Towards automatic palletisation for heterogeneous elements

Design and production of the machine

The project is quite complicated owing to the restricted area in which the machine operates. In order to adapt to the customer’s configuration, Technic Automation first built a 3D model of its machine before producing it.

At this point, mechatronic skills are the keys to optimise the space occupied by mechanics, electronics and informatics.

Moreover, the machine needs to stick to strict rules in terms of robotic security and client specifications (performance, speed, and stability of the stack). A feasibility survey is indispensable in order to ensure that the mechanics can follow the imposed pace.

stacking

Elements are scanned by an optical reader to identify the next panel. Onboard software allows the robot to calculate the element’s final position on the stack, and then the robot places it. One of the difficulties was to elaborate a fast algorithm that does not require a lot of resources to optimise the stack. To give the machine such technology, Technic Automation collaborated with a partner used to optimisation technics: Acsystème.

meeting stability criteria

Element heterogeneity (shape and size) makes the problem harder. Indeed, the machine has to meet stability criteria (weight and center of gravity) according to the effort needed to destabilise the stack. Thanks to software modelling, we were able to study and optimise a powerful and robust solution to position boards.

Finally, an optimal, robust, light and fast algorithm was developed and implemented on the robot.