基于视觉的并联机器人药袋分拣系统设计

Design of the Medicine Bag Sorting System Based on Machine Vision and Parallel Robot

药袋包装是生产过程中一个重要的环节,将传送带上的药袋高速、准确地摆放到药袋盒子中对提升药袋包装的生产效率具有十分重要的意义。设计一款基于视觉的并联机器人药袋分拣系统,系统利用Robot Control系统控制并联机器人的运动,Soft PLC负责外围信号采样、逻辑控制等功能,MM240/A编码器输入模块记录药袋识别后的编码器增量值。药袋位置、摆放角度与轮式编码器增量值关联并传递给Robot Control系统,实现对药袋的视觉追踪和高速分拣。结果表明,该系统成功实现了药袋的视觉跟踪和抓取工作。

Medicine bag packaging is an important part in the production process. It is very important to carry the medicine bag on the conveyor belt and put it into the medicine bag box accurately. A medicine bag sorting system was designed based on machine vision and parallel robot.In the system,Robot Control system wasused to control the movement of parallel robot, and Soft PLC was responsible for peripheral signal sampling, logic control and other functions.MM240/A encoder input module was used to record the increment of encoder after identification of the medicine bag.The position of the medicine bag and the angle of placement were correlated with the increment value of the wheel encoder and passed to the Robot Control system.The results show that the system is used to successfully complete the visual tracking and grasping of the medicine bag.