Research And Application Of Automated Robotic Palletizing System For Irregular Cigarette Packets

The robotic automatic palletizing system frees workers from repetitive and heavy physical labor,at the same time,it saves manpower costs,stabilizes the company's output and reduces the worker's contact with the production line,thus avoiding worker injury caused by production operations.The palletizing problem of irregular cigarette packs in the domestic cigarette industry is studied and a set of robot automatic palletizing system scheme for irregular cigarette packets is proposed in this thesis.The achievements and experience in the research have great significance for the realization of palletizing of irregular cigarette packages in the domestic cigarette industry,and have a reference value while handling irregular objects for palletizing robots.After detailed analysis,the process flow of the robot palletizing and the overall design of the entire system was completed.The entire system includes a turning machine,a gripper,a calibration device,a palletizing robot,an upper computer,a PLC,and a buffer area.In order to solve the matching problem of irregular cigarette packets,ensure the integrity of the system functions and the high efficiency of palletizing operations,this thesis has conducted in-depth research and implementation of the on-site mechanical equipment and the control systems.In order to meet the task requirements of palletizing for irregular cigarette packets,the structure of on-site mechanical equipment was designed.First of all,in order to complete the match of irregular cigarette packets,one cigarette packet needs to be flipped by 180 degrees to match the other one into a full five-layer packet that satisfies the requirements before the palletizing.Therefore,it is very necessary to design a mechanical device that can invert the cigarette packet.During the design of the reversing machine,a mechanical device capable of quickly inverting the cigarette packets on the conveyor belt was designed,which is light in structure,easy to control and greatly improved the system's handling efficiency.Secondly in the process of designing the control program of the end effector,a control mode combining the pulse mode and the torque mode is adopted.The test result shows that the end effector has the stability and rapidity of capturing the irregular cigarette packets.At last,in order to realize the control of on-site devices,Omron PLC is used as the controller.Theprogramming and optimization of the PLC program are completed by combining with the workflow of the on-site mechanical equipment.Aiming at the matching problem of irregular cigarette packages,an algorithm based on the optimal quantity matching and time-consuming matching of is proposed.The algorithm can determine the operations of each cigarette.The algorithm is based on the principle that the gap of cigarette packet is the least.After the quantity of packages in the buffer reach a certain number,it will adopt the method of matching multiple tobacco package,although it will lower the efficiency of the cigarette packet match,but it can quickly reduce the number of cigarette package in the buffer,whitch avoids buffer filled,causing the matching operation of the following packets cannot be performed.Based on this algorithm,the upper computer program is implemented.The validity of the algorithm is verified by the test of the actual order data of the cigarette packets,which can meet the requirements of the system operation.Finally,the whole system is integrated and debugged,and the touch screen program is developed,which can realize the manual control and state monitoring of the on-site equipment.Through the actual operation,it's proved that the system has good performance in handling the palletizing problem of irregular cigarette packets.