a stack method

Abstract

The present application relates to a stacking method, using an automatic stacking device, comprising the steps of: S1: providing a stacking device, the stacking device includes a grabbing conveying mechanism and a pallet; S2: driving the grabbing conveying mechanism to grab The material boxes are stacked on the pallet to form the first material box stack; S3: drive the grasping conveying mechanism to grab the material boxes and stack them on the pallet to form the second material box stack, and between the first material box stack and the second material box stack An active gap of the grasping manipulator is formed between the two stacks of material boxes; S4: push one of the first stack of material boxes and the second stack of material boxes close to the other until they are in close contact with each other. The invention can position the material box once around before the mechanical arm grabs the material box, so that each material box is in a fixed position, which greatly facilitates the difficulty of the subsequent grasping of the material box by the mechanical arm, and can adjust the orientation of the material box. Realize matt-shaped palletizing.

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

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