| Currently most of the packs of industrial palletizing robot is generated through online teach,the process is extremely complicated and takes up a lot of equipment time. Although the off-lineprogramming solution becomes universal, palletizing has its own characteristics, and the result isthat using rate of the common off-line programming software is not high. Accompanied by thediversification of industrial products and changes in product size particularly, the users have anurgently require in the reasonable pack type generated depending on the size of the product.In this paper, we design an offline pack-generation system of box and bag palletizing whichcan effectively solve the above problem. The system uses automatically generated pack anduser-defined pack. The automatically generated pack uses the G5integer programming recursiveheuristic planning algorithm to achieve the purpose of maximizing space utilization. Theuser-defined pack provide a convenient interface which enables users to generate custom packmode to meet their own needs. The system uses the interference determination algorithm toavoid the overlap between the goods which adopts the effective area generation algorithm, andgenerates a work sequence of the palletizing robot path at the same time.At last, the3D offline simulation is tested on the platform which is developmentedindependently in Beijing University of Aeronautics and Astronautics robot ITR laboratory. Thesimulation results show that the system can achieve the desired functional goal and generateoffline pack efficiently and effectively. |
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