Research On Intelligent Compound Palletizing Technology

Palletizing robots are widely used as an industrial robot in the packaging and logistics industry.In the palletizing process,the common phenomenon are low utilization of the pallet space,stacking instability and low versatility of robot control progrom.And loading the goods on the tray on the transport vehicles are mostly completed by forklift,which will reduce the loading efficiency.So design a new-style robot to replace the forklift,so that the palletizing robot can not only place the box on the tray,but also can load the goods on the pallet as a whole on the transport vehicle and writing the control program are also a subject to be studied.In view of the above-mentioned question to be solved,this article was under the support of the the “Demonstration andresearch on the key technology of the equipment and material used for food packaging(2011BAD24B01)--research on the intelligentprogramming palletizing robot”.Designde the structure of the link of stacking robot to meet the above requirements.Compile a robot control progrom of achieving the optimal stacking type of misplaced palleting and simulating to load the goods on the tray as a whole on the transport vehicles in a shape of terrace and dislocation.Firstly,this paper analyses the influence of the change of the parameters of the stacking robot on the working space of the robot.On this basis,according to the task space defined by the pallet space or the regional palletizing space of the transport vehicle,design of the connecting rod parameters to make the palletizing robot to simultaneously complete the palletizing tasks of the pallet and the transport vehicle.That provides a theoretical basis for improving the structural design of the robot.Then according to the optimal Stacking type stimulated by dislocation planning software designed according to the dislocation stacking algorithm,compile Robot Control programs to control the robot to complete the action of gripping and stacking of each cargo.compile two Soft PLC programs,one of them realizes the dislocation palletizing of goods on the pallet.the other realize to load the goods on the tray as a whole on the transport vehicles in a shape of terrace and dislocation.Finally,select three different box types for misalignment test,and obtain the optimum stacking type.Choose the Lulu box instead of the tray for the test of simulating to load the goods on the tray as a whole on the transport vehicles in a shape of terrace and dislocation,and achieve the desired results.Lay the foundation for applying the palletizing robots to loading the goods on the tray.