Design And Application Of 6-DOF Manipulator Gripper For Packaging Carton

With the rapid development of artificial intelligence technology since the concept of "made in China 2025" was put forward,the figure of six degrees of freedom manipulators have been more and more widely used in industry.The commodities circulating in the market need to be designed and packaged,and the carrier for transporting these commodities is the outer packaging composed of various materials such as cartons and plastic stools.The author has observed that the production processes such as feeding,transportation,and assembly in traditional printing and packaging companies are basically completed manually,which is not only inefficient,but also has certain risks.If the gripping robot arm is introduced to the printing and packaging assembly line,it can not only achieve the expected production efficiency of the packaging carton production line,but also greatly improve the product quality.Based on the above production requirements,the author puts forward the idea: apply the mechanical arm based on binocular vision to packaging production,and use the characteristics of the mechanical arm to realize the grasping action under certain specific conditions.This type of gripping technology is rarely seen in the production of the printing and packaging industry,because there are many types of packaging cartons,and the procedures are complicated.Different cartons and paper packaging products require different robotic arms to move as set.The path is grasped by claws.Therefore,this article will take this as the research direction,design a pneumatic suction cup two-finger flexible mechanical gripper,explore the six-degree-of-freedom mechanical arm grasping technology for packaging carton products(empty carton,solid carton,etc.),and analyze the gripper The performance when grabbing the packaging carton provides new ideas for the use of robots with characteristics of the printing and packaging industry.For this kind of manipulator claw,the auther first analyzes the position,posture and pose of the six-axis manipulator,and calculates the preset pose of the manipulator before grabbing the carton.The coordinate system changes between the centroids of the two axes are accurately described.Based on the pose matrix of the robotic arm,the forward and inverse kinematics of the six-degree-of-freedom robotic arm can be analyzed to solve the position of the end gripper when the robotic arm is grabbing the paper box and the robotic arm is grabbing the paper.The gripping angle of the gripper can be used to design a suitable gripping space coordinate point in the end.The author then made a detailed analysis of the background of the carton packaging,such as physical properties and common specifications;then,the manipulator claw was decomposed into five modules,which were composed of five modules: frame,finger,synchronization,drive,and suction cup.The module is designed with unique functions,and then the module structure that can realize the function is designed based on this idea.After the design is completed,the gripper is analyzed through ANSYS Workbench software.The author obtains the stress and strain situation of each module when grasping,compares the experimental data,and summarizes the design rationality of each module of the gripper.Finally,the author built a carton packaging production line by using Visual components software,added the six-axis manipulator studied in the article,and used the gripping technology to realize the gripping and transfer of cartons between machines on the production line to verify the gripping.In the entire production line,the pick-up manipulator takes 5.7 seconds per piece from the start of processing to the completion of the processing of the conventional cell phone carton,and the carton basically does not slip off and surface crush during the transfer process,which has reached the author's design expectation.In summary,the author believes that the degenerated manipulator claw can be widely used in the production of carton packaging and printing.As the core application technology of automated production in this industry,it is an important way to realize the transformation and upgrading of the packaging and printing industry.