非统一规格布卷包裹码垛系统设计  

Design of Non-uniform Specification Cloth Roll Palletizing System

作　　者：周杰 石帅 喜冠楠 储平 Zhou Jie;Shi Shuai;Xi Guannan;Chu Ping(School of Mechanical Engineering,Nantong Institute of Technology,Nantong,Jiangsu 226001,China;Intelligent Manufacturing Research Institute,Nantong Institute of Technology,Nantong,Jiangsu 226001,China;Jiangsu Lianfa Textile Co.,Ltd.,Hai'an,Jiangsu 226600,China)

机构地区：[1]南通理工学院机械工程学院,江苏南通226001 [2]南通理工学院智能制造研究院,江苏南通226001 [3]江苏联发纺织股份有限公司,江苏海安226600

出　　处：《针织工业》2025年第3期11-15,共5页Knitting Industries

基　　金：市厅级项目(JCZ21051);校级中青年骨干教师培养专项(ZQNGGJS202204)。

摘　　要：为了能够更好地通过工业机器人码放不同粗细规格的包装布卷至不同托盘,且要求粗卷放置在每层托盘外侧,细卷放置在每层托盘内侧,文章进行样机制作,并设计末端执行器,搭建试验台。首先通过扫码枪扫描布卷条码信息反馈给PLC,然后通过PLC发出指令控制工业机器人抓取不同布卷放置到相应托盘,并通过特定算法保证每层物料粗卷在外。结果表明,能够保证布卷按要求码放至不同托盘,实现了生产物流要求,为工业码垛机器人的末端执行器设计提供有效理论依据,为工业码垛机器人大范围走向纺织包装物流工程应用实践提供有力技术支持。In order to better stack packaging cloth rolls of different thicknesses onto different pallets when using industrial robots,and realize coarse rolls to be placed on the outer side of each layer of the pallet,and fine rolls to be placed on the inner side of each layer of the pallet,this paper creates a prototype and design an end effector,the barcode information of the fabric roll is first scanned and then fed back to the PLC through a barcode scanner.The PLC sends instructions to control the industrial robot to grab different fabric rolls and place them on corresponding pallets.Specific algorithms are used to ensure that each layer of material has a coarse rolloutside.Afer prototype production experiments,it can be ensured that the fabric rolls are stacked on different pallets as required.The prototype experimental results have achieved the production logistics requirements,providing effctive theoretical basis for the design of end effectors for industrial palletizing robots,and providing strong technical support for the large-scale application of industrial palletizing robots in textile packaging logistics engineering practice.

关 键 词：工业机器人 可编程逻辑控制器 码垛 试验 

分 类 号：TS103.9[轻工技术与工程—纺织工程]