Method and system for automated stacking of plates

Abstract

A method and system for automatically stacking board pieces, the method comprising the following steps: (a) obtaining the length and width of a plurality of board pieces; (b) finding the optimal arrangement combination for arranging the board pieces according to a preset limit width; (c) sequentially arranging the board pieces in a horizontal centering manner along the width direction according to the optimal arrangement combination; and (d) determining whether all the board pieces have been arranged, and if so, ending the arrangement operation, and if not, returning to step (b). In this way, by means of a special horizontal centering arrangement and optimal arrangement combination, the present application can automatically stack board pieces of non-single sizes along the height direction, thereby improving stacking stability and efficiency.

Description

TECHNICAL FIELD

[0001] The present invention relates to a method and system for stacking board pieces, and in particular, to a method and system for automatically stacking board pieces. BACKGROUND

[0002] There are various types of man-made or solid wood boards, each having different characteristics and being widely used in various furniture manufacturing and decoration fields.

[0003] Since the board suppliers are often different from the furniture manufacturers or the decoration workers, the board pieces must be stacked, packed and shipped to the furniture manufacturers or the decoration workers after being cut and sawed. However, the boards used for different objects are cut and sawed into different sizes according to different appearance designs and dimensions, and have diversified lengths and widths, so that the board pieces cannot be stacked by automatic operation due to the different sizes. At this time, the board pieces can only be successfully stacked on a stackable pallet for transportation by relying on the experience and the actual situation on site, and the board pieces are likely to be unstable and have poor stacking efficiency due to the different lengths and widths of the board pieces between layers. SUMMARY

[0004] The present invention aims to provide a method and system for automatically stacking board pieces, which can improve stacking stability and stacking efficiency.

[0005] The method for automatically stacking board pieces of the present invention is suitable for stacking a plurality of board pieces cut from boards and having non-uniform sizes in a height direction in at least one stacking area to form a plurality of stacking layers on the at least one stacking area, each of the board pieces including two edges spaced apart in a width direction, and the at least one stacking area including a periphery. The method for automatically stacking board pieces is performed by a system for automatically stacking board pieces and includes the following steps:

[0006] (a) obtaining the length and width of each of the board pieces;

[0007] (b) finding an optimal arrangement combination according to a predetermined limit width, the optimal arrangement combination being determined by a maximum width sum of the optimal arrangement combination, the maximum width sum being not greater than the limit width and at least equal to the total width of all the board pieces in the optimal arrangement combination;

[0008] (c) sequentially arranging the corresponding board pieces in a horizontal centering manner in the width direction according to the optimal arrangement combination; and

[0009] (d) determining whether all the board pieces have been arranged, and if so, ending the arrangement operation, and if not, returning to step (b).

[0010] The method for automatically stacking the plate pieces further comprises a step (e) before the step (b) and a step (f) after the step (b) and before the step (c):

[0011] (e) calculating a remaining width available for discharging the plate pieces, the remaining width = the width of the stacking area - the maximum width sum of the best arrangement combination of the previous round; if the step (d) judges no, returning to the step (e); and

[0012] (f) judging whether the maximum width sum of the best arrangement combination is not greater than the remaining width, if yes, in the case that the width of the corresponding stacking layer is not greater than a limit width, introducing at least one compensation width, so that the width of the corresponding stacking layer = the maximum width sum + the compensation width, if no, proceeding to the step (c), the at least one compensation width is from the width of the pad group along the width direction, and the limit width = the remaining width + a preset value.

[0013] The method for automatically stacking the plate pieces, the step (f) comprises:

[0014] (f1) judging whether the maximum width sum of the best arrangement combination is not greater than the remaining width, if yes, proceeding to the step (f2), if no, proceeding to the step (c), and the step (c) further resets the remaining width as the width of the stacking area after completing the best arrangement combination;

[0015] (f2) judging whether the maximum width sum of the best arrangement combination + the compensation width is not less than the remaining width, if yes, proceeding to the step (f3), if no, proceeding to the step (f5);

[0016] (f3) judging whether the maximum width sum of the best arrangement combination + the compensation width is not greater than the limit width, if yes, proceeding to the step (f4), if no, proceeding to the step (c);

[0017] (f4) introducing the compensation width, so that the width of the corresponding stacking layer = the maximum width sum of the best arrangement combination + the compensation width, and then proceeding to the step (c), and further discharging the plate pieces and the pad group in the horizontal centering manner along the width direction in the step (c);

[0018] (f5) discharging the plate pieces in the horizontal centering manner along the width direction according to the best arrangement combination in sequence, and making the remaining width of the next round best arrangement combination as the remaining width after discharging the plate pieces of the previous round best arrangement combination.

[0019] The method for automatically stacking the plate pieces of the present application further comprises a step (f6) between step (c) and after step (f3): introducing a compensation gap, so that the plate pieces in the optimal arrangement combination are separated by the compensation gap, the compensation gap = (the width of the stacking area - the total width of the plate pieces in the optimal arrangement combination) / (the number of the plate pieces in the optimal arrangement combination + 1), and the distance between one edge of the plate piece first discharged in the optimal arrangement combination and the periphery of the stacking area = 1 / 2 of the compensation gap, and the distance between the other edge of the plate piece last discharged and the periphery of the stacking area = 1 / 2 of the compensation gap, so that in step (c), the plate pieces are discharged in a horizontal manner along the width direction.

