Zeitschriftenartikel: „Palletizing system“

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Diao, Jin Xia, Ru Ying Hou und Hai Dong Hu. „Study on Control System of SCM Palletizing Robot Arm“. Applied Mechanics and Materials 742 (März 2015): 546–50. http://dx.doi.org/10.4028/www.scientific.net/amm.742.546.

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This paper studies the joint type palletizing robot arm, using MFC application platform designed a four-axis palletizing robot arm control software. Software in the paper we design has friendly interface, the operator through the input palletizing basic information, and then introduced with the steering gear control and DSP implementation of serial communication programming, and system hardware circuit was designed by palletizing robot arm control system simulation tests were conducted to verify system functions.

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Wang, Jianqiang, Yanmin Zhang und Xintong Liu. „Control system of 4-DOF palletizing robot based on improved R control multi-objective trajectory planning“. Advances in Mechanical Engineering 13, Nr. 4 (April 2021): 168781402110027. http://dx.doi.org/10.1177/16878140211002705.

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To realize efficient palletizing robot trajectory planning and ensure ultimate robot control system universality and extensibility, the B-spline trajectory planning algorithm is used to establish a palletizing robot control system and the system is tested and analyzed. Simultaneously, to improve trajectory planning speeds, R control trajectory planning is used. Through improved algorithm design, a trajectory interpolation algorithm is established. The robot control system is based on R-dominated multi-objective trajectory planning. System stack function testing and system accuracy testing are conducted in a production environment. During palletizing function testing, the system’s single-step code packet time is stable at approximately 5.8 s and the average evolutionary algebra for each layer ranges between 32.49 and 45.66, which can save trajectory planning time. During system accuracy testing, the palletizing robot system’s repeated positioning accuracy is tested. The repeated positioning accuracy error is currently 10−1 mm and is mainly caused by friction and the machining process. By studying the control system of a four-degrees-of-freedom (4-DOF) palletizing robot based on the trajectory planning algorithm, the design predictions and effects are realized, thus providing a reference for more efficient future palletizing robot design. Although the working process still has some shortcomings, the research has major practical significance.

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Srasrisom, Khongsak, Pramot Srinoi, Seksan Chaijit und Fasai Wiwatwongwana. „Improvement of an automated CAN packaging system based on modeling and analysis approach through robot simulation tools“. IAES International Journal of Robotics and Automation (IJRA) 9, Nr. 3 (01.09.2020): 178. http://dx.doi.org/10.11591/ijra.v9i3.pp178-189.

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<p>The application of robot simulation tools for modelling, analysis and improvement of existing industrial manufacturing cells is presented with reference to the development and implementation of the digital factory concept. A real case study of aerosol can packaging and palletizing cell scenario in the metal can manufacturing industry for containing food and products is used as a reference in this paper. For studying manual aerosol can packaging and palletizing conditions of the worker, a detailed time and motion analysis of workers is carried out. On the basis of cycle time analysis results, an alternative to the manual operation, a more sophisticated automated packaging and palletizing system is suggested. A proposed system which uses a robotic manipulator including automated production machine and devices are also developed and tested. The viability of the suggested system is checked through simulation and cycle time analysis. A fuzzy logic software, MATLAB is employed in order to analyse the actual system’s behaviour in terms of productivity, and utilization of the available facilities. The 3D simulation software, DELMIA V6 is additionally employed to perform a detailed design phase of the manufacturing cell. From the simulation results, this gives a rough approximation that the production of one robotized manipulator, and automated packaging and palletizing cell is equal to the production of about 4.3 manual packaging and palletizing cells. These results have shown the need for change to automation in the aerosol can packaging and palletizing system.</p>

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Popa, Cicerone Laurentiu, Costel Emil Cotet, Stefan Gavrila und Valentin Ionita. „Modelling, Simulation and Optimization of a Packaging and Palletizing System“. Applied Mechanics and Materials 760 (Mai 2015): 205–11. http://dx.doi.org/10.4028/www.scientific.net/amm.760.205.

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This paper presents a material flow management case study based on our research in modelling, simulation and optimization for a packaging and palletizing system. The studied system allows packaging, palletizing, wrapping and storage of several types of products within a food company. For each type of product to be packaged and stored a material flow system simulation is necessary in order to identify and eliminate the bottlenecks and to obtain an optimized system in terms of productivity. Because the optimization algorithm is the same for different kind of products we will illustrate our research using a single type of product. We will focus the case study on packaging coffee bags in boxes. The boxes are positioned on pallets in order to create a stack that will be wrapped for storage. We used Flexim 7 simulation software for modelling, simulation and optimization of the packaging and palletizing system.

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Hajduk, Mikuláš. „Identification of Palletizing/Depalletizing Operations in Food Industry Suitable for Robotics“. Applied Mechanics and Materials 844 (Juli 2016): 19–24. http://dx.doi.org/10.4028/www.scientific.net/amm.844.19.

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Paper describes palletizing and depalletizing workplaces, which are designed for automation of handling-transport operations in food production plants. First part of the paper describes handling-transport system of palletization/depalletization which is divided into four subsystems. In the second part of the paper there are identified palletizing/depalletizing operations in food industry suitable for robotics. And third part of paper describes possibilities of utilization robots for palletizing/depalletizing processes in the food industry.

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He, Ying, Jiangping Mei, Zhiwei Fang, Fan Zhang und Yanqin Zhao. „Minimum Energy Trajectory Optimization for Driving Systems of Palletizing Robot Joints“. Mathematical Problems in Engineering 2018 (03.12.2018): 1–26. http://dx.doi.org/10.1155/2018/7247093.

