The master thesis presents high-productivity packaging line that collects semi-finished products from the conveyor belt and packs them into boxes. The line consists of eight stations. Due to complex shape of intermediate product and short production cycles is the fifth station designed as a robot cell. Robotic system for picking the objects and sorting in the boxes is based on the commercial application for packaging, ABB PickMaster3, which is connected to controller ABB IRC5. The controller that consists of two delta robots ABB IRB360 is expanded with modules to regulate three conveyor belts. Two input conveyor belts feed the robotic system with randomly positioned and oriented semi-finished products, the third output conveyor belt carries boxes for packaging.
Our analysis, considering short picking cycles shows that the only robot configuration satisfying technical requirements for the packaging line is the delta robot. Therefore, detailed kinematic properties of delta robots are presented in the thesis. Two other important components of the robotic cell are the robotic gripper and machine vision for detection of semi-finished products on the feeder belts.
Programming and setup of robot cell is implemented in ABB PickMaster3 environment. The application controls both robots in "multi-move independent" mode, and simultaneously controls all three conveyor belts. It also supports calibration of the conveyor belts.
Important part of setup is the machine vision, which separates different types of semi-finished products and determines their position and orientation on the conveyor belt. The method of object recognition is based on edge detection, these are being linked into objects. Calibration of cameras is crucial and as such performed within the application.
All parameters are also optimized to guarantee higher number of production cycles, highest reliability and efficiency of the packaging line.