[0020] The method for automatically stacking the plate pieces of the present application, step (b) comprises:

[0021] (b1) determining whether the optimal arrangement combination can be found, if yes, proceeding to step (f1), if no, proceeding to step (b2);

[0022] (b2) determining whether the remaining width of the optimal arrangement combination is not less than 1 / 2 of the width of the stacking area, if yes, proceeding to step (b3), if no, proceeding to step (b4);

[0023] (b3) introducing 2x the compensation width, so that the width of the corresponding stacking layer = the total width of the maximum width of the optimal arrangement combination in the previous round + (the compensation width x 2), and then proceeding to step (c), so that in step (c), the pad block groups are discharged in a horizontal manner along the width direction.

[0024] (b4) introducing 1x the compensation width, so that the width of the corresponding stacking layer = the total width of the maximum width of the optimal arrangement combination in the previous round + the compensation width, and then proceeding to step (c), so that in step (c), the pad block groups are discharged in a horizontal manner along the width direction.

[0025] The method for automatically stacking the plate pieces of the present application, one edge of the plate piece first discharged is adjacent to and does not exceed the periphery of the stacking area, and when the optimal arrangement combination introduces the compensation width to add the pad block groups, the pad block groups are preferentially discharged.

[0026] The method for automatically stacking the plate pieces of the present application, the total width of the maximum width of the optimal arrangement combination = the total width of all the plate pieces in the optimal arrangement combination + (the number of all the plate pieces in the optimal arrangement combination x the reserved gap), and the limit width = the remaining width + a preset value, and the reserved gap is defined between two adjacent plate pieces or between one edge and the periphery of the stacking layer.

[0027] A system using a method of automatically stacking board pieces as described above, comprising a platform, a pallet unit, a discharging unit, and a control unit.

[0028] The platform is used to carry the board pieces;

[0029] The pallet unit comprises at least one pallet having the stacking area formed on the top surface;

[0030] The discharging unit comprises a base, and a mechanical arm rotatably mounted on the base and movable relative to the pallet unit; and

[0031] The control unit is electrically connected to the discharging unit, for controlling the mechanical arm to carry each of the board pieces away from the platform, and discharge each of the board pieces in the stacking area.

[0032] The system for automatically stacking board pieces of the present application, the pallet unit comprises at least two pallets, one of which has an area greater than the other.

[0033] The system for automatically stacking board pieces of the present application, the discharging unit further comprises a suction disc holder rotatably mounted on the mechanical arm, and two spaced apart suction disc groups movably mounted on the suction disc holder, each of the suction disc groups generates suction force to adsorb the corresponding board piece by negative pressure.

[0034] The system for automatically stacking board pieces of the present application, the system for automatically stacking board pieces further comprises a photographing unit mounted on the mechanical arm, for taking images of each of the board pieces to obtain the length and width of each of the board pieces.

[0035] The system for automatically stacking board pieces of the present application, each of the images is one of the appearance and the bar code of the respective board piece.

[0036] A system using a method of automatically stacking board pieces as described above, comprising a platform, a pallet unit, a discharging unit, a control unit, and a feeding unit.

[0037] The platform is used to carry the board pieces;

[0038] The pallet unit comprises at least one pallet having the stacking area formed on the top surface;

[0039] The discharging unit comprises a base, and a mechanical arm rotatably mounted on the base and movable relative to the pallet unit;

[0040] The control unit is connected to the discharging unit for controlling the robot arm to carry each of the plate members away from the platform and discharge each of the plate members to the stacking area; and

[0041] The feeding unit comprises a feeding track frame, a material preparation track frame movably sliding on the feeding track frame, and a driving group installed on the feeding track frame and driving the material preparation track frame to move, the feeding track frame is defined with at least one feeding track slot for sequentially arranging the cushion block groups, the material preparation track frame is defined with at least one material preparation track slot for stacking the cushion block groups along the height direction, in the process of moving the material preparation track frame, each of the cushion block groups falls into the vacant position of the at least one feeding track slot from the at least one material preparation track slot, the robot arm carries the corresponding cushion block group away from the at least one feeding track slot and discharges to the stacking area.

