Research On Beverage Packaging Line And Its Key Equipment Development Based On High Speed Robots

With the aid of the National Science and Technology Major Project, the design of a new beverage packaging line using high speed robots is proposed to satisfy the requirement of the packaging line update in Hangzhou Wahaha Group Co., Ltd. This thesis investigates into some issues on processing layout, system balancing, key technology and control system of straw dropping equipment. The following works have been accomplished.1. On the basis of the previous line the packaging process is analyzed, and taking the workshop area into account the layout of the whole line is got. The Petri net model of the packaging process is built and simplified. Then by the theory of invariant, the new design layout is proved to be feasible.2. GA is proposed to solve the system balance problem in the production line design stage, and it is helpful to new line design. At the same time, Em-Plant software is used to establish and analyze the model of the line, which is applied to optimize the system balance.3. According to requirement of the line, straw dropping equipment is designed with two robots, which has different working modes to adapt to various environments. Based on this, the pick-and-place strategy is got and target tracking algorithm using dichotomy is proposed. All of these make mathematical foundation for software design.4. The control system based on Simotion P350 controller is determined according to the requirements analysis. As a typical control system of industry robot, two C4 robots control and machine vision are included. The structure and process of the software are designed applying modularization thinking, and the HMI of the equipment is completed at the same time.