Research On Beverage Bottle Packing System Based On Robot

With the development of social economy and the improvement of people’s living standards,the packaging machinery industry is gradually developing towards high efficiency and automation.The traditional manual or semi-automatic packaging methods can no longer meet the needs of production.Among them,the automation of food packaging,such as the packaging of products with large daily sales volume such as beverages,is particularly important,and packing is an indispensable part of the beverage packaging process.Under the background of the country’s "Made in China2025",in line with the principles of automation and equipment specialization,this paper proposes an automation system based on robots and PLCs for the packaging of beverage bottles,mainly from the following aspects Researched:(1)Carry out the overall design of the production line according to the functional requirements of the system,and determine the process route of packingsealing-palletizing.The system is divided into four subsystems of conveying mechanism,packing mechanism,sealing mechanism and palletizing mechanism by using the idea of modular design,and the design scheme and mechanical structure of each subsystem are determined.(2)A robot-based automatic box-packing mechanism is proposed,and the kinematics of the robot is analyzed and modeled.Firstly,the principle of coordinate transformation is expounded,the coordinate system of manipulator connecting rod is created,and the D-H parameters of manipulator are calculated.Then combine the link coordinate system and D-H parameters,build the kinematics model of the manipulator at the same time,analyze the joint motion state,solve the forward and reverse kinematic equations of the manipulator,and calculate the working space of the manipulator through MATLAB.(3)On the basis of the kinematics analysis of the manipulator,use the quintic polynomial interpolation method to plan the trajectory of the manipulator,and use MATLAB to simulate the trajectory of the manipulator to verify the feasibility of the manipulator packing.(4)The structure of the automatic packing control system based on PLC is proposed,and the hardware and software of the control system are designed in detail according to the functional requirements of the production line.The first is the selection of the main controller,the selection of the touch screen and the design of the peripheral circuit of the frequency converter,and then the management and flow of the control system are studied,and according to the idea of modular design,the human-computer interaction,material Corresponding software design is carried out for each part of the modules such as conveying,packing,and alarm,and the corresponding research is carried out on the communication of each part of the system.(5)Finally,the on-site debugging and trial operation of the system have been carried out,and it has been confirmed that the control system can complete all requirements.The automatic packing system proposed in this paper is not only suitable for the packing needs of various beverage bottles,but also has extensive reference significance for the automatic packing of other bottled goods.