[0042] The present application has the advantages that, by the special horizontal arrangement and the optimal arrangement combination, the present application can automatically stack the plate members along the height direction for the plate members of non-single size, thereby improving the stacking stability and the stacking efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0043] Other features and effects of the present application will be clearly presented in the embodiments with reference to the accompanying drawings, in which:

[0044] Figure 1 is a perspective view illustrating an embodiment of the system for automatically stacking plate members of the present application;

[0045] Figure 2 is a perspective view illustrating the feeding unit of the embodiment;

[0046] Figure 3 is a flowchart of the embodiment;

[0047] Figure 4 is a schematic view illustrating the first optimal arrangement combination of the embodiment;

[0048] Figure 5 is a schematic view illustrating the second optimal arrangement combination of the embodiment;

[0049] Figure 6 is a schematic view illustrating the third optimal arrangement combination of the embodiment;

[0050] Figure 7 is a schematic view illustrating the fourth optimal arrangement combination of the embodiment;

[0051] Figure 8 is a schematic view illustrating the fifth optimal arrangement combination of the embodiment;

[0052] Figure 9 is a schematic view illustrating a 6th preferred arrangement combination of the embodiment;

[0053] Figure 10 is a schematic view illustrating a 7th preferred arrangement combination of the embodiment. DETAILED DESCRIPTION

[0054] Referring to Figure 1 , Figure 2 and Figure 4 , the embodiment of the system for automatically stacking board pieces of the present application is adapted to stack a plurality of board pieces 11 cut from a board 1 and of non-uniform sizes along a height direction Z. Each of the board pieces 11 includes two edges 111 spaced apart along a width direction Y. The system for automatically stacking board pieces includes a platform 2, a pallet unit 3, a feeding unit 4, a discharging unit 5, a photographing unit 6, and a control unit 7.

[0055] The platform 2 is used to support the board pieces 11. In the embodiment, the platform 2 is installed on a cutting saw (not shown) and is mainly used to support the board 1 which is cut into the board pieces 11 on the platform 2.

[0056] In the embodiment, the pallet unit 3 includes a pallet 31. The pallet 31 has a periphery 311 surrounding a stacking area 310 formed on a top surface of the pallet 31. The stacking area 310 is used to stack the board pieces 11.

[0057] In the embodiment, the feeding unit 4 includes three feeding rails 41, three material rails 42 movably sliding on the feeding rails 41, a driving set 43 installed on the feeding rails 41 and driving the material rails 42 to move, and a plurality of pads 44.

[0058] The feeding rails 41 define three feeding rail grooves 411 extending along a length direction X.

[0059] The material rails 42 define three material rail grooves 421 extending along a height direction Z.

[0060] The driving set 43 has three pressing cylinders 431 installed on the feeding rails 41 and connected to the material rails 42. Each of the pressing cylinders 431 can drive the corresponding material rail 42 to move along the length direction X.

[0061] In this embodiment, the spacers 44 are cuboids, and every three spacers 44 are stacked in the height direction Z in the preparation track groove 421, and in the process of moving of the preparation track frame 42, the spacers 44 fall into the vacant positions of the feeding track groove 411 from the preparation track groove 421, and are arranged in sequence in the length direction X.

[0062] The discharging unit 5 comprises a base 51, a mechanical arm 52 rotatably mounted on the base 51 and movable relative to the pallet unit 3, a suction disc frame 53 rotatably mounted on the mechanical arm 52, and two suction disc groups 54 movably mounted on the suction disc frame 53. Each of the suction disc groups 54 generates suction force for adsorbing a corresponding board piece 11 by negative pressure. The mechanical arm 52 carries the corresponding spacers 44 away from the feeding track groove 411, and discharges in the stacking area 310.

[0063] The photographing unit 6 is mounted on the mechanical arm 52, and is used for photographing an image of each of the board pieces 11. Each of the images can be one of the appearance of the respective board piece 11 and a bar code.

[0064] The control unit 7 is electrically connected to the discharging unit 5, and is used for controlling the mechanical arm 52 to carry each of the board pieces 11 away from the platform 2, discharging each of the board pieces 11 in the stacking area 310, and controlling the moving position of the suction disc groups 54, and obtaining the length and the width t of the respective board piece 11 according to each of the images. The control unit 7 is defined with a maximum width sum T, a remaining width S, a limit width L, a compensation width C (such as Figure 5 ), and a compensation gap G (such as Figure 7 ), wherein:

[0065] The maximum width sum T is the sum of the widths t of all the board pieces 11 in the optimal arrangement combination + (the number of the board pieces 11 in the optimal arrangement combination x a reserved gap g). The reserved gap g is defined between two adjacent board pieces 11, or between one of the edges 111 and the periphery 311 of the pallet 31.

[0066] The remaining width S is the width W of the stacking area 310 - the maximum width sum T of the optimal arrangement combination in the previous round.

[0067] The limit width L is the remaining width S + a preset value.

[0068] The compensation width C is the width of each of the spacers 44.

[0069] The compensation gap G = (width W of the stacking area 310 - total width t of all the pallet members 11 in the optimal arrangement) / (number of pallet members 11 in the optimal arrangement + 1).

[0070] In this embodiment, the width W of the stacking area 310 is the width W of the pallet 31. When each of the images is the appearance of a respective pallet member 11, the control unit 7 calculates the length and width t of each respective pallet member 11 by image recognition technology. When each of the images is a barcode, the control unit 7 obtains the length and width t of each of the pallet members 11 by scanning the barcode.

[0071] It is worth noting that since the pallet members 11 are cut according to the required dimensions, the dimensions of each of the pallet members 11 are known conditions, and each of the barcodes can be pasted on the corresponding pallet member after cutting.

