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.

Palletizing robot, also known as robot palletizing, is used for palletizing instead of manual operation, which can greatly improve work efficiency. In addition, the robot stacker can run for a long time, reducing the labor cost. Working principle of the stacker: place a layer of workpieces that meet the pallet requirements on the flat plate. And the flat piece moves forward to the vertical plane of the pallet. The upper stop rod drops, another tee positioning stop rod begins to clamp, and then the sheet is reset. Each workpiece shall be lowered to the pallet plane, the distance between the pallet plane and the bottom of the plate shall be 10mm, and the pallet shall be lowered by one workpiece height. Repeat the above steps until the pallet stacking meets the setting requirements.

Stacking robot is a kind of industrial robot, which is widely used at present. With the decline of labor rate and the rise of labor cost, palletizing robots are used more and more. Stackers and porters are manufactured in manufacturing enterprises to replace manual post packaging operations. It can improve product quality and output, and reduce labor costs. The stacking robot has a simple and durable structure. It can work with high intensity for a long time in various environments, reduce the occurrence of industrial accidents, and integrate into various production lines. The palletizing robot has many advantages, so what are the problems it faces?

With the mature application of artificial intelligence, big data, cloud computing and other technologies, robot manufacturing enterprises have enjoyed huge scientific and technological dividends. According to the statistical report of relevant data, the number of industrial machines put into use in the world has reached 3 million, with a year-on-year growth of 10%. It is estimated that by 2024, the number of new industrial robots in the world will reach about 500000/year. From the data, the demand for robots will increase year by year. On the one hand, robots improve work efficiency, on the other hand, the application of robots also reduces the pressure of manual management in enterprises.

Manual handling and palletizing can no longer meet the production needs of enterprises. Stackers are widely used in packaging machinery industry. Cooperative stacker has the advantages of simple structure, small volume, light weight, fast speed, safety, energy saving, beautiful appearance, etc. The power of the whole machine is smaller than that of the traditional stacker, which can save a lot of electric energy every year. And it can greatly shorten the length of the production line, reduce the number of equipment, and simplify the process.

The key technologies of cooperation include robot vision, sensors and control systems. The difficulty lies in how to realize the cooperation between robots and how to deal with the behavior of robots in complex environments.

Cooperative palletizing robot, an industrial robot, is a key emerging industry in China's implementation of the manufacturing power strategy. The development level of robot industry is an important symbol to measure a country's innovation ability and industrial development level.

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.