一种码垛工艺方法及仿真实验平台设计

A palletizing process and design of simulation experiment platform

针对物流包装行业中机器人码垛工艺示教强度大、数据利用率低和复杂垛型难以满足的问题,首先,提出一种基于空间变换构造自适应参考位姿的码垛工艺方法,放置点位姿均以自适应参考位姿相对位姿的形式离线输入,保存为排样数据,供不同托盘码垛任务调用。其次,以4轴混联码垛机器人为实验对象,进行运动学规划,在码垛任务中应用5段S型加减速曲线规划,提高了码垛效率。最后,在基于Linux+Qt开发环境的仿真实验平台上进行了仿真实验,实验结果表明该方法能够满足复杂垛型的要求,提高了数据的利用率。

Aiming at the problems of high teaching intensity, low data utilization rate and not enough to meet the special complex stack type of robotic palletizing technology in the logistics packaging industry, a palletizing method to construct an adaptive reference pose based on spatial transformation was proposed firstly, all the position and posture of the placement point were input offline in the form of the relative position and posture of the adaptive reference pose and saved as layout data. This method can not only meet the requirements of complex stack type, but also make the layout and stack type data can be used in other pallets, and improve the utilization of data. Secondly, a four-axis hybrid palletizing robot was used as an experimental object to carry out kinematic analysis. Five stages S-shaped acceleration and deceleration curve was carried out to improve the palletizing efficiency in the palletizing task. Finally, simulation experiment was carried out on the simulation experimental platform based on the Linux + Qt development environment, which shows that the method can meet the requirements of complex stack type and improve the utilization of data.