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Palletizing robot is widely used in logistics operation. At present, people pay attention to not only the loading capacity and working efficiency of palletizing robots, but also the energy consumption in their working process. This paper takes MD1200-YJ palletizing robot as the research object and studies the problem of low energy consumption optimization of joint driving system from the perspective of trajectory optimization. Firstly, a multifactor dynamic model of palletizing robot is established based on the conventional inverse rigid body dynamic model of the robot, the Stribeck friction model and the spring balance torque model. And then based on joint torque, friction torque, motion parameter, and joule’s law, the useful work model, thermal loss model of joint motor, friction energy consumption model of joint system, and total energy consumption model of palletizing robot are established, and through simulation and experiment, the correctness of the multifactor dynamic model and energy consumption model is verified. Secondly, based on the Fourier series approximation method to construct the joint trajectory expression, the minimum total energy consumption as the optimization objective, with coefficients of Fourier series as optimization variables, the motion parameters of initial and final position, and running time constant as constraint conditions, the genetic algorithm is used to solve the optimization problem. Finally, through the simulation analysis the optimized Fourier series motion law and the 3-4-5 polynomial motion law are comprehensively evaluated to verify the effectiveness of the optimization method. Moreover, it provides the theoretical basis for the follow-up research and points out the direction of improvement.

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Liu, Zhen Yu, und Ji You. „Research on the 6DOF Robot Simulation and Modeling“. Advanced Materials Research 734-737 (August 2013): 2676–80. http://dx.doi.org/10.4028/www.scientific.net/amr.734-737.2676.

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Visual simulation technology is still playing an important role in the robot design and research field. This article establishes a robot palletizing simulation system visualization based on VisualC++ and OpenGL programming tool. This system synthetically evaluates the man-machine interface, the robot three-dimensional modeling and environmental modeling. In addition, modeling of robot is divided into two parts static modeling and kinematic modeling. Finally, for the purpose of the robot movement trajectory and collision avoidance behavior in the palletizing system, it provides numerous theoretical and practical bases.

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Chen, Youdong, Ling Li und Wei Tang. „An off-line programming system for palletizing robot“. International Journal of Advanced Robotic Systems 13, Nr. 5 (08.09.2016): 172988141665774. http://dx.doi.org/10.1177/1729881416657744.

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Sun, Xue Dong, Lian Feng Zhao, Tian Tian Niu und Han Ming Cai. „Control System Design of the Automatic Sorting and Palletizing Manipulator for Passenger Car Tire“. Advanced Materials Research 542-543 (Juni 2012): 914–18. http://dx.doi.org/10.4028/www.scientific.net/amr.542-543.914.

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In this paper the object of study is automatic sorting and palletizing manipulator for passenger car tire. It designed the driving mechanism and control system of the manipulator. There are 3 degrees of freedom with the automatic sorting and palletizing manipulator in this paper. The horizontal and vertical movement of manipulator's movable parts is drived by servo motor. And manipulator's gripper grabs and places tires by cylinder drive. In addition, the centering device opens or tightens 4 embraced arms by cylinder drive. A touch-screen is used as the man-machine interface, which can represent manipulator's operation process and results. Realizing the control of the manipulator by PLC combined with the corresponding software programming.

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Li, Zhong Ming, Wei Liu und Jin Quan Li. „Integration System of Intelligent Design and Modeling Oriented to Requirement Configuration for Palletizing Robot“. Applied Mechanics and Materials 120 (Oktober 2011): 154–58. http://dx.doi.org/10.4028/www.scientific.net/amm.120.154.

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The method of computer-aided conceptual design is present for the palletizing robot. Intelligent design and modeling are integrated in this system. Index of design requirement is quantified hierarchically and various kinds of attributes of function carriers are digitized. The analytic hierarchy process is used for reference to check the consistency of quantitative value of attributes and the rationality is ensured. Design requirement can be configured flexibly in man-computer interaction module and the optimal scheme is generated automatically according as the computation of evaluation function. Model file of virtual prototype for ADAMS can also be generated automatically by auto-modeling module. Software system of computer-aided conceptual design for palletizing robot is developed based the method mentioned above.

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Yu, Hanwen, Qun Sun, Chong Wang und Yongjun Zhao. „Frequency response analysis of heavy-load palletizing robot considering elastic deformation“. Science Progress 103, Nr. 1 (12.12.2019): 003685041989385. http://dx.doi.org/10.1177/0036850419893856.

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For the palletizing robot’s operating characteristics of high speed, high acceleration, and heavy load, it is necessary to make a research on the structure optimization focusing on the vibration characteristics according to the mechanical and dynamic performance analysis. This article first introduces the mechanical feature and working principle of high-speed and heavy-load robot palletizer. Kinematics analysis is carried out by using D-H parameter method, which obtains positive kinematics solution and workspace. Jacobian matrix is deduced, and the relationship between joint space and Cartesian space is established. Second, for the reason that joint flexibility has a great influence on the vibration performance of the robot, a rigid–flexible coupling dynamic model is established based on the simplified model of the flexible reducer and Lagrange’s second equation to describe the joint flexibility of high-speed and heavy-load palletizing robot, and the vibration modes of the robot are analyzed. The influence of different joint stiffness on the frequency response of the system reveals the inherent properties of the heavy-load palletizing robot, which provides a theoretical basis for the optimal design and control of the heavy-load palletizing robot.

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陈, 挺. „Design of Automatic Palletizing Controlling System Based on PLC“. Mechanical Engineering and Technology 02, Nr. 01 (2013): 11–15. http://dx.doi.org/10.12677/met.2013.21002.

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Carvalho de Souza, João Pedro, André Luiz Castro, Luís F. Rocha und Manuel F. Silva. „AdaptPack studio translator: translating offline programming to real palletizing robots“. Industrial Robot: the international journal of robotics research and application 47, Nr. 5 (29.07.2020): 713–21. http://dx.doi.org/10.1108/ir-12-2019-0253.

