Research On Overlapping-stacking Programing And Robot Stacking Control

Palletizing robot,as one sort of the current industrial robots,is widely employed in packaging and logistic industries.The stacking efficiency largely depends on the robot's stacking ability and the pallet's loading capacity.With the spreading use of palletizing robot,some problems occur,including reduction of stacking efficiency by large amount of demonstrating time by manual work,a decrease in load-carrying capacity and problems caused by products which tend to be in more multiple dimensions.Nowadays,tailoring optimal stack models rapidly and efficiently for multiplex and diversified products is one of the hottest issues currently that requires for solution.To solve the above problem,this thesis,supported by one key project in the National Science-Technology Key Program in the 12^th five-year plan,combines two-dimensional packing problem with robot stacking control and develops an integrated set of system for efficient stacking,including programming software for overlapping stacking based on C++and senior stacking functional blocks based on KeMotion controller.With rectangle packing algorithm as theoretic foundation,the thesis firstly proposes overlapping-stacking algorithm tailored for pallet's loading capacity and designs overlapping-stacking programming software which allows for prompt devising of optimal stack models for diversified products,with the realization of pallet's maximum loading capacity and models'high stability.Secondly,the thesis studies the characteristics of Kemotion controller and develops senior functional blocks out of it which command palletizing robot to stack optimal models.Senior stacking functional blocks include RC system,controlling robot's motion,and SoftPLC system,responsible for data processing.In order to promote stacking efficiency,the thesis also puts forward pallet's dynamic access point and optimizes the robot's motion route.Lastly,this thesis testifies the consistency between theoretical stacking models and practical models through tests on three products,and verifies that the optimized route can effectively improve stacking efficiency?a raise by 7%?through time references recording and before-after time comparing.