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1、外文原文：A complex carton packaging robotVenketesh N. DubeyBritish School of Design, engineering and computers, Bournemouth University, PooleJian of S. DaiKings College London, University of London, LondonObjective - To demonstrate the feasibility of the design of a complex geometry multifunctional tray

2、 packaging machine can be folded Design / methodology / approach - The study to study various geometric shapes tray, the tray is divided into the appropriate type and machine operation can be achieved; processing tray and mechanical modeling and simulation, and the final design and Ultimately allows

3、 the conceptualization of the design and development of packaging machine.The findings - This multi-functional packaging machine has proved to be possible. Just this versatile packaging machine miniaturization, and investment in order to promote their development, this machine can become a reality.L

4、imitations of the study factors / - The purpose of this study is to prove that the principle of such a packaging machine, but the practical application need to consider the sensor gives a compact, portable system.Creative / value - This design is unique, and has been shown to complex shapes can be f

5、olded carton.Keywords: robotics Packaging Automation.Abstract Product packaging is one of the key industrial areas, the primary interest in automation. The circulation of any product to the hands of consumers need some form of packaging, food, gifts, or medical supplies. Therefore, the continued dem

6、and for high-speed product packaging. For cyclical consumer goods and gifts, this requirement is greatly increased. They require innovative packaging design and attractive in order to attract potential customers. Usually these products look beautiful, complex shape of the tray delivery. If you use t

7、he manual method for packaging, not only the workers are tedious and complicated to operate, but also time-consuming and monotonous.For simple carton packaging, by dedicated machines arranged along the conveyor belt, has received implementation. These machines can only handle a fixed type tray, any

8、shape and structural changes is difficult to be incorporated into the system. In most cases, they are more than 40 kinds of changes needed to adapt the same type but of different sizes tray, which means that each particular type of tray needs a packaging production line. Conversion from one type to

9、another type of paper folding assembly line will be the increase in capital spending. Because of the costs associated with these constraints and convert production lines, packaging flexibility will be lost. Therefore, as a complement to the manual production lines are introduced in order to adapt to

10、 the production of different types of carton, so as to solve the problem of the conversion of production lines. They bear about 10% of the work orders, and is used as the assembly line for production of promotional products. However, the problem still exists, administrators and operators manual prod

11、uction line requires a long learning process, and machine production line, labor injury is due to twisting hand movements. In addition, manual production lines are usually considered to be a seasonal productivity, and specialized machines still need to run for many years, in order to save cost and t

12、ime. Designers to pursue fantasy and unique carton packaging in response to competitive market the packaging work more difficult. Frequent changes of style and type of carton and small batch tray assembly and packaging lines posed a challenge to do this need to design a flexible machine. So the resp

13、onsibility on the packaging industry body, fully programmable and reconfigurable systems helps speed up the conversion process to handle different types of carton. This flexible and highly reconfigurable system development requires a systematic analysis and synthesis of each component, folding carto

14、ns and cartons mode and packing boxes, machine, complete assembly operations. One such method (Lu and Akella, 2000) has been published, this method uses fixtures to folding cartons. Although this method is able to complete all folding carton operation, but the implementation is just a simple rectang

15、ular box, the fixed automatic device is installed in the specified location. However, for complex geometry tray, tray and folding mechanism into account, in order to achieve flexible packaging production line automation.In the complex folding carton operation and process analysis, the authors carrie

16、d out a lot of research, and resorting to graph theory, spiral theory, matrix theory and a spatial structure of said tray; their research carton mobility and analysis its structural shape (Dai and Rees Jones, 1997a, b, c, 1999; Dubey et al. 1999a, b, c; Dubey and Dai, 2001). This article describes t

17、he in reconfigurable carton folding machine designed to handle complex geometry cassette.The needs of the design principle The project is listed on the wish list of many cosmetics and perfumes suppliers, such as Elizabeth Arden and Calvin Klein, by Unilever Research UK actively considering a number

18、of years. They are willing to support any kind of to be able to use alternative means to achieve the fancy carton packaging process automation ideas. A result, this project is sponsored by a consortium of British and Dutch Unilever, to explore the feasibility of the development of a tray that can ha

19、ndle a variety of shapes and sizes of flexible packaging machine. The study was conducted by manual packaging process, revealing when converted to a complex production from simple carton production, packaging machine has a high flexibility (Dai, 1996). This tray with an irregularly shaped cardboard

20、folded. Since cardboard is broken, it has a certain surface activity can be rotated around the crease lines. These crease lines to facilitate folding, resulting in a shape shift. Figure 1 shows a fancy carton folding process, the cardboard is folded into the shape of a tent. Usually this complex and

21、 small batch tray made by hand.The process of fancy folding cartonsThe force in manual packagingManual packaging process, the side of the folded finger, as shown in Figure 2, along the direction of the arrows around the three axes is folded, while the top and bottom surfaces is folded along a planar

22、 direction of the arrows with the palm. The arrows represent the unwinding force is applied with your fingers, flat arrows represent thrust is applied. In the closed intermediate layer, delicate fingers cross the face insert designed gap.Summarized folding step, the carton in a variety of shapes, an

23、d the tray is classified, as shown in Figure 3. It also shows the various operations involved in the carton packaging. In particular, to note that most of the tray must go through three steps, erected, insert 1 and closed. But in addition to the tray outside the tray, in other cases, based on the co

24、mplexity of the tray shape, the packaging step involves various operations (some of which are described above).The operations of carton packaging The design of a mechanical system construction and folding cartons need to consider the following: multi-functional. Provide a variety of functions, inclu

25、ding dial, fold, squeeze and twist operation. flexible. The operating position can be achieved in different ways. Control the minimum number of axes. Reduce system complexity. reconfigurability. To deal with a variety of different geometries folding carton. programmability. Simultaneously, the seque