[0072] For the sake of convenience, ten pallet members 11 are taken as an example below, and the numbers of the pallet members 11 are distinguished as #1 to #10, in which:

[0073] The stacking area 310 of the pallet 31: length x width W = 1200 mm x 860 mm.

[0074] The cushion block 44: length x width = 100 mm x 100 mm.

[0075] The pallet member 11 numbered #1: length x width t = 714 mm x 200 mm.

[0076] The pallet member 11 numbered #2: length x width t = 802 mm x 500 mm.

[0077] The pallet member 11 numbered #3: length x width t = 700 mm x 210 mm.

[0078] The pallet member 11 numbered #4: length x width t = 714 mm x 350 mm.

[0079] The pallet member 11 numbered #5: length x width t = 802 mm x 310 mm.

[0080] The pallet member 11 numbered #6: length x width t = 800 mm x 400 mm.

[0081] The pallet member 11 numbered #7: length x width t = 700 mm x 401 mm.

[0082] The pallet member 11 numbered #8: length x width t = 700 mm x 600 mm.

[0083] The pallet member 11 numbered #9: length x width t = 802 mm x 500 mm.

[0084] Plate 11 with number #10: Length × Width t = 714mm × 500mm.

[0085] It is worth noting that the restricted width L = the remaining width S + the preset value = (the width W of the stacking area 310 - the sum of the maximum widths of the previous round of optimal arrangement T) + the preset value. Taking the preset value = 60mm and the reserved gap g = 30mm as an example, if there are no boards 11 placed on the stacking area 310, the remaining width S = 860 - 0 = 860mm, and the restricted width L = (860 - 0) + 60 = 920mm.

[0086] See Figure 1 and Figure 3 The method for automating the stacking of boards according to the present invention involves the following steps being performed by the control unit of the embodiment described above:

[0087] Step S01: Control the robotic arm 52 to drive the camera unit 6 to scan the image of each of the plates 11, and obtain the length and width t of each of the plates 11.

[0088] Step S02: Calculate the remaining width S available for placement. The remaining width S is either the width W (initial value) of the stacking area 310 or the remaining width after the previous round of optimal arrangement. The remaining width of the previous round of optimal arrangement is the width of the stacking area 310 minus the sum of the maximum widths T of the previous round of optimal arrangement.

[0089] like Figure 4 If plates #2 and #4 are already arranged on the stacking area 310 to form a stack layer, the maximum total width T = 500 + 350 + 60 = 910 mm, which exceeds the width of the stacking area 310, 860 - 910 = -50 mm. Although plate #4 is partially suspended, it can still form the stack layer since it does not exceed the width limit L = 920 mm.

[0090] Step S03: Under the condition that the sum of the maximum widths of the optimal permutations and combinations T is less than or equal to the limit width L, determine whether the optimal permutations and combinations can be found. If yes, proceed to step S04; if no, proceed to step S13, indicating that all optimal permutations and combinations will be greater than the limit width L.

[0091] For example, if the board pieces 11 numbered #1 to #4 can be arranged in the stacking area 310 of the stacker 31, there are the following 15 arrangements: (#1), (#2), (#3), (#4), (#1, #2), (#1, #3), (#1, #4), (#2, #3), (#2, #4), (#3, #4), (#1, #2, #3), (#1, #2, #4), (#1, #3, #4), (#2, #3, #4), (#1, #2, #3, #4). If the first arrangement of the stacking layer only arranges the board piece 11 numbered #1, the maximum width sum T = 200 + 30 = 230 mm. If the second arrangement only arranges the board pieces 11 numbered #1 and #2, the maximum width sum T = 200 + 500 + 2 x 30 = 760 mm. If the third arrangement arranges the board pieces 11 numbered #1, #2, and #3, the maximum width sum T = 200 + 500 + 210 + 3 x 30 = 1000 mm. Since the third arrangement is greater than the preset limit width L = 920 mm, the third arrangement is excluded, and the maximum width sum T of the second arrangement is greater than that of the first arrangement, so the second arrangement is preferred to the first arrangement, and so on, until the optimal arrangement combination of the board pieces 11 is arranged, and the next optimal arrangement combination is found.

[0092] Step S04: Determine whether the maximum width sum T of the optimal arrangement combination is less than or equal to the remaining width S. If yes, proceed to step S05, and if no, proceed to step S09.

[0093] Step S05: Determine whether the maximum width sum T of the optimal arrangement combination plus the compensation width C is greater than or equal to the remaining width S. If yes, proceed to step S06, and if no, proceed to step S12.

[0094] Step S06: Determine whether the maximum width sum T of the optimal arrangement combination plus the compensation width C is less than or equal to the limit width L. If yes, proceed to step S07, and if no, proceed to step S08.

[0095] Step S07: Import the compensation width C, so that the width of the corresponding stacking layer = maximum width sum T + compensation width C, and then proceed to step S09.

