Design of reconfigurable transfer palletizing platform based on omnidirectional wheels

Palletizing is an essential step in intralogistics and the key to palletizing lies in the arrangement and stacking of goods. In order to achieve palletizing automation, efficiency, and stability, this paper designs a transfer palletizing platform based on omnidirectional wheels. Our designed transfer palletizing platform consists of several square modules, each containing nine omnidirectional wheels in the vertical direction, each of which can work independently and cooperate with each other to achieve cargo transfer and attitude adjustment, and then cooperate with cameras and distance sensors, etc. to achieve the orderly arrangement of cargo and facilitate the subsequent palletizing robot arm to operate the whole layer of palletizing at one time. On this basis, the optimal path planning algorithm combining linear transportation and ant colony algorithm is studied.