点胶机控制系统的设计【机械电子工程类毕业课程设计】.zip

哈尔滨理工大学学士学位论文- I- 点胶机控制系统设计摘要随着生活水平的提高,产品包装的外观越来越受到人们的重视。纸盒包装因其成本低廉、外观靓丽一直在商品外包装方面占有很大的市场份额。人工点胶因其劳动量大、工作效率低、劳动成本高等问题,被机械化自动点胶逐步取代是一个趋势。本文通过调研点胶机厂家生产实际,国内外研究现状及相关文献,确定了以直线三坐标式机器人为机械本体,单片机为控制系统核心的通用型自动点胶机。本文通过运用机电一体化、机器人技术、机械设计等理论知识,对硬件结构进行选型,为控制系统软件设计提供了基础。点胶机控制系统软件设计方面,本文针对圆形或带有圆角的方形包装盒的点胶问题,在查阅大量相关文献并搜集多方面资料的情况下,设计了基于逐点比较法的插补方法,实现了基于单片机控制器的直线插补和圆弧插补,从而准确点胶出圆形轨迹和带有倒圆角的方形轨迹。并在此基础上搭配了工业相机,运用 Harris 角点检测算法进行图像处理,有效的解决了纸盒包装在传输带运行过程中出现的位置误差以及在线无夹具点胶,使流水线无人点胶作业成为可能。最后搭建了点胶机实验平台,通过点胶轨迹模拟验证了本文所提出插补算法和图像处理算法的可行性,其点胶精度和运行速度达到了本文设计的基本要求,并取得了比较满意的结果。所设计装置能够代替人工操作,提高工作效率,具备应用于工业生产中的潜力。关键词点胶机器人;单片机;插补原理;图像处理哈尔滨理工大学学士学位论文- II- Design of Dispenser Control System Abstract With the improvement of living standards, product packaging look more and more people's attention. Carton packaging because of its low cost, beautiful appearance has a large market share in terms of product packaging. Artificial dispensing its labor intensive, low efficiency, high cost of labor, are gradually replacing the mechanized automated dispensing isa trend. In this paper, the actual production through research dispenser manufacturers, current research and literature, in order to determine the linear coordinate robot mechanical body microcontroller to control the core of the system of universal automatic dispenser . By using the theory of knowledge mechatronics, robotics, mechanical design, hardware architecture selection, the control system software provides the foundation design. Under the dispenser control system software design, this paper circular or dispensing problems square with rounded corners of the box, checking a large number of relevant literature and collect a wide range of information, the design based on interpolation point by parison fill method to achieve linear and circular interpolation based on single-chip controller to accurately dispense a circle track and square with rounded tracks. And on this basis, with the industrial camera using Harris corner detection algorithm for image proces