双臂机器人包装工艺实验平台设计与研究

Design and research of experimental platform for packaging process based on dual-arm robot

传统的烟机设备适用于大批量单型号生产,不适于多品种小批量特型烟盒产品。为此,研发了一种工艺拟人化、灵活可变的柔性烟盒包装工艺实验平台。该平台采用双臂机器人作为设备的核心动作单元,借助特制的工装夹具等周边机构来辅助完成烟盒的折叠、定位、压紧等动作,并对双臂机器人进行了可操作性研究。研究结果表明,该系统可模拟人工包装动作实现烟盒的折痕、粘胶、包装、整形等包装过程,解决了高端小批量产品的自动化包装问题;并在可操作度理论指导下,工装设计布局方案达到了实验中的最优效果,证明了可操作度理论在机器人应用设计中的有效性和必要性。

The traditional cigarette machine equipment is suitable for large batch production of single box product,but it is unfit for multi-variety and small-batch characteristic ones.In terms of the question,an experimental platform for the process of cigarette box packaging with anthropomorphic process is developed and designed in this paper.In the platform,the dual-arm robot is used as the core action unit,and the special fixture and other peripheral mechanisms are designed to assist to complete folding,positioning,pressing and other actions of cigarette boxes.The operability of dual-arm robot is also studied.The results show that the system can simulate folding,viscose,packaging,plastic and other packaging process of cigarette box,and solve the automatic packaging problem of high-end small-batch products.Under the guidance of operability theory,the layout of tooling design achieves the optimal effect in the experiment,which proves the effectiveness and necessity of operability theory in robot application design.