The gripper of cooperative palletizing robot, also known as end effector, clamp and mechanical gripper, is an important part of the palletizing robot. The design of robot intelligent gripper generally uses image system to identify the size of the workpiece, and servo motor to adjust the spacing of the clamping plates.

Compared with ordinary mechanical palletizer, the palletizing robot has the advantages of high efficiency, low failure rate and convenient maintenance, so it is widely used. The main task of palletizing robot control technology is to control the movement position, posture and trajectory, operation sequence and action time of industrial robot in the workspace. Now let's talk about the control technology of the stacking robot.

The advantages of the automatic production line are very obvious, but if the overall planning of the initial overall processing process layout is not good, the advantages of the automatic production line will be discounted. The automatic production line process layout is generally divided into linear layout, zigzag layout, and T-shaped layout

The labor intensity of manual stacking is high, and the turnover rate of post labor is high, which has a serious impact on production management. With the development of science and technology, the appearance of automatic stacker saves time and energy for product stacking, and can better help enterprises to complete transportation tasks.

Cooperative robots, from B to C, have broad market prospects. Finally, to a large extent, the application stage of intelligent cooperative robots is still based on the B-end industry market.

Most of the operations performed by the cooperative palletizing robot are grasping and placing operations, that is, the robot grabs materials from the conveyor belt and places them on the designated position on the pallet along the motion path. Therefore, according to the position relationship between the robot and the conveyor belt and tray when it completes stacking, and considering the obstacles in the movement process, the "door" shaped movement track is selected. It should be noted that when the robot end effector completes the stacking of cartons at different positions on the pallet, the trajectory is in the shape of a "door", and the coordinates of the trajectory end point are different only because the positions of cartons on the pallet are different.