Estun Robot - Problems and Solutions of Palletizing Robots

1. Problems in the application of industrial robot palletizing

Palletizing gripper problems

The ability of the palletizing robot to work under different operational tasks mainly depends on the design of the robot flange crane. The quality and performance of robot cranes directly affect the work quality and efficiency of industrial handling robots. The traditional handling robot crane is composed of pure mechanical parts, complex structure, overall bulky, slow action speed, no automatic detection, low control position ability, low control accuracy, affected by the working environment temperature and the weight of the workpiece, affecting the normal work efficiency of the handling robot. There are safety hazards in production. Industrial robots can design specific cranes for different items. However, in the face of industrial production and manufacturing, there may be more than one product specification at the same station. In this case, the robot can only capture specifically, and cannot meet the diverse capture of varieties. Therefore, the selection and design of the robot crane is particularly important. In this case, there is an urgent need to design an adaptive and versatile robotic crane.

Automatically identify scraping issues

In the process of palletizing and sorting industrial robots, due to the diversity of product types, it is necessary to sort according to the category of items and transport items on the same assembly line to different pallets. Secondly, during the transmission process, the position to be captured may not be fixed, which requires the robot to independently identify the location of the capture point. Therefore, selective identification capture is very important for the application of palletizing robots.

Motion path planning

In the palletizing application of industrial robots, the number of palletizing per unit time is a very important indicator to measure the performance of industrial robots. Especially for production lines with high throughput, the palletizing rate of industrial robots determines the production capacity of the entire production line. There are many factors that affect the palletizing efficiency of the robot, such as servo motor performance, load strength, robot mechanical structure, etc., especially the robot stacks items into different stacking types, and the stacking sequence is also a key factor affecting the stacking efficiency. When the stacking sequence is fixed, the optimization of the robot's motion path is of great help to improve efficiency. If it is transported to the same destination, the choice of the robot path is different, the solution results of the robot motion vary greatly, and the final speed also varies greatly. Therefore, the design of the robot's motion path and stacking sequence plays a key role in improving the robot's work efficiency.

2. Key solution technology

Adaptive gripper

In order to solve the problems of low control accuracy, low work efficiency and potential safety hazards of the prior art, an automatic gripper of industrial handling robot with the ability to automatically detect and control position was designed. The preset work program of the central processing unit of the robot claw automatic controller can establish communication with the main controller of the industrial handling robot. When the handling robot reaches the position where the workpiece is picked, it starts to grasp according to the instructions of the main controller of the handling robot. The gripping process is affected by negative feedback. When detecting the change in gripping pressure, the automatic adjustment of the motor torque has reached the gripping intensity and stroke control. In this way, for items of different specifications, one claw can meet the grasping task, reduce the process of frequent replacement of fixtures, and improve the stacking efficiency.

Machine vision systems

Robot vision system including C, CD digital camera, lens, light source, robot body control system. The CCD digital camera is connected with the industrial computer through the switch, the electrical control cabinet is connected to the switch, the camera unit takes pictures of the items, collects the data, and transmits them to the industrial computer through the switch, and the industrial computer carries out image processing and precise positioning on the collected backup item pictures, and sends control signals to the robot control system through the switch. This technology solves the problem of traditional palletizing in the case of many types of products and changeable positions, improves the work efficiency in the sorting and palletizing operation, and makes the palletizing robot more intelligent and humanized.

Stacking design and motion path optimization

In order to improve the efficiency of the robot, it is necessary to reasonably design the stacking type design and motion path. In this paper, the motion optimization is studied, and a comprehensive optimization method of path planning and trajectory planning is proposed to optimize the two coupling processes at the same time. After path planning, the B-spline interpolation method is used to fit the discrete path to obtain a smooth path, and in order to obtain a quantitative representation of the smoothness of the path, the fuzzy controller is used to control the correction amplitude of the path, and then the minimum time for the robot to run along the path is obtained. Combined with the actual situation, the characteristics of time-optimal trajectory planning are analyzed, and the parametric representation method is used to reduce the dimension of the dynamic model and the dynamic programming method is used to obtain the optimal time to control the palletizing motion of the robot. For the placing sequence of robot palletizing, according to the direction of placement, the number of layers, the needs of the number of each layer, the design of the placement sequence from far to near, the principle of adjacent placement can shorten the sum of paths, and the purpose of improving the stacking efficiency has been achieved.

Estun Robot - Problems and Solutions of Palletizing Robots

Estun Robot - Problems and Solutions of Palletizing Robots

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