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A Method for Realizing Custom Palletizing of Polygonal Objects

A self-defined code and polygonal technology, applied in the stacking of objects, unstacking of objects, transportation and packaging, etc., can solve problems that cannot meet the application requirements, and achieve the effect of strong versatility and simple operation

Active Publication Date: 2021-11-09
EFORT INTELLIGENT EQUIP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

With the increase in the diversification of palletizing function application requirements, this method of stacking regular objects one by one according to the preset palletizing type is increasingly unable to meet the application requirements of the site, so there is an urgent need for a method that can adapt to polygonal objects. Palletizing method

Method used

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  • A Method for Realizing Custom Palletizing of Polygonal Objects
  • A Method for Realizing Custom Palletizing of Polygonal Objects
  • A Method for Realizing Custom Palletizing of Polygonal Objects

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Embodiment Construction

[0028] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further elaborated below.

[0029] Such as Figure 1 to Figure 7 As shown, a method for implementing custom palletizing of polygonal objects includes the following steps:

[0030] Step S101: Input the object palletizing information in the teaching pendant, and judge and select whether the placement of the odd and even layers is consistent; wherein, the object palletizing information includes the object height h, the number of stacking layers n1, and the number of objects per layer m, Through n1 and m, it is used to calculate the total number of pallets. Since in the operation process, in order to ensure the stability of object placement, the placement of odd and even layers will be inconsistent, so it is necessary to judge the signs of palletizing completion and the materials to be discharged. What layer is the o...

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Abstract

The invention relates to a method for realizing self-defined palletizing of polygonal objects, comprising the following steps: input object palletizing information in a teaching device, and judge and select whether the arrangement of odd and even layers is consistent; Point, establish the pallet coordinate system Crs1; obtain the position p4 of the robot in the world coordinate system in real time, and convert this point into the position p5 in the pallet coordinate system Crs1; Placement method, if the placement of odd and even layers is inconsistent, it is necessary to teach the placement method of even layers; save the position information of the taught object; load and run the pallet coordinate system Crs1, calculate and call its position information according to the object serial number for discharging. The present invention does not impose too many requirements on the shape of the object, only needs to input the height of the object, has strong versatility, and can be transplanted to other multi-joint robots for application.

Description

technical field [0001] The invention relates to the technical field of industrial robot applications, in particular to a method for realizing custom palletizing of polygonal objects. Background technique [0002] At present, in the application of robot automation, the palletizing function is more and more used in the automatic placement of regular objects such as boxes and packaging bags, which liberates workers from single and heavy work. With the increase in the diversification of palletizing function application requirements, this method of stacking regular objects one by one according to the preset palletizing type is increasingly unable to meet the application requirements of the site, so there is an urgent need for a method that can adapt to polygonal objects. Palletizing method. Contents of the invention [0003] In order to avoid and solve the above technical problems, the present invention proposes a method for realizing custom palletizing of polygonal objects. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B65G61/00
CPCB65G61/00
Inventor 徐亮魏小敏肖永强张帷柳贺贾时成张宏强刘志虎吴书安张建利张振
Owner EFORT INTELLIGENT EQUIP CO LTD
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