一种正反交错压缝式工业机器人多层码垛解决方法

A Multi-Layer Palletizing Method for Industrial Robots by Staggering and Seam Pressing the Workpieces

通过将码垛过程简化为某一列物料的横放或者竖放的方式给出了一种更为灵活的正反交错压缝式多层码垛的解决方法。该方法优化了传统的交错式码垛方法,码垛过程中只需要根据横放或者竖放分别示教两个参考点,然后通过判断某一列垛型在X、Y、Z三个方向相对于示教参考点的偏移进行该列的码垛。采用该方法可以更加灵活地进行横、纵垛型的安排。另外,该方法巧妙地利用将层数对2取余的方式进行奇数层和偶数层的判断,通过对奇数层和偶数层码垛过程的重复实现多层码垛。

This article presents a more flexible method for multi-layer palletizing by simplifying the stacking process to a horizontal or vertical arrangement of a certain column of materials.This method optimizes the traditional staggered stacking method.During the stacking process,only two reference points need to be taught according to the horizontal or vertical arrangement,and then a certain column of stacking types can be determined by using these reference points and also the offset of the column in the X、Y and Z directions relative to the teaching reference point.In addition,this method cleverly utilizes the method of dividing the number of layers by 2 to determine the odd and even layers,and achieves multi-layer stacking by repeating the stacking process of odd and even layers.