[0096] It should be noted that the purpose of importing the compensation width C is to add a spacer group to the corresponding stacking layer. In this embodiment, the spacer group has one spacer 44. It should be noted that the number of spacers 44 is not limited to one, and in other embodiments, two or more spacers 44 can be arranged along the length direction X, without being limited thereto. The following two examples are used to illustrate this:

[0097] 1. The method according to claim 1, wherein Figure 5 , the first optimal arrangement is used to discharge the plate member No. 1 and the plate member No. 2 in the stacking area 310, at this time, the maximum width sum T of the optimal arrangement is 200 + 500 + 2 x 30 = 760 mm, the remaining width S is 860 - 0 = 860 mm, and the limit width L is 860 + 60 = 920 mm. In the step S05, the maximum width sum T + the compensation width C = 760 + 100 = 860 mm = the remaining width S, which meets the condition of the step S05, and the step S06 is performed. Since the maximum width sum T + the compensation width C = 860 mm < the limit width (920 mm), which meets the condition of the step S06, the step S07 is performed, thereby the compensation width C is introduced, and the width of the discharged stacking layer is 760 + 100 = 860 mm.

[0098] 2. The method according to claim 1, wherein Figure 6 , if the plate member No. 4 is discharged in the stacking area 310 to form a stacking layer, the remaining width S of the previous optimal arrangement is 860 - (350 + 30) = 480 mm, and the limit width L is 480 + 60 = 540 mm. At this time, it is assumed that the next optimal arrangement only has the plate member No. 6, and the maximum width sum T of the optimal arrangement is 400 + 30 = 430 mm. In the step S05, the maximum width sum T + the compensation width C = 430 + 100 = 530 mm > the remaining width S (480 mm), which meets the condition of the step S05, and the step S06 is performed. Since the maximum width sum T + the compensation width C = 530 mm < the limit width L (540 mm), which meets the condition of the step S06, the step S07 is performed, thereby the compensation width C is introduced, and the width of the discharged stacking layer is 350 + 400 + 100 + 60 = 910 mm.

[0099] Step S08: introducing a compensation gap G to replace the reserved gap g, and the plate members 11 in the optimal arrangement are separated by the compensation gap G (as shown in Figure 7 ), and then the step S09 is performed.

[0100] Referring to Figure 7For example, in the case of the first optimal arrangement combination used for stacking 5 plates 11 with a width of 135 mm on the stacking area 310, the maximum width sum T of the optimal arrangement combination is 135 x 5 + 30 x 5 = 825 mm, the remaining width S is 860 - 0 = 860 mm, and the limit width L is 860 + 60 = 920 mm. In step S05, the maximum width sum T + the compensation width C = 825 + 100 = 925 mm > the remaining width S (860 mm), which meets the condition of step S05, and step S06 is performed. Since the maximum width sum T + the compensation width C = 925 mm > the limit width L (920 mm), which does not meet the condition of step S06, step S08 is performed, and the compensation gap G = (860 - 135 x 5) / (5 + 1) = 30.8 mm is introduced, so that the plates 11 are separated by the compensation gap G.

[0101] It is worth noting that when the optimal arrangement combination is stacked, one of the edges 111 of the first stacked plate 11 is spaced apart from the periphery 311 of the pallet 31 by = 1 / 2 of the compensation gap G = 15.4 mm, and the other edge 111 of the last stacked plate 11 is spaced apart from the periphery 311 of the pallet 31 by = 1 / 2 of the compensation gap G = 15.4 mm, so that the plates 11 can be stacked in step S14 in a vertical and horizontal manner along the width direction Y.

[0102] Step S09: Stacking the plates 11 of the optimal arrangement combination, or simultaneously adding the spacers 44 according to the introduced compensation width C, and after completing the optimal arrangement combination, the control unit 7 resets the remaining width S to the width W (initial value) of the pallet 31 as the remaining width for the next round of stacked plates (i.e., step S02), which means that the stacking of this layer has been completed, and the plates to be arranged in the future will be stacked on this layer of stacked plates for arrangement on a new layer of stacked plates, and then step S10 is performed.

[0103] The plates 11 of the optimal arrangement combination, or the spacers 44 added simultaneously, are sequentially stacked in a horizontal manner along the width direction Y.

[0104] Step S10: Determine whether all plates 11 have been stacked? If yes, proceed to step S11, if not, return to step S02.

[0105] Step S11: End.

[0106] Step S12: discharge the best combination of the plate 11, and after the best combination is completed, because there is a possibility of continuing to discharge the plate in the same layer of the stacking layer, the remaining width S is not reset and calculated, the remaining width S is the width W of the stacking area 310 - the maximum width sum T of the best combination, so that the remaining width of the next round of best combination is the remaining width after the previous round of best combination is discharged.

[0107] Referring to Figure 8 For example, if the plate 1 is cut into three plate pieces 11 of No. 8, No. 9, and No. 10, the first round of best combination is used to discharge the plate piece 11 of No. 8 on the stacking area 310, the maximum width sum T = 600 + 30 = 630 mm, and the remaining width S = 860 - 0 = 860 mm. In step S04, the maximum width sum T = 630 mm < the remaining width (860 mm), which meets the condition of step S04, and step S05 is performed. Since the maximum width sum T + the compensation width C = 630 + 100 = 730 mm < the remaining width S (860 mm), which does not meet the condition of step S05, step S12 is performed, and the plate piece 11 of No. 8 is directly discharged on the stacking area 310, but the remaining width S is not reset. At this time, the remaining width S of the stacking layer after the first round of best combination is discharged = 860 - 630 = 230 mm.

