为解决卷烟生产过程中装封箱机组人工上箱方式工作效率低、差错率高以及与辅料物流系统自动化、信息化衔接不畅等问题,利用工业机器人和图像识别技术设计了自动上箱系统.该系统采用具有6关节的轻型工业机器人,满足纸箱抓取灵活性需求；选用带有多级真空发生器的大面积蜂巢式真空吸盘作为夹具,有效提高系统可靠性；图像识别系统通过工业智能相机采集与纸箱相关信息和数据并进行图像运算.应用效果表明,机器人自动上箱系统实现了对纸箱的自动解带、识别、上料、抓取以及送料工位与AGV(Automatic Guided Vehicle)系统的无缝对接.与传统输送方式相比,辅料AGV的复合循环作业比例增加了40％,减少了AGV数量；与传统的人工上箱方式对比,机器人上箱的准确率可达到99％,降低了人工劳动强度,提高了工作效率.%For eliminating the shortcomings associated with manual operation such as low efficiency and high error rate and creating a smooth connection with material logistics system in terms of automation and informatization, the case loading in cigarette case filling and sealing system was upgraded with industrial robot and image recognition technologies. The system adopted 6-anticulate light-duty industrial robot in order to grasp the case more flexibly and used large area cellular vacuum chuck with multi-stage vacuum generator as clamps to improve system reliability. An image recognition system collected the information and data about the cases via an industrial intelligent camera and carried out image data processing. The practical application showed that the robot system realized automatic tape unloosing, recognizing, feeding and grabbing, and the seamless connection between feeding station and AGV (Automatic Guided Vehicle) system. Comparing with traditional case handling, the proportion of compound cycle of AGVs increased by 40%, it allowed to reduce the number of AGVs accordingly. Comparing with traditional manual case loading, the accuracy rate of robot case loading was up to 99%. The labor intensity of operators was reduced, and working efficiency was improved.
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