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Purpose This paper aims to propose a translation library capable of generating robots proprietary code after their offline programming has been performed in a software application, named AdaptPack Studio, running over a robot simulation and offline programming software package. Design/methodology/approach The translation library, named AdaptPack Studio Translator, is capable to generate proprietary code for the Asea Brown Boveri, FANUC, Keller und Knappich Augsburg and Yaskawa Motoman robot brands, after their offline programming has been performed in the AdaptPack Studio application. Findings Simulation and real tests were performed showing an improvement in the creation, operation, modularity and flexibility of new robotic palletizing systems. In particular, it was verified that the time needed to perform these tasks significantly decreased. Practical implications The design and setup of robotics palletizing systems are facilitated by an intuitive offline programming system and by a simple export command to the real robot, independent of its brand. In this way, industrial solutions can be developed faster, in this way, making companies more competitive. Originality/value The effort to build a robotic palletizing system is reduced by an intuitive offline programming system (AdaptPack Studio) and the capability to export command to the real robot using the AdaptPack Studio Translator. As a result, companies have an increase in competitiveness with a fast design framework. Furthermore, and to the best of the author’s knowledge, there is also no scientific publication formalizing and describing how to build the translators for industrial robot simulation and offline programming software packages, being this a pioneer publication in this area.

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Liang, Lin Jian, und Xue Guan Gao. „Palletizing Robot Dynamic Analysis and Simulation“. Applied Mechanics and Materials 598 (Juli 2014): 623–26. http://dx.doi.org/10.4028/www.scientific.net/amm.598.623.

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Selection of drive components and determination of dynamics properties are extremely important technical components for overall design of palletizing robot. As an example, the paper firstly introduce how to establish mathematical model and finish kinematics analysis. Based on the previous work, MATLAB scripts are written through the use of Newton-Euler Method to analyze and calculate dynamic analysis, after which the parameters of dynamics are obtained. Then the dynamic behavior is studied by multi-body system simulation using ADAMS software to testify the former analysis in MATLAB. Lastly, two speed trajectory algorithm were adopted to simulate for the same working condition, in an attempt to investigate the difference in their dynamic behavior and provide a reliable theoretical basis for optimal control method.

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Mihaila, Lucian Adrian, Gheorghe Stan, Marian Funaru und Dragoș Andrioaia. „Transmission Ratio Optimization of Electric Driven Palletizing Mechanism“. Applied Mechanics and Materials 371 (August 2013): 421–25. http://dx.doi.org/10.4028/www.scientific.net/amm.371.421.

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One of the main objectives in obtaining high productivity on machining centers is the reduction of auxiliary times consumed with the tool and workpiece change. In the case of workpiece change the auxiliary time is reduced by adopting the use of an automatic pallet changer system and implicitly of pallets, while in the case of tool change this time is reduced using an automatic tool changer system. The optimization of the constructive and functional parameters of palletizing systems, in the purpose of decreasing auxiliary times, implies increased speed and accelerations, inertia reduction, an optimum transmission ratio, component mechanisms coupled movements, increasing the positioning accuracy of the pallet on the machine table. This paper presents the methodology of transmission ratio optimization of an electric driven pallet changer mechanism, the main purpose is to obtain the maximum acceleration. In order to find the maximum acceleration of the electric driven pallet changing mechanism considered, and thus minimizing the total changing time, we use the equilibrium equation of the moments reduced to the motor shaft. Following the proposed methodology we obtain the maximum acceleration of the considered pallet changer mechanism. Also we issue some constructive indications for future designing of electric driven pallet changer mechanisms.

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Norberto Pires, J., und Sérgio Paulo. „Robotic de‐palletizing system for the non‐flat ceramic industry“. Industrial Robot: An International Journal 30, Nr. 2 (April 2003): 152–58. http://dx.doi.org/10.1108/01439910310464177.

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Lv, Mei Yu, Jin Quan Li, Bing Lei Duan und Rong Fu. „The Dynamics Analysis on a Type Palletizing Robot“. Applied Mechanics and Materials 157-158 (Februar 2012): 982–86. http://dx.doi.org/10.4028/www.scientific.net/amm.157-158.982.

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For a palletizing robot, based on analysis of structural and force,taking the theory of D'Alembert to transform the instantaneous inertial force system into a static system and the Kineto-static mathematical model for the robots is established through the method of Kineto-static. At last, via solving the Kineto-static mathematical model by use of the Matlab，the model is verified by calculating and analysing an example. This model is applicable to dynamic analysis on the robots with similar configuration and the results based on the parameter variation is also applicable to this kind of robot’s design, checking, and kinetic control.

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Yu, S.-N., S.-J. Lim, C.-S. Han, M.-K. Kang und S.-R. Kim. „Development of a robot simulator using a modified trajectory generation algorithm oriented towards the palletizing task“. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 222, Nr. 7 (01.07.2008): 1253–64. http://dx.doi.org/10.1243/09544062jmes641.

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Palletizing tasks are necessary to promote the efficient storage and shipping of boxed products. These tasks, however, involve some of the most monotonous and physically demanding tasks in the factory. Thus, many types of robot palletizing systems have been developed, although many robot motion commands still depend on the teach pendant. That is, the operator inputs the motion command lines one by one. This is very troublesome and, most importantly, the user must know how to type the code. To solve these problems, this paper proposes a combination of an optimized pallet pattern generation algorithm, an industrial robot simulator, and a modified trajectory optimization algorithm. To integrate these modules and to define the position of the boxes, the robot and its peripherals, as well as the system layout and its coordinates, were defined. Finally, the proposed path generation algorithm, the ‘overlap method’, was tested in the designed offline programming S/W, and its computational efficiency was proven.

