一种自适应垛型码垛工艺方法

A Palletizing Process Method with Adaptive Stack Type

针对当前码垛机器人示教生成垛型过程繁琐且耗时的问题,提出一种自适应垛型生成方法,通过修改物品与垛盘尺寸,拖拽物体,实现任意垛型的摆放。该方法能够满足不同尺寸工业产品的垛型生成,具有简单快捷的特点。以六自由度工业机器人为研究对象,在Linux+Qt的开发环境下对码垛相关功能进行验证,试验结果表明码垛机器人能够按照既定垛型实现产品的正确摆放。

Aiming at the tedious and time-consuming problems of current robot teaching process to generate stack type,an adaptive stacker generation method was proposed.By modifying the size of items and pallet,dragging objects,the placement of any stacker could be realized.This method can meet the stacker generation of industrial products with different sizes,and has the characteristics of simple and fast.Taking the 6-DOF industrial robot as the research object,the relevant palletizing functions were verified based on Linux+Qt development environment.The result shows that the products can be placed correctly according to the given palletizing type.