[0108] Therefore, when judging the remaining width S in the second round of best combination, 230 mm is used as the remaining width.

[0109] Step S13: judge whether the remaining width S of the best combination ≥ 1 / 2 of the width W of the pallet 31? If yes, step S14 is performed, and if no, step S15 is performed.

[0110] Referring to Figure 9 For example, if the plate 1 is cut into three plate pieces 11 of No. 6, No. 9, and No. 10, the first round of best combination is used to discharge the plate piece of No. 6 on the stacking area 310. At this time, the maximum width sum T of the first round of best combination = 400 + 30 mm = 430 mm, and the remaining width for discharging the second round of best combination = 860 - 430 = 430 mm. Since only the plate pieces of No. 9 and No. 10 have not been discharged, there are the following two discharge conditions:

[0111] 1. Choose to add the plate piece 11 of No. 9 or No. 10 in the aforementioned remaining space.

[0112] 2. There is no plate piece 11 that meets the condition, and the remaining space must be filled by the cushion block 44.

[0113] In step S03, the maximum width sum T of the board pieces 11 numbered #9 or #10 is 500+30=530mm respectively, the limit width L=430+60=490mm, thus, the maximum width sum T (530mm) > the limit width L (490mm), in the second round of optimal arrangement combination, the remaining width S (430mm) of the discharged board pieces 11 cannot discharge other board pieces, which does not meet the conditions of step S03, and step S13 is performed.

[0114] Step S14: introduce 2x the compensation width C, so that the width of the corresponding stack layer = the maximum width sum T + (the compensation width Cx2), and then step S09 is performed.

[0115] Referring to Figure 9 , as an example of the optimal arrangement combination that meets the conditions of the foregoing step S13, since the remaining width S (430mm) = 1 / 2 of the width W of the pallet 31 (430mm), it meets the conditions of step S13, and step S14 is performed, thereby introducing 2x the compensation width C before the second round of optimal arrangement combination is performed, so that the width of the discharged stack layer = 430+100+100=630mm.

[0116] Step S15: introduce 1x the compensation width C, so that the width of the corresponding stack layer = the maximum width sum T + the compensation width C, and then step S09 is performed.

[0117] Referring to Figure 10 , as an example of the optimal arrangement combination that meets the conditions of the foregoing step S13, if the board piece numbered #6 is changed to the board piece 11 numbered #7, since the remaining width S=(860-431)=429mm, 1 / 2 of the width W of the pallet 31=430mm, the remaining width S (429mm) < 1 / 2 of the width W of the pallet 31 (430mm), which does not meet the conditions of step S13, and step S15 is performed, thereby introducing the compensation width C, so that the width of the discharged stack layer = 431+100=531mm.

[0118] It is worth noting that when discharging the board pieces 11, one of the edges 111 of the first discharged board piece 11 is adjacent to and does not exceed the periphery 311 of the stacking area 310, and if the optimal arrangement combination adds the cushion block 44, the cushion block 44 is discharged first, and then the board piece 11 is discharged. As an example Figure 5 , since this optimal arrangement combination adds the cushion block 44, when discharging, the cushion block 44 is discharged first, and then the board pieces 11 numbered #1 and #2 are discharged. As an example Figure 6For example, since there are 2 rounds of optimal arrangement combinations in this stacking layer, the optimal arrangement combination of the first round is not introduced into the spacer 44, and when the optimal arrangement combination of the second round is discharged, although the spacer 44 is discharged first and then the plate 11 numbered #6 is discharged, the spacer 44 is located between the plate 11 numbered #4 and the plate 11 numbered #6. In this way, when the stacking layer is formed, it can be ensured that only the plate 11 discharged last will exceed the periphery 311 of the pallet 3, and the spacer 44 will not exceed the periphery 311.

[0119] It should be noted that the number of pallets 31 is not limited to one, and in other variations of the embodiment, it can be two, three, or more than four, so as to increase the number of plates 11 that can be discharged during each automated operation. Preferably, the number of pallets 31 is even, and is distinguished by area size, so that different pallets 31 can carry plates 11 of different size ranges, for example, the first pallet 31 discharges plates 11 with a length greater than 849 mm, and the second pallet 31 discharges plates 11 with a length less than 849 mm, so as to facilitate classification. Since those having ordinary knowledge in the art can infer additional details from the above description, further description is not provided.

[0120] From the above description, the advantages of the foregoing embodiment can be summarized as follows:

[0121] 1. The present application can use a special horizontal centering arrangement and optimal arrangement combination to enable the present application to stack the plates 11 in the height direction Z by automated operation for plates 11 of non-single sizes, thereby improving stacking stability and stacking efficiency.