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Zheng, Hong. „Development and Application of Simulation Control System of Logistics Palletizing Robot Manipulator“. Journal of Physics: Conference Series 1881, Nr. 3 (01.04.2021): 032086. http://dx.doi.org/10.1088/1742-6596/1881/3/032086.

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Wang, Xin, und Jing Wang. „Research on Electric Vehicle Charging & Battery Swapping Robot System“. Applied Mechanics and Materials 494-495 (Februar 2014): 20–23. http://dx.doi.org/10.4028/www.scientific.net/amm.494-495.20.

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Electric Vehicle will be the main trend of automotive industry in the future. The purpose of the scheme is to provide electric vehicle charging & battery swapping robot system based on palletizing robot for solving the double pressure of resources and environment problems. In this paper, the battery swapping robot is the key of the system, and will be mainly discussed from the mechanical body and electrical control part in detail. Experiments show that the positioning precision during the battery swapping process is high, the relative displacement is small, the position is accuracy, and the swapping speed is moderate.

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Zheng, Zujia, und Ruyi Ma. „Research on the method of cement bag palletizing system based on machine vision“. IOP Conference Series: Materials Science and Engineering 569 (09.08.2019): 052011. http://dx.doi.org/10.1088/1757-899x/569/5/052011.

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Hsieh, Yung-Fu, Jhan-Hong Ye, Nan-Jyue Wu und Quang-Cherng Hsu. „Intelligent Automatic Deburring System by Integrating Palletizing Robot with Image and Vibration Sensors“. Sensors and Materials 33, Nr. 3 (05.03.2021): 933. http://dx.doi.org/10.18494/sam.2021.3220.

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Kolarovszki, Peter, und Juraj Vaculík. „Intelligent Storage System Based on Automatic Identification“. Transport and Telecommunication Journal 15, Nr. 3 (01.09.2014): 185–95. http://dx.doi.org/10.2478/ttj-2014-0016.

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Abstract This article describes RFID technology in conjunction with warehouse management systems. Article also deals with automatic identification and data capture technologies and each processes, which are used in warehouse management system. It describes processes from entering goods into production to identification of goods and also palletizing, storing, bin transferring and removing goods from warehouse. Article focuses on utilizing AMP middleware in WMS processes in Nowadays, the identification of goods in most warehouses is carried through barcodes. In this article we want to specify, how can be processes described above identified through RFID technology. All results are verified by measurement in our AIDC laboratory, which is located at the University of Žilina, and also in Laboratory of Automatic Identification Goods and Services located in GS1 Slovakia. The results of our research bring the new point of view and indicate the ways using of RFID technology in warehouse management system.

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Yao, Meng, Bao Ling Han, Qing Sheng Luo, Ting Qiang Lv und Jia Xu. „A New Teaching Method in a Kind of Industrial Palletizing Robot“. Advanced Materials Research 383-390 (November 2011): 584–90. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.584.

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A new method of teaching method has been proposed for the palletizing robot. The principle of the method has been elaborated and a new algorithm about this method has been proposed. The servo control system is used to carry out this method. The practicability and conciseness of this method has also been analyzed through the simulation with soft Admas and real experiments. The results of simulation and real experiments prove that this novel method is feasible and can meet the practically industrial demands.

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Mihaila, Lucian Adrian. „Material Handling Mechanisms Used in Flexible Manufacturing Systems“. Applied Mechanics and Materials 245 (Dezember 2012): 197–202. http://dx.doi.org/10.4028/www.scientific.net/amm.245.197.

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In small and medium batch series manufacturing the small tool and workpiece changing time is one of the main objectives to follow in obtaining high productivity. These auxiliary times are defined as the times consumed with preparing and changing the next tool or workpiece to follow the machining process, times that usually overlap the machining process. For this purpose machining centres are equipped with an automatic tool changer system and an automatic pallet changer system. The palletizing systems imply eliminating the times consumed with the alignment, fixing and clamping of the workpieces, these systems consisting of several mechanisms: the pallet, the automatic pallet changing mechanism, the positioning mechanism and the pallet clamp/unclamp mechanism. In this paper we present an general overview of the automatic pallet changing mechanisms used both in flexible manufacturing systems and machining centres.

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Gao, Shanping, Jinling Song und Lizhi Gu. „Automatic Melting-casting-palletizing Production System for Miniature Batch/Mass Metal Based on Robot Technology“. IOP Conference Series: Materials Science and Engineering 790 (07.04.2020): 012153. http://dx.doi.org/10.1088/1757-899x/790/1/012153.

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Norberto Pires, J. „Handling production changes online: example using a robotic palletizing system for the automobile glass industry“. Assembly Automation 24, Nr. 3 (September 2004): 254–63. http://dx.doi.org/10.1108/01445150410549746.

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Ortmann, P. J. „Systemlösungen zur robotergestützten Automation von Palettieraufgaben / System solutions for robot-aided automation of palletizing jobs“. Zeitschrift für wirtschaftlichen Fabrikbetrieb 84, Nr. 7 (01.07.1989): 379–83. http://dx.doi.org/10.1515/zwf-1989-840712.

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Holubek, Radovan, und Karol Velíšek. „Incorporation, Programming and Use of an ABB Robot for the Operations of Palletizing and Depalletizing at an Academic Research Oriented to Intelligent Manufacturing Cell“. Applied Mechanics and Materials 282 (Januar 2013): 127–32. http://dx.doi.org/10.4028/www.scientific.net/amm.282.127.