26、ntial control of a plurality of axes of motion.A flexible system that can provide fine motor and operating functions, you need to use the relevant section of the finger-like links. So that the finger is mounted on a movable base, for example, the XY table or the ring guides way, in order to ensure t

27、hat the system can re-build and handle different shapes and sizes of the tray. The controller architecture should be able to be driven independently of each axis. The design should provide all the operating functions, without making the system becomes complex, thus making it a cost-effective solutio

28、n.Packaging machineThe original design based on the above criteria is conceptualized and modeling, as shown in Figure 4. Manpower to be able to demonstrate a variety of functions is based on manpower flexibility and versatility. The design has four fingers, two of which are three degrees of freedom,

29、 two of which are two degrees of freedom. The three degrees of freedom of the joints of the fingers through the bottom of the deflection movement (Y), rely on the remaining two joints for pitch motion (P), thereby forming the YP-P configuration. The two-degree-of-freedom fingers can only be done in

30、a two-dimensional plane pitching motion. Packaging machine model The finger is mounted on the guide rail can be moved transversely movable along the slide rail, but the rail itself. The fingers are mounted on the rotating base, these axes can be appropriately adjusted. The two clamp hand propulsive

31、movement in the direction parallel to the finger horizontal rail, as shown in the model. The baffle is attached to the hands of the clamp, and is mounted in the bottom of the joint, when the push operation, they can follow the contour of the tray movement. The tray is placed in the square at the cen

32、ter of the bottom of the base, the base is driven by an electric motor for vertical movement and rotation, so that the carton packaging operations required for any position. The joint of the finger directly through the joint motor drive, the entire system needs to be controlled shaft 14. These consi

33、derations are based on a high degree of reconfigurability and control the minimum number of axis.Fingertip designs special consideration, because they have to perform various operational functions discussed in the previous section. Inspired by the manual packaging process, fingertip design with the

34、tip of the V-groove. According to the needs of the manual packaging, making it the finger poke and squeeze the force is applied on the cassette. The prongs are used to poke operation, in the extrusion of the V-shaped groove, paperboard, open to plug operation. In addition to providing unstinting eff

35、ort and squeeze force, Y-shaped portion of the two-degree-of-freedom finger can provide temporary flat cardboard thrust. In the case of a limited degree of freedom, this design can provide many flexible operating functions to handle the different construct different types of tray.The model provides

36、the machine is running all the necessary motion information (Dubey and Crowder, 2003). Packaging machine parameter model has been developed (Workspace4, 1998), the geometric shape and size changes in the design can be easily incorporated into the model, including the configuration of authentication.

37、 This also makes the motion parameters of the machine member can be ascertained prior to processing. Positioning point of contact can be achieved by recording the displacement of the contact point, the connectivity of the finger movement between the carton packaging cartons, carton. The point of con

38、tact on the carton can be represented by the geometry of the folding sequence identification (Dubey and Dai, 2001). These contact points used to measure the offset of each finger joint. These displacement data are subjected to the interpolation operation, to generate optimal finger path to minimize

39、the unnecessary finger movement, thus reducing the packaging cycle time. Interpolation of data obtained from the model can be downloaded, to drive the fingers. The current research work is based on the geometric characteristics of the tray and the folding sequence of the entire packaging process can

40、 be automated (Dubey et al, 2000), rather than by means of the simulation of the tray.Figure 5 shows a finger trace the point of contact on the tray when the tray is folded. Simulation model for the design and control of the packaging machine provides a lot of valuable information. For example, prio

41、r to the dimensions and structure of the simulation model can be used to check the geometry and structure of the machine. By changing the parameters of the basic dimensions of the model, any new mechanical parts geometric information can be obtained directly. Motion data obtained in the folding proc

42、ess of the tray and the track can be used for the finger system control. At present, the analog motion parameters can not be directly integrated into the controller, these data must be input in the form of a data file to the controller. However, this method can be fully checked folding sequence, and

43、 then download these data and input to the controller.Robot folding cartonTesting machineThree-dimensional information obtained from the model developed by the packaging machine with three linear motor; two for driving the clamp hands, one for control of the vertical movement of the rotating platfor

44、m. 10 Japans Yaskawa Electric high-torque, high-performance motor is used at the joints of the fingers, these motor specifications: size, 30 30 mm; weight, 70 g; torque, 0.7Nm/22.5rpm; transmission ratio, 80 : 1, harmonic drive; optical encoder, 96 pulse / rev. This means that the fingers can be pro

45、vided 10cm 7N pressure sufficient to collapse this fancy gift carton. The controller architecture uses four motion control program cards, each card can control up to four axes (Dubey and Crowder, 2003). These cards support the C programming language, motion control, it also has a G-code programming

46、interface for rapid testing and analog processing. The system also uses a pneumatic connection to connect the sucker off switch, the controller can be controlled by the sucker. Turn the dial tray from one location to another location and position (in the future also plans to use the V-shaped groove

47、on the finger), to complete the crawl. This will help to deal with the formation of the carton board, to prevent the slide (Dubey et al, 1999).In order to establish the function of the packaging system used to build and folding carton, after the same to determine the geometry of the model and packag

48、ing machines both data files generated from the model feedback to the controller. Data files running motion data with a single line storage motor coordination, and follow-up to the next stage of the motion control parameters. Therefore, the control program in order to read data, and generates the co

49、rresponding interrupt while sending operations command. So, the fingers can be parallel, continuously repeated movement. Prepared for a variety of operating functions of a subprogram can further enhance the programming capabilities of the controller, so that the modular structure of the controller can be achieved, and thus better able to adapt to any new carton folding and packaging operation step.Reconfigurable capacity of the system is one of the key