Research on Workpiece Palletizing System Based on Industrial Robot

This study addresses the need for workpiece palletizing in industrial production by designing an automated palletizing system based on the KUKA KR16R1610-2 six-axis industrial robot. The system comprises an industrial robot, a control cabinet, a workbench, grippers, and other components. It utilizes the KR C4 control system for motion control, employs OUT instructions to manipulate the opening and closing of grippers, and integrates PTP (Point-to-Point) with LIN (Linear) instructions to achieve palletizing trajectory planning. FOR loop instructions are further utilized to enable the bulk handling of workpieces. In the experimental phase, ten 50mm×50mm×50mm cubic workpieces were selected and stacked according to a layering rule of 4, 3, 2, 1. The results demonstrated an average total palletizing time of 73.6s, with precise stacking positions and no abnormalities such as gripper slippage. This validates the system's reliability in workpiece handling, positioning, and signal control. The research provides a feasible solution for the automated palletizing of workpieces. Future work could focus on optimizing trajectory algorithms and exploring the integration of the system with visual systems.