Research On The Flexible Stacking System Of Cigarette Carton

With the advent of the era of personalization,tobacco companies have successively launched unique shapes cigarettes.The input of such cigarettes has led to rapid sales of tobacco and also brings huge pressure to tobacco logistics center.In the face of these logistical challenges,the tobacco logistics center has changed from traditional manual sorting packaging to automatic sorting packaging.In this process,a large number of enterprises and researchers have made significant contributions to tobacco logistics equipment.This paper presents a detailed overview of the system,analyses the problems and optimizes the system for the palletizing of tobacco logistics equipment.Firstly,the paper gives an overview of the components of the flexible palletizing system,including the four main parts: the tobacco gripping belt,the palletizing robot,the doubling chain and the electronic control cabinet,and compares it with the rigid palletizing system in the four directions: gripping object,demolition situation and tobacco posture requirements.Additionally,the working principle and process flow of the flexible palletizing system is introduced.Secondly,based on the multi-axis synchronous control technology,the hardware and software design of the equipment is carried out,and the master control mode in the multi-axis synchronous control technology is applied.Through the experimental test,the efficiency is improved by about 24.9 % compared with the rigid palletizing system,and the synchronization error rate of the flexible sucker is less than 0.1 %.Meanwhile,the forward and reverse kinematics modeling of the palletizing robot,the stepping motor modeling and the kinematics of the end-effector and dynamics modeling are carried out.The robot trajectory planning is optimized with the A* algorithm,and the Robotics Toolbox in MATLAB software is used for simulation,the simulation results show that the optimized manipulator shortens its motion path.Finally,the Simulink toolbox in MATLAB software is used to model the palletizing robot,stepper motor and end actuator,and then the electromechanical transmission system of the equipment is modeled and simulated by combining the dynamic model of stepper motor and end actuator.The data analysis shows that the dynamic characteristics of the system are best when the stiffness factor of the stepper motor screw reaches around 80 N·m/rad.