Abstract
In order to solve the problems of high labor-intensity and low-efficiency in recycling the outer materials of cigarette parcel manually, an automatic recycling system is designed. The system consists of visual recognition system and material grabbing system. After recognizing the type of outer material through the VGG16 network, the visual recognition system will output the corresponding label to make the material grabbing system execute the according process. The material grabbing system adopts rectangular coordinate robot with flexible structure. With transmitting data and signals by PROFINET, each axis of the robot can perform combined actions. In consequence, the system is able to separate and remove materials that are highly overlapped with the cigarette parcel, and send materials to outside for recycling and sorting by conveyor. The results of on-site test showed that the accuracy of the system to identify the material was 95%, the success rate of grabbing reached 96% and the system took an average of 18s to recover materials, the system could fulfil the requirements of real-time and automatic recycling of materials, and provide technical support for improving the automation level of cigarette factory unpacking line.
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