裱盒粘合装置设计及其关键结构功能分析

Design of bonding device for mounting box and analysis of the key structure and function

为适应礼盒包装多样化的需求,针对目前包装企业的人工流水线生产模式效率低、成本高等问题,设计了裱盒粘合装置。该装置基于流水线生产模式的工序,主要由图像采集单元、喷胶单元、抓取单元以及压合单元等组成。在Matlab中分别进行某产品皮壳的图像处理试验与抓取单元中六自由度吸附机械臂的运动仿真分析。图像处理分析结果得出Canny算子对皮壳图像特征检测的效果更好。运动仿真分析获取了机械臂运动时其各个关节位移、移动速度、加速度等数据的实时变化情况,通过拟合仿真试验中机械臂运动路径与预先设定的运动路径,验证了机械臂运动误差在预期范围内,符合设计需求。

In order to adapt to the demand of diversification of gift box packaging,aiming at the low efficiency and high cost of the current production mode of artificial assembly line in packaging enterprises,an adhesive device for mounting box was designed.The device was based on the process of assembly line production mode and mainly composed of image acquisition unit,spray unit,grab unit and press unit.The image processing of a shell product and the motion simulation analysis of the manipulator were carried out in Matlab respectively.The result of image processing showed that Canny operator had better effect on the feature detection of shell image.The motion simulation analysis obtained the real-time variation of the displacement,velocity,acceleration data of each joint during the motion of the manipulator,the motion error of the manipulator was verified within the expected range by fitting the motion path of the manipulator in the simulation test and the preestablished one,which illustrates the comply with the design requirements.