Design And Simulation Of Automatic Paper Roll Packaging System Based On Industrial Robot

Paper is an indispensable article in human life.Modern paper making requires high equipment and technology,high resource consumption and heavy pollution control.Limited by the domestic packaging production conditions,at present,most of the paper roll packaging in paper-making enterprises are mainly based on manual installation of the inner head,placement of the outer head and affixing of the trademark.The manual operation not only makes the packaging efficiency low,it is difficult to ensure the consistency of the packaging effect and the packaging quality,but also seriously harms the health of workers due to the poor environment in the packaging plant and the high risk of packaging equipment,Therefore,the use of industrial robots instead of manual packaging of paper rolls has attracted more and more attention of paper-making enterprises.In this paper,an automatic packaging system of paper roll based on industrial robot is designed,which can not only liberate workers from low-tech manual labor and avoid working in bad paper roll packaging environment for a long time,but also greatly improve the production efficiency and quality of paper roll packaging due to the programmable,accurate,stable,fast and efficient characteristics of the robot.Firstly,according to the technological and technical requirements of paper roll packaging,this paper designs the overall structure of the robot paper roll packaging system,selects the suitable robot,analyzes the main components of the four working positions of the system,and then focuses on the design of the end actuator,safety protection system,PLC control system and communication mode related to the paper roll packaging,and determines the packaging of the system Technological process.The concept of robot kinematics and coordinate system is studied,and the coordinate system of packaging robot is established.Taking the irb6700 robot used in this project as an example,the kinematics equation and inverse kinematics solution of robot are obtained by D-H parameter method.The selection method of inverse solution is introduced,which provides theoretical basis for optimal path planning in off-line programming.Based on the research of ABB Robot rapid language,the motion program and path planning of three packaging robots are developed.In this paper,the method of detecting the center of the head with photoelectric sensor is studied,and the robot detection program is programmed with rapid language,which solves the problem of poor packaging quality caused by the position deviation when the robot grabs the head.Through the model of packaging machinery established by Solid Works,ABB Robot paper roll packaging simulation workstation,I/O signal and Smart components are established in the off-line programming software robot studio.The simulation of the robot paper roll packaging system are carried out,which proves that the system is feasible and correct.The actual paper roll is packaged by the robot paper roll packaging system,which proves that the system can achieve the expected goal of replacing manual packaging and packaging efficiency and quality.It is of great significance for paper-making enterprises to apply industrial robots to the field of paper roll packaging.