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Segmented stepped stacking method based on staggered stacking planning

A stacking and ladder technology, applied in the field of step-by-step palletizing, can solve unreasonable problems

Active Publication Date: 2020-11-03
TIANJIN UNIV OF COMMERCE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But due to space and cost constraints, it is unreasonable to make a large robot

Method used

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  • Segmented stepped stacking method based on staggered stacking planning
  • Segmented stepped stacking method based on staggered stacking planning
  • Segmented stepped stacking method based on staggered stacking planning

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0092] Packing box size: 340×260×225(mm)

[0093] Mobile platform (carriage) size: 3000×1200(mm)

[0094] Palletizing robot working space length: 1500(mm)

[0095] Layers: 3

[0096] step:

[0097] (1) It is known that the length of the working space of the palletizing robot is 1500, and the length and width of the packing box are 340×260mm. It can be calculated that the I area of ​​the first layer of the first layer can be coded in 4 columns, and the II area can be coded in 5 columns, then R1 1 =4×340=1360mm, R2 1 =5×260=1300mm, Rmin 1 =1300mm, that is, the length of the second layer of palletizing does not exceed 1300mm, so that the number of palletizing rows in each area of ​​the second and third layers of the first section can be obtained, such as Figure 7 As shown, the first stacking simulation diagram can be obtained;

[0098] (2) The minimum stacked length Rmin of the topmost layer of the first section 3 =3×340=1020mm, vehicle moving distance D=Rmin 3 -D=1020mm...

example 2

[0101] Packing box size: 329×220×140(mm)

[0102] Mobile platform (carriage) size: 4200×1300(mm)

[0103] Palletizing robot working space length: 1800(mm)

[0104] Layers: 4

[0105] step:

[0106] (1) It is known that the length of the working space of the palletizing robot is 1500, and the length and width of the packing box are 340×260mm. It can be calculated that the I area of ​​the first layer of the first section can be coded in 3 columns, the II area can be coded in 4 columns, and the V area 1 column can be coded, 3 columns can be coded in III area, 1 column can be coded in IV area, then R1 1 =1780mm, R2 1 =1568mm, Rmin 1 =1568mm, that is, the length of the second layer of palletizing does not exceed 1568mm, so that the number of palletizing columns in each area of ​​the second and third layers of the first section can be obtained, such as Figure 10 As shown, the first stacking simulation diagram can be obtained;

[0107] (2) The minimum stacked length Rmin of t...

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PUM

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Abstract

The invention discloses a segmented stepped stacking method based on staggered stacking planning. The method is used for stacking single-size packaged pieces to a transport vehicle according to a layout scheme of the staggered stacking planning. The stacking method comprises the steps that relevant parameters are input, and an optimal stacking type is generated firstly; the stacked length of the current layer in the length direction of a carriage is calculated and recorded every time the packaged pieces are stacked on one column of the current layer until the next packaged piece cannot be stacked; after the packaged pieces are stacked on a first layer, the stacking length of a second layer should be smaller than the actual stacking length of the first layer, the stacking length of the other layers are in a similar fashion, and a stacking robot stops stacking until the packaged pieces are stacked on the topmost layer; the moving distance of the vehicle is calculated, and a moving platform where the vehicle is located accurately moves; and then the packaged pieces are stacked on new segmented cuboid from a first layer, and a new stepped stacking cycle is entered. The method is suitable for stacking and loading of the packaged pieces and carriages with various sizes, and can effectively and economically solve the problems of stacking storage and efficient loading of the transportvehicle.

Description

technical field [0001] The invention relates to the application field of palletizing robots, and more specifically, it is a method for loading single-sized packages on large transport vehicles, and using a palletizing robot of an appropriate size to realize step-by-step palletizing. Background technique [0002] In recent years, with the rapid development of my country's economy, the logistics and transportation industry has been paid more and more attention, but the common problems of low logistics efficiency and high cost seriously restrict the development of enterprises. At present, the loading of vehicles in the logistics and transportation industry generally uses manpower, and there is no plan for the placement of goods. It is entirely based on personal experience or randomly stacked on transport vehicles, which makes it difficult to ensure high utilization of the compartment space. At the same time, this unreasonable placement cannot guarantee the stability of the stac...

Claims

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Application Information

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IPC IPC(8): B65G67/04B65G57/22
CPCB65G67/04B65G57/22
Inventor 杨传民袁成志邢炯蔚俊龚国腾
Owner TIANJIN UNIV OF COMMERCE