Stacking method

Abstract

The invention relates to a stacking method. Automatic stacking equipment is used. The stacking method comprises the steps: S1, the stacking equipment is provided and comprises a grabbing conveying mechanism and a pallet; S2, the grabbing conveying mechanism is driven to grab material boxes, and stack the material boxes on the pallet to form a first material box stack; S3, the grabbing conveying mechanism is driven to grab material boxes and stack the material boxes on the pallet to form a second material box stack, and an activity gap for a grabbing manipulator is formed between the first material box stack and the second material box stack; and S4, one of the first material box stack and the second material box stack is pushed to get close to the other material box stack till the first material box stack and the second material box stack are tightly attached. The material boxes can be peripherally positioned once before the material boxes are grabbed by a mechanical arm, thus all thematerial boxes are located on fixed positions, the subsequent material box grabbing difficulty of the mechanical arm is lowered greatly, the orientation of the material boxes can be adjusted, and Chinese-character-'tian'-shaped stacking is achieved.

Description

technical field [0001] The present application belongs to the technical field of automatic palletizing, and in particular relates to an automatic stacking method. Background technique [0002] In the prior art, the mechanical arm is often used for palletizing, but generally the accuracy of palletizing is not high, so the grabbing position of the mechanical arm does not have a device for positioning the material box, and the general material box only needs to be oriented when palletizing. It is completely consistent and can be stacked repeatedly, so the palletizing mechanism usually does not have the function of adjusting the position and orientation of the material box; but with the development of production automation, the stacked material boxes are no longer manually handled, but are handled by manipulators or other mechanisms , usually in order to ensure the free movement of the manipulator, there is a special space for the manipulator to move around the pallet of the sta...

AI Technical Summary

Problems solved by technology

[0002] In the prior art, the mechanical arm is often used for palletizing, but generally the accuracy of palletizing is not high, so the grabbing position of the mechanical arm does not have a device for positioning the material box, and the general material box only needs to be oriented when palletizing. It is completely consistent and can be stacked repeatedly, so the palletizing mechanism usually does not have the function of adjusting the position and orientation of the material box; but with the development of production automation, the stacked material boxes are no longer manually handled, but are handled by manipulators or other mechanisms , usually in order to ensure the free movement of the manipulator, there is a special space for the manipulator to move around the pallet of the stacking device. Accurate positioning, while the existing palletizing mechanism can no longer meet the requirements

Images