基于输送带及视觉跟踪的机器人分拣包装工作站仿真

目的提高分拣包装工作站的生产效率和柔性,并探索在早期设计阶段利用虚拟仿真技术进行验证。方法以某食品公司巧克力饼干产品的生产为例,提出结合输送带跟踪和视觉识别技术搭建分拣包装仿真工作站。在ABB公司离线编程与仿真软件Robotstudio开发环境下,首先对相关设备进行了三维建模,并根据任务要求完成工作站的空间布局。其次,需要完成输送带创建、动态Smart组件设计、工作站逻辑连接、输送带跟踪功能启用、相机数据记录和机器人控制程序编写。最后,分析工作站结构得到生产节拍的参数设定公式。结果仿真工作站实现了对持续移动输送带上杂乱摆放物料的动态跟踪分拣装盒,能依据理论计算方式调节参数满足生产节拍的需求。结论工作站达到了预期功能目标,可以为各行各业里以机器人为中心的分拣包装系统高效、柔性生产研究提供参考与借鉴。

Tracking of Flat Belts

When applying fiat belts, correct tracking of the belt through the installation has to be assured. Since flat belts are commonly used for conveying and transmission purposes, tracking systems have been well developed, but the ultimate tracking behaviour of the belt can be greatly enhanced by taking special care in the creation of an adequate tracking mechanism. To obtain long-life operation and full value from the equipment, the correct tracking technique plays an important role. This paper deals with two tracking techniques： The skewed and the angled pulley axis. Numerical simulation results are compared with both measurements and an analytical approach. The advantages of numerical simulation compared to experimental tests are ease, convenience and the absence of any safety risk. Compared to analytical approaches the simulation is used for systems for which simple closed form analytic solutions are not possible.