[0122] 2. The present application can add the spacer 44 between adjacent stacking layers for stacking conditions that meet the requirements, so that no gaps are formed between adjacent stacking layers, and in addition to being able to support adjacent stacking layers, the stability of the stacking is effectively improved, thereby achieving the purpose of stacking the plates 11 by automated operation.

[0123] The above is only an embodiment of the present application, and cannot limit the scope of the present application, i.e., any simple equivalent changes and modifications made in accordance with the claims and description of the present application are still within the scope of the present application.

Claims

1. A method for automatically stacking board pieces, suitable for stacking a plurality of board pieces cut from a board material and not of a single size in a height direction in at least one stacking area to form a plurality of stacking layers on the at least one stacking area, each of the board pieces comprising two edges spaced apart in a width direction, the at least one stacking area comprising a periphery, characterized in that: The method for automatically stacking the plates comprises the following steps performed by the system for automatically stacking the plates: (a) obtaining the length and width of each of the plates; (b) finding an optimal arrangement combination according to a preset limit width, the optimal arrangement combination being determined by a maximum width sum of the optimal arrangement combination, the maximum width sum being not greater than the limit width and at least equal to the sum of the widths of all the plates in the optimal arrangement combination; (c) sequentially arranging the corresponding plates in a horizontally-centralized manner along the width direction according to the optimal arrangement combination; and (d) determining whether all the plates have been arranged, if yes, ending the arrangement operation, and if no, returning to step (b); wherein the method for automatically stacking the plates further comprises steps (e) before step (b) and (f) after step (b) and before step (c): (e) calculating a remaining width available for arranging the plates, the remaining width = the width of the stacking area - the maximum width sum of the previous optimal arrangement combination; if step (d) determines no, returning to step (e); and (f) determining whether the maximum width sum of the optimal arrangement combination is not greater than the remaining width, if yes, in the case that the width of the corresponding stacking layer is not greater than the limit width, introducing at least one compensation width to make the width of the corresponding stacking layer = the maximum width sum + the compensation width, and if no, proceeding to step (c), the at least one compensation width being from the width of the spacer group along the width direction, and the limit width = the remaining width + a preset value; wherein step (f) comprises: (f1) determining whether the maximum width sum of the optimal arrangement combination is not greater than the remaining width, if yes, proceeding to step (f2), and if no, proceeding to step (c), and step (c) further resets the remaining width as the width of the stacking area after completing the optimal arrangement combination; (f2) determining whether the maximum width sum of the optimal arrangement combination + the compensation width is not less than the remaining width, if yes, proceeding to step (f3), and if no, proceeding to step (f5); (f3) determining whether the maximum width sum of the optimal arrangement combination + the compensation width is not greater than the limit width, if yes, proceeding to step (f4), and if no, proceeding to step (c); (f4) introducing the compensation width to make the width of the corresponding stacking layer = the maximum width sum of the optimal arrangement combination + the compensation width, and then proceeding to step (c), and further arranging the plates and the spacer group in a horizontally-centralized manner along the width direction in step (c); (f5) sequentially arranging the plates in a horizontally-centralized manner along the width direction according to the optimal arrangement combination, and making the remaining width for the next optimal arrangement combination as the remaining width after arranging the previous optimal arrangement combination. Wherein, the maximum width sum of the optimal arrangement combination = the width sum of all the plates in the optimal arrangement combination + (the number of plates in the optimal arrangement combination x the reserved gap), and the limit width = the remaining width + a preset value, and the reserved gap is defined between two adjacent plates or between one edge and the periphery of the stacking layer.

2. The method of claim 1, wherein: The method for automatically stacking plates further comprises a step (f6) between step (f3) and step (c) after step (f3): introducing a compensation gap, so that the plates in the optimal arrangement combination are separated by the compensation gap, the compensation gap = (the width of the stacking area - the width sum of all the plates in the optimal arrangement combination) / (the number of plates in the optimal arrangement combination + 1), and the distance between one edge of the first discharged plate in the optimal arrangement combination and the periphery of the stacking area = 1 / 2 of the compensation gap, and the distance between the other edge of the last discharged plate and the periphery of the stacking area = 1 / 2 of the compensation gap, so that in step (c), the plates are discharged in a horizontally centered manner along the width direction.

3. The method of automating stacking of plates as claimed in claim 1, wherein: Step (b) comprises: (b1) determining whether the optimal arrangement combination can be found, if yes, proceeding to step (f1), if no, proceeding to step (b2); (b2) determining whether the remaining width of the optimal arrangement combination is not less than 1 / 2 of the width of the stacking area, if yes, proceeding to step (b3), if no, proceeding to step (b4); (b3) introducing 2x the compensation width, so that the width of the corresponding stacking layer = the maximum width sum of the last optimal arrangement combination + (the compensation width x 2), and then proceeding to step (c), so that in step (c), the pad groups are discharged in a horizontally centered manner along the width direction; (b4) introducing 1x the compensation width, so that the width of the corresponding stacking layer = the maximum width sum of the last optimal arrangement combination + the compensation width, and then proceeding to step (c), so that in step (c), the pad groups are discharged in a horizontally centered manner along the width direction.

