5. Conclusion According to Bernoull

5. Conclusion According to Bernoulli and the principle of multi-thread parallel guarantee, the palletizing robot’s clamp device is improved. By optimizing the vacuum suction cups specification, balancing the suction cup layout, loading the robot smooth action instruction, increasing the intake pipe, adopting the multi-loop vacuum generator, the problem of the high drop number of cigarette packing cases and many times of stop of palletizing robot is solved, and the palletizing efficiency is improved. The improved KUKA KR150L 150/3 robot was used to palletize the normal and circular cigarette packing cases such as Yuxi (Hard Harmony) brand for testing. The results showed that: After the improvement, the speed rate of palletizing robot can be adjusted to 80% of the full speed. the drop number of normal cigarette packing cases is reduced by 37 /month, and the drop number of circular cigarette packing cases is reduced by 73 /month, the total drop number is reduced by 110 /month, the downtime is reduced by 111 times/month, the palletizing efficiency is improved by 2.4 /min, and the palletizing robot runs stably.