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The current trend of the final product quality increasing is affected by time analysis of the entire manufacturing process The primary requirement of manufacturing is to produce as many products as soon as possible, at the lowest possible cost, but of course with the highest quality. Such requirements may be satisfied only if all the elements entering and affecting the production cycle are in a fully functional condition. These elements consist of sensory equipment and intelligent control elements that are essential for building intelligent manufacturing systems. Intelligent manufacturing system itself should be a system that can flexibly respond to changes in entering and exiting the process in interaction with the surroundings. Philosophy that we apply to solve the problem rise from intelligent assembly cell by building on our institute of manufacturing systems and applied mechanics Essential philosophy is integrate of interconnection between palletizing- depalletizing robot and Intelligent assembly system by the means mobile robot Robotino.

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Jin, Sui Ying, Yu Jing Jia und Guang Zhen Cheng. „Design and Research of Double Outlet Abrasives Forming Machine“. Applied Mechanics and Materials 201-202 (Oktober 2012): 450–53. http://dx.doi.org/10.4028/www.scientific.net/amm.201-202.450.

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This article provides an abrasive forming machine, the working principle is that: deliver and squeeze out the semi-solid abrasives which after the mixing treatment through the screw, and set up the same cross-sectional shape and size double outlet mould on the export side, Strip abrasives exported from the extrusion cut into granules by pneumatic cutting device, to realize palletizing requirement. Screw conveyor extrusion mechanism, pneumatic cutting device, combined with appropriate travel switch, Electrical control system, to realize the logical relationship of processing requirements, And compared to double exports abrasive machine, Work efficiency increased 1 time.

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Warnecke, H. J., und K. Baumeister. „Order-picking industrial robot“. Robotica 8, Nr. 1 (Januar 1990): 37–45. http://dx.doi.org/10.1017/s026357470000730x.

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SUMMARYOrder-picking, i.e. arranging work-pieces of different types on a pallet, which is nowadays often carried out manually, will in future be more and more automated for economic reasons. The industrial robot in combination with an intelligent gripper, a supporting palletizing and order-picking software and a suitably designed periphery will permit fully automated order-picking. The Fraunhofer-Institute for Manufacturing Engineering and Automation (F.R.G.) has developed such a system which takes advantage of the arrangement of the work-pieces in the compartment stack and simultaneously grips the work-pieces that are then arranged in a pattern on a pallet.

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Blaga, Florin, Alin Pop, Iulian Stănăşel, Voichiţa Hule und Claudiu Indre. „Modelling and simulation of a flexible packaging system for detergents“. MATEC Web of Conferences 299 (2019): 02009. http://dx.doi.org/10.1051/matecconf/201929902009.

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The paper presents how an automated manufacturing system for the packaging of detergents can be modelled using Petri nets. The complexity of the Detergent Packing System and the high level of automation,require the use of efficient modelling and simulation methods to verify the validity of the solutions adopted. For this purpose, a modern modelling and simulation method based on Petri nets is used. The models associated with the system are developed into a hierarchical structure: the model of some modules in a line; the model of a line; system model as a whole. The model of a packing line consists of the following sub-modules corresponding to the modules of the line: filling the bags, grouping the bags in boxes, grouping the boxes in a row, palletizing, supplying with new empty pallets, full pallets evacuation. The six lines of the manufacturing system can work in various ways: they can pack detergent bags of the same mass or of different masses. Under these conditions, the operating mode is checked step by step, and the necessary adjustments can be done as to ensure continuous operation of the system without any blockages.

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Starý, František, Vojtěch Dynybyl und Jiří Mrázek. „Wrapping Machine with Integrated Manipulator“. Applied Mechanics and Materials 486 (Dezember 2013): 223–26. http://dx.doi.org/10.4028/www.scientific.net/amm.486.223.

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Goal of a project solved with company Pragometal, s.r.o. is to create a new design of integrated wrapping palletizer. This machine will have new design properties such as integrated manipulation with goods into carrying structure of wrapping machine, new controlling system, new conception of running of roll and device for ending and welding of film. Newly design machine is based on unique join of two separated machines (palletizing and wrapping) into one workplace. This integration requires high demands on precision of kinematic, preliminary and checking calculations of individual machine components. Components of carrying structure and machine are designed with help of FEM calculations. These calculations are experimentally verified on real prototype of machine before series production is started. This verification is needed to ensure demanded operating reliability and life of newly designed machine.

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Ge, LianZheng, Jian Chen, Ruifeng Li und Peidong Liang. „Optimization design of drive system for industrial robots based on dynamic performance“. Industrial Robot: An International Journal 44, Nr. 6 (16.10.2017): 765–75. http://dx.doi.org/10.1108/ir-10-2016-0251.

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Purpose The global performance of industrial robots partly depends on the properties of drive system consisting of motor inertia, gearbox inertia, etc. This paper aims to deal with the problem of optimization of global dynamic performance for robotic drive system selected from available components. Design/methodology/approach Considering the performance specifications of drive system, an optimization model whose objective function is composed of working efficiency and natural frequency of robots is proposed. Meanwhile, constraints including the rated and peak torque of motor, lifetime of gearbox and light-weight were taken into account. Furthermore, the mapping relationship between discrete optimal design variables and component properties of drive system were presented. The optimization problem with mixed integer variables was solved by a mixed integer-laplace crossover power mutation algorithm. Findings The optimization results show that our optimization model and methods are applicable, and the performances are also greatly promoted without sacrificing any constraints of drive system. Besides, the model fits the overall performance well with respect to light-weight ratio, safety, cost reduction and others. Practical implications The proposed drive system optimization method has been used for a 4-DOF palletizing robot, which has been largely manufactured in a factory. Originality/value This paper focuses on how the simulation-based optimization can be used for the purpose of generating trade-offs between cost, performance and lifetime when designing robotic drive system. An applicable optimization model and method are proposed to handle the dynamic performance optimization problem of a drive system for industrial robot.