4. The method of automating stacking of plates as claimed in claim 1, wherein: When one edge of the first discharged plate is adjacent to and does not exceed the periphery of the stacking area, and the optimal arrangement combination introduces the compensation width to add the pad groups, the pad groups are preferentially discharged.

5. A system using the method for automatically stacking plates according to claim 1, comprising: a platform for carrying the plates; a pallet unit comprising at least one pallet having the stacking area formed on the top surface; characterized in that the system for automatically stacking plates further comprises: a discharging unit comprising a base and a mechanical arm rotatably mounted on the base and movable relative to the pallet unit; and a control unit electrically connected to the discharging unit for controlling the mechanical arm to carry each of the plates away from the platform and discharge each of the plates in the stacking area. The pallet unit comprises at least two pallets, one of which has an area greater than that of the other.

6. The system for automated stacking of plates of claim 5, wherein: Wherein, the maximum width sum of the optimal arrangement combination = the width sum of all the plates in the optimal arrangement combination + (the number of plates in the optimal arrangement combination x the reserved gap), and the limit width = the remaining width + a preset value, and the reserved gap is defined between two adjacent plates or between one edge and the periphery of the stacking layer. The method for automatically stacking plates further comprises a step (f6) between step (f3) and step (c) after step (f3): introducing a compensation gap, so that the plates in the optimal arrangement combination are separated by the compensation gap, the compensation gap = (the width of the stacking area - the width sum of all the plates in the optimal arrangement combination) / (the number of plates in the optimal arrangement combination + 1), and the distance between one edge of the first discharged plate in the optimal arrangement combination and the periphery of the stacking area = 1 / 2 of the compensation gap, and the distance between the other edge of the last discharged plate and the periphery of the stacking area = 1 / 2 of the compensation gap, so that in step (c), the plates are discharged in a horizontally centered manner along the width direction. Step (b) comprises: (b1) determining whether the optimal arrangement combination can be found, if yes, proceeding to step (f1), if no, proceeding to step (b2); (b2) determining whether the remaining width of the optimal arrangement combination is not less than 1 / 2 of the width of the stacking area, if yes, proceeding to step (b3), if no, proceeding to step (b4); (b3) introducing 2x the compensation width, so that the width of the corresponding stacking layer = the maximum width sum of the last optimal arrangement combination + (the compensation width x 2), and then proceeding to step (c), so that in step (c), the pad groups are discharged in a horizontally centered manner along the width direction; (b4) introducing 1x the compensation width, so that the width of the corresponding stacking layer = the maximum width sum of the last optimal arrangement combination + the compensation width, and then proceeding to step (c), so that in step (c), the pad groups are discharged in a horizontally centered manner along the width direction. When one edge of the first discharged plate is adjacent to and does not exceed the periphery of the stacking area, and the optimal arrangement combination introduces the compensation width to add the pad groups, the pad groups are preferentially discharged.

5. A system using the method for automatically stacking plates according to claim 1, comprising: a platform for carrying the plates; a pallet unit comprising at least one pallet having the stacking area formed on the top surface; the system for automatically stacking plates further comprises: a discharging unit comprising a base and a mechanical arm rotatably mounted on the base and movable relative to the pallet unit; and a control unit electrically connected to the discharging unit for controlling the mechanical arm to carry each of the plates away from the platform and discharge each of the plates in the stacking area. The pallet unit comprises at least two pallets, one of which has an area greater than that of the other.

7. The system for automated stacking of plates of claim 5, wherein: The discharging unit further comprises a suction cup holder rotatably mounted on the mechanical arm, and two spaced-apart suction cup groups movably mounted on the suction cup holder, each of the suction cup groups generating suction force to suck the corresponding board member by negative pressure.

8. The system for automated stacking of plates of claim 7, wherein: The system for automatically stacking board members further comprises a photographing unit mounted on the mechanical arm for taking images of each of the board members to obtain the length and width of each of the board members.

9. The system for automated stacking of plates of claim 8, wherein: Each of the images is one of an appearance of the respective board member and a barcode.

10. A system for automatically stacking board members using the method of claim 1, comprising: a platform for carrying the board members; a pallet unit comprising at least one pallet having the stacking area formed on a top surface; characterized in that the system for automatically stacking board members further comprising: a discharging unit comprising a base and a mechanical arm rotatably mounted on the base and movable relative to the pallet unit; a control unit connected to the discharging unit for controlling the mechanical arm to carry each of the board members away from the platform and discharge each of the board members to the stacking area; and a feeding unit comprising a feeding track frame, a standby track frame movably sliding on the feeding track frame, and a driving group mounted on the feeding track frame and driving the standby track frame to move, the feeding track frame defining at least one feeding track slot for sequentially arranging the cushion block groups, the standby track frame defining at least one standby track slot for stacking the cushion block groups along the height direction, each of the cushion block groups falling into a vacant position of the at least one feeding track slot from the at least one standby track slot during movement of the standby track frame, the mechanical arm carrying the corresponding cushion block group away from the at least one feeding track slot, and discharging to the stacking area. ​

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