基于ABB机器人的柔性分拣系统设计

在瓶体人工分拣成本高、传统机械结构无法满足多瓶体柔性分拣的背景下，采用工业机器人替换传统机构，设计基于ABB机器人的柔性分拣系统，以实现圆柱瓶子表面检测工作站适用于多尺寸类型的柔性生产。 通过分析圆柱瓶子尺寸变化与分拣作业位置的公式，以两台ABB工业机器人作为执行机构，采用平移功能实现上料、检测、分拣等动作的柔性调整。以伺服夹爪作为末端执行器实现对不同瓶口直径的夹取。以三菱PLC作为控制中心，触摸屏作为人机交互界面，通过流程设计与程序界面设计，实现系统中各设备的协同控制及各项功能的界面监控。调试结果表明：在基准瓶子示教的基础上，系统可实现适用范围内不同尺寸瓶子的自动分拣作业，且触屏操作便捷，满足柔性生产需求。

Design of Flexible Sorting System Based on ABB Robot

Under the background of high labor cost of bottle sorting and the traditional mechanical structure cannot meet the requirements of multi-bottle flexible sorting,the flexible sorting system based on ABB robot was designed by replacing the traditional mechanism with the industrial robot,so as to realize the cylindrical bottle surface detection workstation suitable for multi-dimensional flexible production.By analyzing the formula of cylinder bottle size change and sorting operation position,two ABB industrial robots were used as actuators,and the translation function was used to realize the flexible adjustment of feeding,testing,sorting and other actions.The servo gripper was used as the end actuator to achieve the clamping of bottle with different mouth diameters.Mitsubishi PLC was taken as the control center,touch screen was taken as man-machine interaction interface,the system equipment coordination control and the interface monitoring of various functions were achieved through process design and program interface design.The debugging result shows that the system can realize automatic sorting of bottles with different sizes in the applicable range on the basis of the instruction of reference bottles,and the touch screen operation is convenient to meet the demand of flexible production.