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Cheluszka, Piotr. „The Use of Low-Budget Self-Assembly Sets for Research and Robotics Education“. Management Systems in Production Engineering 27, Nr. 1 (01.03.2019): 55–62. http://dx.doi.org/10.1515/mspe-2019-0010.

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AbstractThe article presents the possibilities of using easily accessible and inexpensive educational sets in scientific research and the process of robotics education. Such kits allow the exploration of theoretical and practical knowledge taking into account aspects of engineering, such as: mechanics, drive systems, sensor systems, control and programming of robots. Models of robots built from inexpensive components can also be used to test new solutions in the field of construction or control algorithms before they are used in real applications. As an example, the model of the palletizing manipulator for self-assembly was shown, the control of which was based on the Arduino Uno controller, while the drives were implemented using low-cost hobby-grade servos. For the kinematic structure of this manipulator, the forward and inverse kinematics task for the position has been discussed. This constituted the basis for the development of a manual control algorithm implemented in the controller – using a joystick and programmed – based on the data sent to the controller using serial communication from a PC. The article presents the results of the computer simulation of the manipulator kinematics, the hardware and software implementation of the robot model and the effects of its operation. The possibility of expanding the control system with additional elements to increase its functionality was indicated.

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He, Ying, Jiangping Mei, Jiawei Zang, Shenglong Xie und Fan Zhang. „Multicriteria Optimization Design for End Effector Mounting Bracket of a High Speed and Heavy Load Palletizing Robot“. Mathematical Problems in Engineering 2018 (2018): 1–17. http://dx.doi.org/10.1155/2018/6049635.

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End effector mounting bracket is an important load bearing part of high speed and heavy load palletizing robot, which is located at the most distant point in robot rotation radius and frequently works in complex conditions such as start-stop, switch direction, and acceleration and deceleration motion; therefore, optimizing design for its structure is beneficial to improve the dynamic performance of robotic system and reduce energy consumption. Firstly, finite element model of end effector mounting bracket was established, and its accuracy was verified by contrastive analysis of modal test result and finite element model. Secondly, through modal analysis, vibration response test, frequency response analysis, and the static analysis, taking inertia into account, the mass is minimized, the maximal stress is minimized, the maximal deformation is minimized, and the first natural frequency is maximized as the optimization objectives are determined; the design variables were selected by sensitivity analysis, taking their value range as the constraint conditions; approximation models of objective functions were established by the Box-Behnken design and the response surface methodology, and their reliability was validated; to determine weighting factor of each optimization objective, an analytic hierarchy process based on finite element analysis (FEA + AHP) method was put forward to improve the objectivity of comparison matrix; subsequently, the multicriteria optimization mathematical model was established by the methods mentioned above. Thirdly, the multicriteria optimization problem was solved by the NSGA-II algorithms and optimization results were obtained. Finally, the contrastive analysis results between optimized model and initial model showed that, in the case of the maximum stress and deformation within allowable values range, the mass reduction was 17.8%; meanwhile, the first natural frequency was increased, and vibration response characteristics of the entire structure were improved significantly. The validity of this optimization design method was verified.

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Huang, Su-Mei, Jiunn-Jer Hwang, Hsin-Jiant Liu und An-Miao Zheng. „A Characteristic Study of Polylactic Acid/Organic Modified Montmorillonite (PLA/OMMT) Nanocomposite Materials after Hydrolyzing“. Crystals 11, Nr. 4 (03.04.2021): 376. http://dx.doi.org/10.3390/cryst11040376.

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In this study, the montmorillonite (MMT) clay was modified with NH4Cl, and then the structures were exfoliated or intercalated in a polylactic acid (PLA) matrix by a torque rheometer in the ratio of 0.5, 3.0, 5.0 and 8.0 wt%. X-ray diffraction (XRD) revealed that the organic modified-MMT(OMMT) was distributed successfully in the PLA matrix. After thermal pressing, the thermal stability of the mixed composites was measured by a TGA. The mixed composites were also blended with OMMT by a co-rotating twin screw extruder palletizing system, and then injected for the ASTM-D638 standard specimen by an injection machine for measuring the material strength by MTS. The experimental results showed that the mixture of organophilic clay and PLA would enhance the thermal stability. In the PLA mixed with 3 wt% OMMT nanocomposite, the TGA maximum decomposition temperature (Tmax) rose from 336.84 °C to 339.08 °C. In the PLA mixed with 5 wt% OMMT nanocomposite, the loss of temperature rose from 325.14 °C to 326.48 °C. In addition, the elongation rate increased from 4.46% to 10.19% with the maximum loading of 58 MPa. After the vibrating hydrolysis process, the PLA/OMMT nanocomposite was degraded through the measurement of differential scanning calorimetry (DSC) and its Tg, Tc, and Tm1 declined.

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Eldemir, F., R. J. Graves * und C. J. Malmborg. „Conceptualizing automated palletizing systems“. International Journal of Production Research 42, Nr. 24 (15.12.2004): 5119–32. http://dx.doi.org/10.1080/00207540412331281944.

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39

Castro, André Luiz, João Pedro Carvalho de Souza, Luís F. Rocha und Manuel F. Silva. „AdaptPack Studio: an automated intelligent framework for offline factory programming“. Industrial Robot: the international journal of robotics research and application 47, Nr. 5 (17.07.2020): 697–704. http://dx.doi.org/10.1108/ir-12-2019-0252.

