摘要
目的实现码垛设备能够满足多种垛型和特殊复杂垛型码垛的作业要求。方法研制一种多垛型机器人码垛系统,根据具体的设计要求,选用合适的工业机器人;采用一次抓取分批次放置的整体方案,设计具有分箱单独夹持功能的机器人夹具;研究各种垛型图样的共性,提出一种基于垛型数据结构的机器人码垛编程方法。结果该码垛系统能够适应多种垛型和各种复杂垛型码垛的工艺要求,运行稳定可靠,大大提高了生产效率;所设计的垛型数据结构包含了机器人搬运过程中的全部信息,更改和修改垛型时,无需更改机械结构,只需在线或者离线更新垛型数据结构即可。结论该码垛系统对垛型的适应能力强,对相关码垛设备的研制具有一定借鉴意义。
The work aims to enable the palletizing equipment to meet the needs of multiple, special and complex stack types. A palletizing robot system for multiple stack types was designed. According to the specific design requirements, proper industrial robots were selected. An overall solution in which robot grabbed once for multiple placements was ap- plied, and a robot griper with separate clamping function was designed. The commonness of all kind of stack types was studied, and a programming method for palletizing by robots based on the stack data structure was presented. The palle- tizing robot system could adapt to the technological requirements of multiple and complex stack types, and run stably and reliably, which enhanced the production efficiency greatly. As the stack data structure included all the information of robot during its working process, when the stack type was changed or modified, only the stack data structure should be updated online or offline without any change of the mechanical structure. The palletizing system is highly adaptable to stack type and provides some reference for the research and development of relevant palletizing equipment.
出处
《包装工程》
CAS
北大核心
2017年第5期40-44,共5页
Packaging Engineering
关键词
码垛
机器人
数据结构
夹具设计
palletizing
robot
data structure
griper design
