阀口袋自动上袋机器人系统设计研究

阀口袋包装方式是粉体的主要包装方式之一,但在上袋环节普遍依赖人工操作来完成,效率低,粉尘危害大。针对这一问题,设计了一种阀口袋自动上袋机器人集成系统。该系统主要由阀口袋输送装置、机器视觉系统、工业机器人和控制系统组成。通过视觉系统在线采集阀口袋局部图像,利用二次开发的图像处理程序对图像进行处理,完成阀口袋的识别定位;然后PLC与机器人通信,工业机器人在视觉引导下通过上袋末端执行器完成阀口袋的拾取、开袋、套袋等一系列上袋工序。该系统视觉识别定位速度快,上袋末端执行器运行稳定,配合机器人较好地完成了阀口袋的自动上袋作业。

Design and Research of Automatic Bagging Robot System for Valved Sacks

The valvedsack packaging method is one of the main packaging methods of the powder,but the bagging process generally relies on manual operations to complete,the efficiency is low,and the dust is harmful.Aiming at this problem,the valvedsacks automatic bagging robot integrated systemwas designed.The system consists primarily of valved sack conveyors,machine vision system,industrial robot and control system.The partial image of the valve pocket is collected online through the vision system,and the image is processed by the secondary developed image processing program to complete the identification and positioningof the valved sack.Then,the PLC communicates with the robot,and the industrial robot is visually guided through the bagging end effector.A series of bagging processes such as picking,opening,and bagging of the valved sack.The system has a fast visual recognition and positioning speed,and the end effector on the bagging is stable,and the robot automatically completes the automatic bagging operation of the valvedsacks.