control system,and finally proposes the cigarette parcel material processing system based on intelligent robot.The main research contents and achievements are show as follows:First of all,according to the morphological characteristics of the outer material of cigarette parcel,a deep learning-based classification algorithm for the outer materials of cigarette parcel was proposed.Preprocess and enhance the image dataset of the outer material of the cigarette parcel,and design the fusion model structure and implementation process on the basis of improving the Alex Net and VGG16 models.The experimental results show that the fusion model has excellent performance and performs well on the task of classifying task for outer materials of cigarette parcel.Secondly,a Cartesian coordinate grasping robot structure that can recover the outer materials of the cigarette parcel in a narrow space is proposed.The Cartesian coordinate grabbing robot has an pick-up shaft which was designed with a flexible structure.During the descending grabbing process,both sides of the shafts can perform asynchronous descending actions to search for cigarette parcel,so that the robot can adapt to various types of cigarette parcel,and can complete the cigarette parcel search task.After that,the material that is highly coincident with the cigarette parcel can be grasped by the combined action of the lever shaft and the removal tool.Finally,the robot control system is constructed with programmable controller as the core,sensors and visual recognition software as the perception mechanism,servo system as the power mechanism,touch screen as the monitoring mechanism.According to the control requirements,the system hardware equipment is selected,the visual recognition software is made and the proposed classification algorithm is applied to the engineering project,which provides visual guidance for the robot,and designs the control flow and touch screen interface.The experimental results show that the gripping effect of the cigarette packet material handling system based on the intelligent robot is excellent.It meets the production requirements in terms of gripping performance and speed indicators,and can be put into the production line to solve actual production problems.