摘要
为实现天地盒高速、精准粘合包装,根据天地盒产品自动成型的工艺要求及特点,设计基于视觉定位的机器人天地盒自动成型机。盒胚通过上料输送线输送到定位区域,采用定位气缸进行二次定位,由机器人未端吸盘进行吸取。纸膜通过上糊机输送到负压传送线,采用双相机对过胶后的纸膜完成对角拍照。图像处理计算机根据产品尺寸数据、纸膜图像信息计算得到纸膜位姿信息,经过标定后获得机器人坐标系中的运动指令,引导机器人将盒胚准确放置在当前纸膜的中心位置。现场运行数据表明,纸膜综合定位误差<0.4 mm,工作节拍最大15个/分钟,实现不同规格盒胚与纸膜的精准定位及粘合。研究结果为电子产品、食品及药品外包装盒的自动化生产提供设计指导。
In order to realize high-speed and accurate adhesive packaging of the lid and base box,according to the process requirements and characteristics of automatic forming of the lid and base box,a robot automatic forming machine of the lid and base box based on visual positioning was designed.The box blank was transported to the positioning area through the feeding conveyor line.The positioning cylinder was used for secondary positioning,and the robot suction cup was used for suction.The paper film was transported to the negative pressure conveyor line through the pasting machine,and dual cameras were used to take diagonal photos of the glued paper film.The image processing computer calculates the position and orientation information of the paper film according to the product size data and the image information.After calibration,it obtains the motion command in the robot coordinate system and guides the robot to accurately place the box blank at the center of the current paper film.The field operation data shows that the comprehensive positioning error of paper film is less than 0.4 mm,and the maximum working beat is 15 pic/min.The accurate positioning and bonding of different sizes of box blank and paper film is realized.The research results provide design guidance for automatic production of external packaging boxes for electronic products,foods and medicines.
作者
宋科
叶礼
崔旭升
SONG Ke;YE Li;CUI Xusheng(Electronic Engineering Institute,Xi'an Aeronautical University,Xi'an 710077,China;Yalong Intelligent Equipment Group Co.,Ltd.,Wenzhou 325100,China)
出处
《包装与食品机械》
CAS
北大核心
2023年第5期91-96,共6页
Packaging and Food Machinery
基金
陕西省重点研发计划(2018GX-055)。
关键词
天地盒
机器人
成型制盒机
视觉定位
lid and base box
robot
box forming machine
visual positioning
