摘要
为解决制丝线真空回潮段翻箱倒料后因烟筐内粘附烟叶多而造成烟叶浪费等问题,设计了一种由六轴机械手、视觉检测系统和清扫装置等组成的烟筐自动清扫机器人。通过正弦函数改进S形曲线轨迹规划进而保证六轴机械手运动平滑,避免使清扫机器人产生振动和冲击;利用视觉检测系统对烟筐内烟叶图像进行二值化、划区域BLOB(Binary Large Object)分析、数据整合格式化后,用于控制机械手的清扫轨迹;清扫装置采用毛刷和压缩空气清吹方式,通过设计正交试验对毛刷尺寸和选型进行了优化。以安阳卷烟厂"黄金叶(硬红旗渠)"烟叶为对象对自动清扫机器人进行测试,结果表明:与人工清扫方式相比,采用清扫机器人后每年可降低烟叶损耗20000 kg左右,节约原料和人工费用115.4万元左右。该技术可为降低制丝线烟叶损耗提供支持。
To clean tobacco leaves adhering to the emptied tobacco baskets in vacuum conditioning station in primary processing line,a robot was designed,it was composed of a six-axis manipulator,a vision inspection system and a cleaning device.To ensure the smooth movement of the manipulator and avoid the vibration and impact of the cleaning robot,the S-shaped trajectory is modified by sine function.The vision inspection system is used to control the cleaning track of the manipulator following the binarization of the images of the tobacco leaves in the tobacco basket,zoned BLOB(binary large object)analysis and data integration and formatting.The basket cleaning is completed by brushing and compressed air blowing,and the size and shape of the brush are optimized through orthogonal test.The robot was tested on the tobacco leaves for cigarette brand"Golden Leaf(Hard Hongqiqu)"in Anyang Cigarette Factory.The results showed that compared with manual cleaning,the tobacco loss reduced by about 20000 kg/year.The saving in total raw materials and labor cost reached about 1154 thousand RMB yuan/year.This technology provides a support for decreasing the tobacco loss in primary processing line.
作者
朱建新
赵淑华
韩慧丹
常亚宁
李小川
张玉祥
朱永明
ZHU Jianxin;ZHAO Shuhua;HAN Huidan;CHANG Yaning;LI Xiaochuan;ZHANG Yuxiang;ZHU Yongming(Anyang Cigarette Factory,China Tobacco Henan Industrial Co.,Ltd.,Anyang 455004,Henan,China;School of Chemical Engineering and Technology,China University of Mining and Technology,Xuzhou 221116,Jiangsu,China;Gongyi Construction Machinery Manufacturing Co.,Ltd.,Zhengzhou 451200,China;College of Mechanical and Electrical Engineering,Henan Agricultural University,Zhengzhou 450002,China)
出处
《烟草科技》
CAS
CSCD
北大核心
2021年第11期90-95,共6页
Tobacco Science & Technology
关键词
真空回潮
烟叶
烟筐
自动清扫机器人
机械手
视觉检测系统
Vacuum conditioning
Tobacco leaf
Tobacco basket
Automatic cleaning robot
Manipulator
Vision inspection system
