| 张乾坤， 商志全， 冯巍， 李红果， 岳翠萍.激光定位机器人钞票线轴拆垛系统[J].轻工机械,2024,42(6):82-87 |
| 激光定位机器人钞票线轴拆垛系统 |
| Laser Positioning Robot Banknote Spool Unstacking System |
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| DOI：10.3969/j.issn.1005 2895.2024.06.011 |
| 中文关键词: 拆垛 钞票线轴 激光定位 六轴机械臂 防撞机构 PLC控制系统 |
| 英文关键词:unstacking banknote spool laster positioning six axis robotic anti collision mechanism PLC（Programmable Logic Controller） |
| 基金项目: |
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| 中文摘要: |
| 针对钞票线轴人工搬运效率低、危险性高以及自动线容易损坏产品的问题，课题组设计基于激光定位的机器人钞票线轴拆垛系统。该系统以PLC为主控制器，六轴机械臂为主执行器，利用激光定位与机器人坐标转换原理，完成线轴的定位与机器人坐标的获取；设计撑杆与吸盘相结合的专用的线轴夹取机构完成线轴的拆垛任务；针对拆垛过程中反复使用的撑杆机构进行应变与应力分析，完成关键部位强度校核，并设计防撞机构。经过工厂2年的运行验证无产品损坏情况发生，拆垛速度达到400箱/h，解决了传统人工搬运效率低、危险性高和产品易损坏的问题。 |
| 英文摘要: |
| This article focuses on the pain points of low efficiency, high danger, and easy damage to products in manual handling of banknote spools. A robot banknote spooling system based on laser positioning is designed. The system uses PLC as the main controller and a six axis robotic arm as the main actuator. It utilizes the principles of laser positioning and robot coordinate conversion to complete the positioning of the wire axis and the acquisition of robot coordinates. Design a dedicated spool gripping mechanism that combines support rods and suction cups to complete the task of dismantling spools. This system conducts strain and stress analysis on the support rod mechanism that is repeatedly used during the dismantling process, completes the strength verification of key parts, and designs collision prevention mechanisms based on the characteristics of the product that cannot be easily damaged. After operation verification in the factory of two years there is no product damage occur and the dismantling speed reaches to 400 boxes/h. This system solves the problems of low efficiency, high danger and products being prone to damage during traditional manual handling. |
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