面向不规则烟包的笼车码垛系统的设计与应用
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摘要
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.
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.
引文
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[2]李坤全,邵凤翔.全自动包装码垛机器人控制系统设计[J].机械设计与制造,2017(4):259-262.LI Kunquan,SHAO Fengxiang.Design of fully automatic packaging palletizing robot control system[J].Machinery Design&Manufacture,2017(4):259-262.
[3]叶辰雷,刘晓平,贠超.码垛机器人的轨迹规划与仿真分析[J].机械研究与应用,2013,26(5):26-30.YE Chenlei,LIU Xiaoping,YUN Chao.Trajectory planning and simulation for palletizing robots[J].Mechanical Research&Application,2013,26(5):26-30.
[4]董航,杜广胜,刘冬,等.基于遗传算法的码垛机器人关节路径规划[J].组合机床与自动化加工技术,2017(5):29-31.DONG Hang,DU Guangsheng,LIU Dong,et al.Joint-space trajectory planning for palletizer robot based on the genetic algorithm[J].Modular Machine Tool&Automatic Manufacturing Technique,2017(5):29-31.
[5]万彪刚.件烟码垛机器人控制系统的设计与研究[D].重庆:重庆大学,2017.WAN Biaogang.Design and research of control system for smoke stacking robot[D].Chongqing:Chongqing University,2017.
[6]李银华,赵凡,姜克森,等.烟箱分拣自动控制系统研究[J].包装工程,2015,36(3):94-97.LI Yinhua,ZHAO Fan,JIANG Kesen,et al.Automatic control system for smoke box sorting[J].Packaging Engineering,2015,36(3):94-97.
[7]徐敏,陈州尧,李俊蒂.基于模拟退火算法的码垛机器人码垛路径规划[J].包装工程,2015,36(15):95-98,103.XU Min,CHEN Zhouyao,LI Jundi.Path planning of palletizing robot stacking based on simulated annealing algorithm[J].Packaging Engineering,2015,36(15):95-98,103.
[8]周乐天.工业机器人轨迹规划及插补算法的研究[D].镇江:江苏科技大学,2017.ZHOU Letian.Research on trajectory planning and interpolation algorithm for industrial robots[D].Zhenjiang:Jiangsu University of Science and Technology,2017.
[9]陈学锋.码垛机器人轨迹规划算法研究[J].控制工程,2018,25(5):925-929.CHEN Xuefeng.Research on the trajectory planning algorithm of palletizing robots[J].Control Engineering of China,2018,25(5):925-929.
[10]Rong J L,Yang Y T,Li J,et al.Research on modeling and control scheme of space manipulator[J].Journal of Astronautics,2012,33(11):1564-1569.
[11]Gonzalez D G,Hamalainen J.Planning and optimization of cellular networks through Centroidal Voronoi Tessellations[C]//2015 IEEE 82nd Vehicular Technology Conference.Boston,USA:IEEE,2015:1-2.
[12]鄢烈虎,要学玮,张兴旺,等.小规格分拣线自动码垛算法的设计[J].烟草科技,2018,51(12):106-112.YAN Liehu,YAO Xuewei,ZHANG Xingwang,et al.Design of automatic palletizing algorithm for small size sorting line[J].Tobacco Science&Technology,2018,51(12):106-112.
[13]张上武,朱旭.《工业企业厂界环境噪声排放标准》内容及实例解析[J].中国高新技术企业,2012(4):86-87.ZHANG Shangwu,ZHU Xu.Contents and case analysis of Environmental Noise Emission Standards for Industrial Enterprises Boundary[J].China High Technology Enterprises,2012(4):86-87.