A biscuit finished product automatic taking and placing, weighing and sandwich rate feedback control system based on a collaborative robot

Abstract

The present application relates to a kind of based on collaborative robot biscuit finished product automatic taking and placing, weighing and sandwich rate feedback control system and method.For the problem of low good product rate caused by the lag of sandwich rate control in traditional sandwich biscuit production, the weight data is obtained in real time by collaborative robot biscuit finished product and moving to dynamic weighing module;PLC data processing compares the actual weight with the standard value, and generates the correction instruction of sandwich filling pump speed;1) realize robot instead of manual taking and placing biscuit finished product for weight detection, realize real-time quality monitoring on production line;2) control sandwich injection parameters through weight results, solve the problem of sandwich rate lag adjustment;3) the collaborative design of flexible gripper and high-precision weighing avoids biscuit damage.The scheme significantly improves the production efficiency, consistency and good product rate of sandwich biscuit, reduces the cost of manual intervention.3) through the integration of collaborative robot, dynamic weighing and closed-loop feedback technology, realize real-time accurate adjustment of biscuit sandwich weight parameters.The saturation of quality detection post is reduced from 30% to 0%.

Description

Technical Field

[0001] This invention relates to the field of automated food processing technology, specifically to an automated picking, placing, and weighing system and method for finished biscuit products based on collaborative robots, and particularly to a closed-loop control technology for controlling the filling rate of sandwich biscuits through real-time weighing result feedback. Background Technology

[0002] Existing problems:

[0003] 1. Originally, employees manually sampled and weighed the products, and the information was entered into the SPC computer. If the products were not up to standard, the speed of the pump corresponding to the number of channels on the human-machine interface would be adjusted to make the products up to standard.

[0004] 2. Each sampling is conducted every 30 minutes. Due to the long interval, the product stability is poor.

[0005] Existing technological defects

[0006] 1. Traditional industrial robots require safety fences, occupy a large area, and cannot flexibly adapt to sampling smaller biscuits. 2. Existing weighing systems cannot be linked with equipment, making it difficult to directly calculate and statistically analyze weighing results and directly change the pump speed to achieve stable finished product weight. Summary of the Invention

[0007] 1. Purpose of the invention

[0008] This invention aims to solve the problems of lagging filling ratio control and high reliance on manual labor in traditional sandwich cookie production. By integrating collaborative robots, dynamic weighing, and closed-loop feedback technology, it achieves real-time and precise adjustment of the cookie filling weight parameters. The saturation of quality inspection positions is reduced from 30% to 0%.

[0009] 2. Technical Solution

[0010] 2.1 System Composition

[0011] As described in claim 1, the system includes the following modules:

[0012] Cookie position recognition module: MV-SC2016PM (1.6 million pixel 1 / 2.9" vision sensor 20 million pixels), to identify cookie position and surface defects.

[0013] Cookie gripping module: vacuum generator + flexible suction cup, flexible silicone, suitable for cookies with a diameter of 50-80mm;

[0014] Weighing module: Mettler Toledo dynamic weighing module, sampling frequency 100Hz

[0015] Data processing module: Siemens S7-1200 PLC

[0016] Collaborative robot module: UR5 robot (5kg payload, repeatability ±0.1mm)

[0017] 2.2 Methodology and Flowchart

[0018] As described in claim 1, the method includes the following steps:

[0019] 1. The camera takes a picture, the robot uses visual positioning to grab the cookie, and moves it to the weighing station. The static weighing module collects the weight data; the PLC obtains the weight data and provides the control logic.

[0020] 2. Anomaly Handling: If 5 consecutive samples exceed the tolerance, an alarm will be triggered and a quality report will be generated.

[0021] 3. Beneficial effects

[0022] -Full-process automation: Achieves closed-loop control from picking and placing, weighing to sandwich rate adjustment, reducing manual intervention;

[0023] - The saturation of quality inspection positions has been reduced from 30% to 0%: This is achieved by replacing manual sampling and weighing with automatic sampling, automatic weighing, and automatic recording. Employees no longer need to worry about the difficulty of sampling on the non-operational side of the equipment.

[0024] - Finished product qualification rate increased by 25%: Reverse control is achieved through information sharing. For example, the pump speed is automatically adjusted to replace the need for employees to go back and forth to the HMI to weigh the products and manually adjust the equipment parameters.

[0025] -Lighthouse Factory: Contributing to the Lighthouse Factory Attached Figure Description

[0026] Figure 1 System overall architecture diagram (the robot and scale are installed on the biscuit production line using a gantry structure).

[0027] Figure 2 Enlarged layout diagram of the robot and scale

[0028] Figure 3 Schematic diagram of the vacuum and suction cups in the robot's grasping part.

[0029] Figure 4 Vacuum generator mounting bracket drawings

[0030] Figure 5 : Schematic diagram of the vacuum and suction cup of the robot's grasping part (Hikvision 3D camera mounting bracket)

[0031] Figure 6 : Capture Flowchart (Logic Diagram of Robot Sampling)

[0032] Figure 7 : Reverse control flowchart (reverse control logic diagram).

Claims

1. A collaborative robot-based automatic biscuit loading, weighing, and filling rate feedback control system, characterized in that, include: Cookie position recognition module: MV-SC2016PM (1.6 million pixel 1 / 2.9" vision sensor 20 million pixels), to identify cookie position and surface defects. Cookie gripping module: vacuum generator + flexible suction cup, flexible silicone, suitable for cookies with a diameter of 50-80mm; Weighing module: Mettler Toledo dynamic weighing module, sampling frequency 100Hz Data processing module: Siemens S7-1200 PLC Collaborative robot module: UR5 robot (5kg payload, repeatability ±0.1mm).

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