Packaging robot project is mainly to the powder, pellet weight detection, automatic packaging equipment R & D and application. Composed of intelligent detection system of intelligent detection system, body weight, packing bag, hand bag machine hand transport machinery, robot palletizing system, control system and so. Automatic detection and packaging products are widely used in food, chemical, pharmaceutical, food, feed, building materials and logistics industry.

【CPP114】讯：徐州经济技术开发区包装机器人项目经过与高校的联合开发，目前进入了产业化阶段。技术达到国际先进水平。徐州经济技术开发区包装机器人项目是在国家“863”计划项目“5自由度直接驱动机器人设计与研制”、“双足跑步机器人的稳定性与仿生控制策略研究”成果基础上，与清华大学联合开发的，产品通过了由中科院院士、国家863机器人专家组和中国衡器协会等组成的鉴定委员会鉴定，项目在三组重量检测及自动识别技术、实时在线智能检测重量自动反馈调节控制技术、空间关节型机器人高速重载大变惯量的新型传动机构设计与实现、空间关节型机器人最短时间运动轨迹规划技术、空间关节型机器人复杂系统建模及优化控制技术等方面取得了重大突破，技术达到国际先进水平。

[CPP114] -: packaging robot project in Xuzhou economic and Technological Development Zone through joint development with colleges and universities, has now entered the stage of industrialization. Technology reached the international advanced level. Xuzhou economic and Technological Development Zone packaging robot project is the national "863" project "the 5 degree of freedom direct drive robot design and development", "biped running robot stability and bionic control strategy research" on the basis of the results, and Tsinghua University jointly developed, product passed the appraisal committee composed of academician of the Chinese Academy of Sciences, 863 robot expert group and the China Association waagen, project in three groups of weight measurement and automatic identification technology, real-time on-line intelligent detecting weight automatic feedback control technology, space joint robot high-speed heavy-load variable inertia drive mechanism of the design and implementation of space robot, the shortest time path planning technology, space joint robot complex system modeling and optimization control technology has achieved a major breakthrough, technology reached the international advanced level.

项目的创新点与专利。包装机器人项目主要创新点有：三组重量检测及自动识别技术、实时在线智能检测重量自动反馈调节控制技术、空间关节型机器人高速重载大变惯量的新型传动机构设计与实现、空间关节型机器人最短时间运动轨迹规划技术、空间关节型机器人复杂系统建模及优化控制技术。该项目拥有专利8项，其中发明专利6项，软件著作权2项，并先后获得科技部863计划、省科技攻关计划等经费支持，还获得了国家标准起草奖励。

Project innovation and patent. The main innovation points of packaging robot project: three groups of weight measurement and automatic identification technology, real-time on-line intelligent detecting weight automatic feedback control technology, space robot high-speed heavy-load variable inertia drive mechanism of the design and implementation of joint, space robot minimum-time trajectory planning technique, space robot is a complex system modeling and optimization control technology. The project has 8 patents, including 6 invention patents, 2 software copyrights, and has won the Ministry of science and Technology Plan 863, provincial key science and technology program, funding support, also won the national standard draft award.

项目开发的应用价值。包装机器人项目主要是对粉、粒料进行自动重量检测、包装的高效设备的研发与应用。由智能检测重量系统、智能检测异物系统、包装袋上袋机械手、转运机械手、机器人码垛系统、控制系统等组成。产品广泛应用于食品、化工、医药、粮食、饲料、建材和物流等行业的自动检测与包装。与传统产品相比，节材30%，占地面积减少60%，计量可靠性提高300%，柔性好，适应性强。与其它同类产品相比，产品具有高准确度、高稳定性、高可靠性、高速度、占地面积小、适应性强等突出优势，彻底解决了多年来部分称重传感器出现故障，不能及时发现、不能计量的难题。

Application of project development. Packaging robot project is mainly to the powder, pellet weight detection, automatic packaging equipment R & D and application. Composed of intelligent detection system of intelligent detection system, body weight, packing bag, hand bag machine hand transport machinery, robot palletizing system, control system and so. Automatic detection and packaging products are widely used in food, chemical, pharmaceutical, food, feed, building materials and logistics industry. Compared with the traditional products, section 30%, covers an area of reduced 60%, 300% measurement reliability, good flexibility, strong adaptability. Compared with other similar products, products with high accuracy, high stability, high reliability, high speed, covers an area of small, strong adaptability and other outstanding advantages, completely solve the years part of weighing sensor failure, problems can not be found in time, cannot measure.