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Purpose This paper aims to propose an automated framework for agile development and simulation of robotic palletizing cells. An automatic offline programming tool, for a variety of robot brands, is also introduced. Design/methodology/approach This framework, named AdaptPack Studio, offers a custom-built library to assemble virtual models of palletizing cells, quick connect these models by drag and drop, and perform offline programming of robots and factory equipment in short steps. Findings Simulation and real tests performed showed an improvement in the design, development and operation of robotic palletizing systems. The AdaptPack Studio software was tested and evaluated in a pure simulation case and in a real-world scenario. Results have shown to be concise and accurate, with minor model displacement inaccuracies because of differences between the virtual and real models. Research limitations/implications An intuitive drag and drop layout modeling accelerates the design and setup of robotic palletizing cells and automatic offline generation of robot programs. Furthermore, A* based algorithms generate collision-free trajectories, discretized both in the robot joints space and in the Cartesian space. As a consequence, industrial solutions are available for production in record time, increasing the competitiveness of companies using this tool. Originality/value The AdaptPack Studio framework includes, on a single package, the possibility to program, simulate and generate the robot code for four different brands of robots. Furthermore, the application is tailored for palletizing applications and specifically includes the components (Building Blocks) of a particular company, which allows a very fast development of new solutions. Furthermore, with the inclusion of the Trajectory Planner, it is possible to automatically develop robot trajectories without collisions.

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Ondrej, Juruš, und Koukolová Lucia. „SMART CAMERA FOR SIMPLE SORTING TASKS“. TECHNICAL SCIENCES AND TECHNOLOG IES, Nr. 3(13) (2018): 180–86. http://dx.doi.org/10.25140/2411-5363-2018-3(13)-180-186.

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Urgency of the research. Attendance time places great emphasis on the production cavity. No manufacturing enterprise can afford to neglect the automation and modernization of its processes. That's why a company focused on manufacturing automotive accessories has turned to us. Target setting. Output checkboxes prepared at the end of the production process were made by people. This control was unreliable and its reliability was diminishing with the increasing working time. An increasing number of claimed cases required the company to choose a new solution to the problem. We were asked to design a workplace using a camera to read the box descriptions so that it could be followed by palletizing. The second goal was to consider the possibility of subsequent ro-botization. Uninvestigated parts of general matters defining. We do not deal with the basic principles of image processing. Basic image processing performs camera software and uses the higher search features of objects. The research objective. In this article, we are working on implementing the visual system into real-life operation. Design a simple solution that meets customer requirements, whose economic return would be interesting. The statement of basic materials. We use a simple camera with area capture. It captures frames as an area map of pixels. Basic black and white transition detection is selected for basic object recognition. A description made on white paper that is used as a box description makes it easy to recognize objects in the background. Conclusions. The proposed test facility consists of a frame, a camera and a conveyor. The workplace produces only 25 cubes per minute under test conditions. To increase productivity, it is advisable to extend the number of posts. The camera was also selected for its ability to communicate with the robot interface. The program creates code that is compatible with the robot's control program and defines the position of the goods in the space. This makes it easy to connect and then robotize the workstation if the company decides for this solution.

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Hemmingson, Eric. „Palletizing robots for the consumer goods industry“. Industrial Robot: An International Journal 25, Nr. 6 (Dezember 1998): 384–88. http://dx.doi.org/10.1108/01439919810240199.

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42

Chen, Jiwen, Qingpeng Chen und Hongjuan Yang. „Additive manufacturing of a continuum topology-optimized palletizing manipulator arm“. Mechanical Sciences 12, Nr. 1 (09.03.2021): 289–304. http://dx.doi.org/10.5194/ms-12-289-2021.

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Abstract. In this article, the lightweight design of a palletizing manipulator arm structure is carried out. The optimization target is designed in 3D with Solid Works. To determine the optimization area and the secondary reconstruction model after the structure is optimized, the reliability and cost of the design structure are also considered. The meta-software performs mechanical performance simulation experiments under the corresponding working conditions for the lightweight structural design of the target structure via the topology optimization methods. Finally, with additive manufacturing technology, the design and printing of the filled skeletal Voronoi structure and the nested-external-removal Voronoi structure of the palletizing manipulator arm are performed.

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Bloss, Richard. „Palletizing candy orders and never squeezing the chocolates“. Assembly Automation 30, Nr. 1 (23.02.2010): 32–35. http://dx.doi.org/10.1108/01445151011016037.

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Koukolová, Lucia. „Variability of Workplace Structures with SCARA Robot for Palletizing and Sorting Objects“. Applied Mechanics and Materials 613 (August 2014): 299–303. http://dx.doi.org/10.4028/www.scientific.net/amm.613.299.

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This paper describes the design of palletizing workplace on a modular basis which can be reconfigured. First part of the paper is devoted to the definition of reconfigurable manufacturing systems and its core characteristics. Second part of the paper describes the workplace for palletization on a modular basis, its parts and possibilities of reconfiguration.

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Rethmann, J., und E. Wanke. „Stack-up algorithms for palletizing at delivery industry“. European Journal of Operational Research 128, Nr. 1 (Januar 2001): 74–97. http://dx.doi.org/10.1016/s0377-2217(99)00351-3.

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Zoghlami, Firas, Philip Kurrek, Mark Jocas, Giovanni Masala und Vahid Salehi. „Usage Identification of Anomaly Detection in an Industrial Context“. Proceedings of the Design Society: International Conference on Engineering Design 1, Nr. 1 (Juli 2019): 3761–70. http://dx.doi.org/10.1017/dsi.2019.383.

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AbstractThe use of flexible and autonomous robotics systems is the solution for the automation task of the production and intra-logistics environments. This dynamic context requires the robot to be aware of its surroundings through the whole task, also after accomplishing the gripping action. We present an anomaly detection approach based on unsupervised learning and reconstruction fidelity of image data. We design our method to enhance the dynamic environment perception of robotics systems and apply it in a palletizing robot, in order to perceive and detect changes to its surrounding and process after the gripping step. Our proposed approach achieves the performance targeted by the considered industrial requirements.

