一种多垛型机器人码垛系统的设计-包装工程.PDF 5页

包 装 工 程 第38 卷 第 5 期 ·40 · PACKAGING ENGINEERING 2017 年3 月 一种多垛型机器人码垛系统的设计 李红果，刘新乐，徐德众，周益林，朱佳琪 （北京强度环境研究所，北京 100076 ） 摘要：目的 实现码垛设备能够满足多种垛型和特殊复杂垛型码垛的作业要求。方法 研制一种多垛型机 器人码垛系统，根据具体的设计要求，选用合适的工业机器人；采用一次抓取分批次放置的整体方案， 设计具有分箱单独夹持功能的机器人夹具；研究各种垛型图样的共性，提出一种基于垛型数据结构的机 器人码垛编程方法。结果 该码垛系统能够适应多种垛型和各种复杂垛型码垛的工艺要求，运行稳定可 靠，大大提高了生产效率；所设计的垛型数据结构包含了机器人搬运过程中的全部信息，更改和修改垛 型时，无需更改机械结构，只需在线或者离线更新垛型数据结构即可。结论 该码垛系统对垛型的适应 能力强，对相关码垛设备的研制具有一定借鉴意义。 关键词：码垛；机器人；数据结构；夹具设计 中图分类号：TB486+ .3；TP242.2 文献标识码：A 文章编号： 1001-3563(2017)05-0040-05 Design of Palletizing Robot System for Multiple Stack Types LI Hong-guo , LIU Xin-le, XU De-zhong, ZHOU Yi-lin, ZHU Jia-qi (Beijing Institute of Structure & Environment Engineering, Beijing 100076, China) ABSTRACT: The work aims to enable the palletizing equipment to meet the needs of multiple, special and complex stack types. A palletizing robot system for multiple stack types was designed. According to the specific design requirements, proper industrial robots were selected. An overall solution in which robot grabbed once for multiple placements was ap- plied, and a robot griper with separate clamping function was designed. The commonness of all kind of stack types was studied, and a programming method for palletizing by robots based on the stack data structure was presented. The palle- tizing robot system could adapt to the technological requirements of multiple and complex stack types, and run stably and reliably, which enhanced the production efficiency greatly. As the stack data structure included all the information of robot during its working process, when the stack type was changed or m