基于机器视觉的商标纸全自动抓取系统设计  

Design of Fully Automatic Grabbing System for Trademark Paper based on Machine Vision

作　　者：冯忆[1] 郑倩倩 范礼峰 张弛[1] 戚振栋 沈黎翔 FENG Yi;ZHENG Qian-qian;FAN Li-feng;ZHANG Chi;QI Zhen-dong;SHEN Li-xiang(Hangzhou Cigarette Factory of China Tobacco Zhejiang Industrial Co.,Ltd,Hangzhou 310024,Zhejiang,China)

机构地区：[1]浙江中烟工业有限责任公司杭州卷烟厂,浙江杭州310024

出　　处：《机械研究与应用》2024年第4期173-176,共4页Mechanical Research & Application

摘　　要：为减少当前ZB47包装机商标纸搬运过程中的人工成本,搭建了基于机器视觉的商标纸全自动抓取系统。通过工业相机与激光测距仪以及机器视觉技术进行图像采集及预处理分析,该系统可以检测新商标纸的位置,并将矢量数据传送至工业机器人,机器人再采用负压吸盘抓取的方式进行定位抓取。实验结果表明:该系统能准确地识别商标纸垛的位置,并控制机械臂完成其定位抓取动作,解决了抓取系统中存在的空抓、少抓及误差等问题。To reduce the labor cost during the handling process of trademark paper on the current ZB47 packaging machine,a fully automatic grabbing system for trademark paper based on machine vision has been established.The industrial camera and laser rangefinder are equipped with machine vision technology to carry out image acquisition and pre-processing analysis,detecting the position of trademark paper,and transmitting the vector data to the industrial robot;then the negative pressure suction cup grabbing method is used for positioning and grabbing.The experimental results show that the system can accurately identify the position of the trademark paper stack and control the robotic arm to complete its positioning and grasping action,solving the problems of empty grasping,less grasping,and errors in the grasping system.

关 键 词：商标纸 机器视觉 负压吸盘 自动抓取 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]