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García-Arca, Jesús, José A. Comesaña-Benavides, A. Trinidad González-Portela Garrido und J. Carlos Prado-Prado. „Rethinking the Box for Sustainable Logistics“. Sustainability 12, Nr. 5 (02.03.2020): 1870. http://dx.doi.org/10.3390/su12051870.

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Packaging design is one of the potential strategies for increasing logistics performance, not only from a cost reduction perspective, but also from a sustainable point of view. The deployment of a sustainable vision in packaging design should demand a holistic view of packaging, supply chain and product; this integrated vision is the main point of the “Sustainable Packaging Logistics” (SPL) approach. At a logistics level, a key link with the different stages of the supply chain is the secondary packaging, which most commonly takes the form of a corrugated cardboard box. Thus, the main objective of this paper is to develop a systematic and dynamic method that makes it possible to connect design decisions about the dimensions of that box with their impact on overall efficiency and sustainability of the supply chain. In order to develop this model, the impact on three different logistics systems is described. Those systems are palletizing, multimodal containers and parcel services. Likewise, in addition to proposing the theoretical model, the authors have tested it successfully in three different companies (with the three logistics systems mentioned) following the “action research” approach.

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Mihaila, Lucian Adrian, Gheorghe Stan, Claudiu Obreja und Marius Pascu. „High Precision Rotary Table Used on Milling Machining Centres“. Applied Mechanics and Materials 371 (August 2013): 121–25. http://dx.doi.org/10.4028/www.scientific.net/amm.371.121.

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The latest milling machining centres have in their structure a rotary table which is used for machining up to 5 faces of an workpiece using only one set-up. In order to meet the requirements of an workpiece, that are more and more precise, it is recommended to increase the positioning accuracy of the machine tool table and also the number of indexing points. In this paper we present a new rotary, palletizing table which is provided with 360000 indexing positions and at every 4x90° the indexing precision is ±1``. This solution can be integrated in the structure of milling machining centres which adopt pallets with the nominal size from 400x400 mm to 800x800 mm. The table rotation axis is closed-loop controlled and is actuated by a servomotor with variable speed. The presence of speed and position control in the table`s structure assures the obtaining of high quality indices superior to classic feed systems. The kinematic feed chain has in its structure a duplex worm gear which guarantees the transmission without mechanical clearances. Also the table is provided with a high precision pallet positioning and clamp/unclamp mechanism which attains a position repeatability of ±2``. The advantages of the presented solution find themselves in the general characteristics of the machining centre, providing it with new performances in increasing the precision of the machined workpiece.

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T, Aravinthkumar, Suresh M und Vinod B. „Kinematic Analysis of 6 DOF Articulated Robotic Arm“. International Research Journal of Multidisciplinary Technovation, 20.01.2021, 1–5. http://dx.doi.org/10.34256/irjmt2111.

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The abstract must be a precise and reflection of what is in your article. Manufacturing sector is moving towards industry 4.0 and demands a high end of automation in the process. In which industrial robots play a fundamental role for automating the processes such as pick and place, material handling, palletizing, welding, painting, assembly lines and many more endless applications. Increasing demand and necessity made more research on industrial robots, machine learning and artificial intelligence. Better kinematic analysis of robots leads to reliable, high precise and fast responsive system. But there is an absence of India based robot manufacturers to fulfil the rising demand. Again, this situation leads to a market for foreign robot makers instead of local players. Lack of knowledge in robotics, unavailability of robot parts and resources are pain points for this cause. As researchers in this domain and have a goal to resolve this issue by providing open source, easily accessible industrial robot technical resources to everyone. This research work focuses the design and development of 6 Degrees of Freedom articulated robot arm with kinematic analysis particularly forward and inverse kinematics.

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Meshalkin, V. P., und V. I. Bobkov. „Power and Resourse Efficient Envoronmentally Safe Technology for Processing Dumps of Technogenic Waste From Ore-Dressing and Processing Enterprises“. KnE Materials Science, 31.12.2020. http://dx.doi.org/10.18502/kms.v6i1.8098.

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This research proposes a systematic approach for the analysis of volumes, physicochemical, granulometric, lithologic and thermal characteristics of waste from ore-dressing and processing enterprises stored in the dumps (tailing dumps) of ore-dressing and processing plants to assess the economic potential of its use in the system of complex power and resource efficient environmentally safe processing including palletizing machines, conveyor indurating machines and ore–thermal furnaces. The obtained results allow the authors to formulate the basic engineering, technological, economic and environmental requirements for complex chemical and power engineering systems of processing technogenic waste from ore-dressing and processing plants, these results make it also possible to define the degree of variability for the characteristics of the waste lots from various dumps. The paper describes the developed intensional and mathematical formulations for the multiscale problem of optimizing chemical and power engineering processes of technogenic raw materials processing in a complex chemical and power engineering system as a problem for discrete dynamic programming. The distinctive feature of this problem is to take into account the spatio-temporal multistage processing in a moving multilayer mass of pelletized raw material, the intensity of the process of internal moisture transfer and the variables for the control flow of the heat carrier gas. It allows increasing power efficiency by intensifying heat and mass transfer processes of multilayer drying, calcination and sintering. The criterion of the efficiency is the minimum cost of electric and thermal energy spent on processing. The obtained results were used to calculate power efficient environmentally safe processing of technogenic waste from ore-dressing and processing enterprises dumps. It was defined that heat and mass transfer processes are intensified, power consumption is reduced and the quality of the finished product is increased in the conditions of optimal power and resource efficient operation for the processing system. Keywords: tecnhogenic waste, waste processing, ore-dressing and processing plant, power and resource efficiency, optimization, system analysis, environmentally safety

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