面向不规则烟包的笼车码垛系统的设计与应用

Design and application of irregular cigarette parcel stacking system for caged-vehicles

为解决人工码垛不规则烟包工作效率低、容易出错等问题,设计了一种面向不规则烟包的笼车码垛系统。该系统主要由矫正装置、缓冲区和码垛机器人等构成,基于预排层算法确定烟包的运动路径,利用矫正装置调整烟包位置和姿态;采用3-5-3样条插值函数对码垛机器人关节拟合,实现烟包放入笼车中的自动码垛,并利用改进遗传算法优化插值函数参数,缩短运行时间。以宜昌市烟草物流配送中心为对象进行测试,结果表明:烟包码垛效率大于800包/h,条烟损坏率小于0.1%,码垛出错率小于0.1%,设备运行噪声小于72 dB,能够满足码垛作业要求。该系统可为提高烟草物流配送自动化水平提供技术支持。

In order to promote the efficiency and decrease the error rate in stacking of irregular cigarette parcels into caged-vehicles, an automatic stacking system was designed. The system was mainly composed of a correcting device, buffer areas and a stacking robot. The moving route of cigarette parcels was determined by pre-layering algorithm, and the position and orientation of the parcels were adjusted by the correcting device. The articulations of the robot were fit with 3-5-3 spline interpolation function to stack cigarette parcels into caged vehicles automatically. A modified genetic algorithm was adopted to optimize the interpolation function parameters and shorten the running time. A test was carried out in Yichang Tobacco Logistics Distribution Center, and the results showed that the system was able to handle more than 800 parcels per hour, both the damage rate of cigarette cartons and stacking error rate were less than 0.1%, and the noise was below 72 dB. The system provides a technical support for promoting the automation of tobacco logistics.