基于包装生产线的码垛机器人码垛设计与实验  

Design and Experiment of Palletizing Robot Based on Packaging Production Line

作　　者：徐乐凤 王和欣 孙彬 许彩云 刘祥 XU Lefeng;WANG Hexin;SUN Bin;XU Caiyun;LIU Xiang(Taishan Institute of Science and Technology,Tai’an,Shandong 271000,China;Zhoukou Normal University,Zhoukou 466000,China;Shandong Yunqian Intelligent Technology Development Co.,Ltd.,Tai’an,Shandong 271000,China)

机构地区：[1]泰山科学技术研究院,山东泰安271000 [2]周口师范学院,河南周口466000 [3]山东云乾智能科技发展有限公司,山东泰安271000

出　　处：《自动化与仪器仪表》2024年第10期250-252,共3页Automation & Instrumentation

基　　金：泰安市科技创新发展项目(工业类):智能化技术改造提升传统产业的应用研究(2022GX036)。

摘　　要：为了满足各行各业包装生产线的进一步扩大,包装生产中码垛的自动化需求进一步提高,需要码垛机器人满足高效、智能需求,需对机器人的码垛过程进行分析计算。针对码垛机器人的作业特点,对其进行了路径规划和避障分析,通过对不同码垛垛型的分析,设计了工件的排序方式及位置的计算算法,对机器人按理论计算进行编程,经过参数设置后,进行码垛功能实验。经实验得到工件的实际码放位置与理论位置基本一致,且多次实验均能很好地避开障碍物。说明开发的码垛功能能达到预期要求,且满足智能高效的要求,对机器人的码垛路径及垛型设计达到设计要求,为码垛技术的进一步开发提供一定了技术支持。In order to meet the further expansion of packaging production lines in all walks of life,the automation of palletizing in packaging production needs to be further improved,and the palletizing robot needs to meet the needs of high efficiency and intelligence,so the palletizing process of the robot needs to be analyzed and calculated.In this paper,according to the operation characteristics of palletizing robot,the road force planning and obstacle avoidance analysis were carried out.Through the analysis of different palletizing type,the sorting method and position calculation algorithm of the workpiece were designed.The robot was programmed according to theoretical calculation.After parameter setting,the palletizing function experiment was carried out.The actual stacking position of the workpiece was basically consistent with the theoretical position,and the obstacles could be well avoided in many experiments.It shows that the developed palletizing function can meet the expected requirements,and meet the intelligent and efficient requirements,and the palletizing path and palletizing type design of the robot meet the design requirements,which provides certain technical support for the further development of palletizing technology.

关 键 词：包装生产线 码垛机器人 路径 垛型 

分 类 号：TP246[自动化与计算机技术—检测技术与自动化装置]