Research On Tobacco Frame Cleaning System With Machine Hand Based On Machine Vision

Vacuum moisture recovery is a key process of silk making process in cigarette production.Tobacco leaves are easy to adhere to the bottom of the circulating box of tobacco frame after vacuum moisture recovery.If they are not cleaned in time,the residual tobacco leaves will re-enter the vacuum moisture recovery machine for repeated moisture recovery,resulting in excessive water content of tobacco leaves and affecting the stability of quality control in the processing process of tobacco leaves.This paper designs a tobacco frame cleaning manipulator based on machine vision to clean the residual tobacco leaves in the turnover frame.,from the perspective of the visual recognition system to identify the location of the residual of tobacco tobacco frame turnover frame,planning manipulator cleaning the path,effects of different cleaning head of research,finally make clean after tobacco frame turnover frame clean and neat,solved the cigarette silk production process,because the turnover frame residual adhesive smoked sheet caused by repeating the moisture regain unstable quality control,and waste of raw materials,Reduce manual cleaning cost,improve production efficiency,improve enterprise production efficiency.The main research contents of this paper are as follows:(1)Manipulator tobacco frame cleaning system design based on machine vision.Combined with cigarette factories at the scene of the actual production equipment,product process related parameters and operating characteristics,mechanical arm manipulator structure for the design and selection,modeling design of the end of the cleaning mechanism and test,the final use of nylon material forms of flat brush cleaning brush with four axis,through orthogonal test,determine the speed of the brush,wool length and the diameter of the brush,the optimal matching,Threedimensional modeling of the whole mechanism is carried out and the desired effect is achieved.(2)This paper is designed for visual recognition system.The characteristics,composition and classification of visual recognition are studied,and the image pretreatment is studied and tested.The noise reduction of the bad image with noise points is carried out,and the effect of the mean filtering,Gaussian filtering,median filtering and other methods on image noise reduction is compared.Gray scale transformation,binarization and other methods are used to complete the image processing,so that the object can be highlighted in the image.(3)This paper studies the path planning of manipulator.The path planning of manipulator was carried out by genetic algorithm,and the cleaning sequence was determined according to the given path,and the system performance was optimized.Solved before cleaning the head at the end of the manipulator work path points are set in advance,just repeat the fixed action,in addition to start stops at the end of the manipulator S motion curve is optimized,and guarantee the end of the cleaning robot movement is smooth,avoid the velocity,acceleration mutation,etc.,to prevent a larger mechanical vibration and impact cleaning robot,It meets the requirements of flexibility and autonomy of manipulator control.(4)This paper tests the tobacco frame cleaning system of manipulator based on visual recognition.To China Tobacco HN Industrial Co.,Ltd AY cigarettes factory production of "H jin ye(ying H qi qu)" cigarettes for object test,the results show that the continuity on the premise of not affect production,tobacco frame cleaning system of camera is able to complete identification on residual tobacco tobacco frame,and make reasonable planning based on genetic algorithm for cleaning the route,realize tobacco basket automatic cleaning function.After calculation,using tobacco basket automatic cleaning manipulator,saving labor cost of about 200,000 yuan per year;Compared with manual cleaning,machine cleaning efficiency is higher,reducing tobacco loss of about 20,000 kg per year,saving tobacco raw material cost of about 954,000 yuan,effectively solving the problem of tobacco waste caused by excessive residual tobacco at the frame turning and feeding place after the vacuum moisture recovery process of turnover tobacco basket of silk thread,realizing cost reduction and efficiency increase.