目的 针对传统码垛机器人只能在某一固定位置实现货物搬运，严重限制了码垛机器人的应用范围，无法实现灵活变更工作区域这一问题，提出一种导轨型码垛机器人。方法 通过将导轨与机器人的结合，来拓宽码垛机器人的工作范围，使单个机器人可以实现多功能化应用，以提高机器人的应用效率。结果 采用模糊控制方法提高了导轨滑块停靠精度，实验表明停靠精度稳定在±1.5 mm，机械手最大误差球形半径为1.5 mm，满足应用需求。结论 导轨型码垛机器人可以最大化利用现有机器人系统，提升了码垛效率，节约了成本，具有一定的应用前景。

The work aims to propose a kind of guideway type palletizing robot regarding the situation that the traditional palletizing robot can only carry goods at a certain fixed position, which seriously restricts the application range of the palletizing robot and cannot change the working area flexibly. The combination of guideway and robot greatly widened the working scope of palletizing robot to achieve the multifunctional application of a single robot, to improve the efficiency of robot application. The stop precision of guideway slider was improved in the method of fuzzy control. The experiment showed that the stop precision was stabilized at ±1.5 mm, and the maximum error spherical radius of the manipulator was 1.5 mm, which satisfied the application demand. The guideway type palletizing robot can maximize the existing robot system, enhance palletizing efficiency and save cost, and has certain application prospects.