Implementación de un modelo de estación de clasificación y paletizado para cajas de cartón basado en un sistema robótico cartesiano y visión artificial

Abstract

The present work aimed to implement a model of a sorting and palletizing station for cardboard boxes based on a Cartesian robotic system and artificial vision using a methodology that focused on a technological initiative involving an exhaustive literature review and a detailed analysis of essential electromechanical components. These elements were essential to the installation of a station designed to increase the Cartesian robot's efficiency. The station's design was created in SolidWorks and subsequently verified by a static analysis of forces, yielding a resilient model that could accommodate the robot's deformations, ensuring its appropriateness for the palletizing task. The Cartesian robot was built, capable of palletizing cardboard boxes in two different sizes. This robot moves in three axes thanks to NEMA 23 stepper motors in the X and Y axes, and a NEMA 17 motor in the Z axis. As a result, 100% efficiency was obtained in the tests, thanks to a controlled environment with constant lighting, standardizing the robot's actions by reading the steps on its axes. An intuitive graphical user interface was also generated that allows configuring the desired type of arrangement on the pallet, with options ranging from a 5x5 matrix with a maximum of three levels of height to a 2x2 arrangement with a single level. It is concluded that the palletizing Cartesian robot is a good fit for the task because of its strong resistance and capacity to absorb deformation. Future students interested in the project and working in the same field of study should be advised to check out this technique of putting together entire manufacturing lines.