Method and system for automatically stacking panels

Abstract

A method and system for automatically stacking panels, wherein the system for automatically stacking panels performs the following steps: first, according to a preset limited width, find the best arrangement combination for arranging the panels; then, when the sum of the maximum widths of the best arrangement combination is not greater than the remaining width, introduce at least one compensation width; and finally, arrange the panels and pad blocks of the best arrangement combination in sequence. The at least one compensation width comes from the width of the pad block group along the width direction. Thus, by introducing the pad block group, the remaining space of each stack is filled, so that the present invention can stack the panels of non-single-size panels in the height direction by automated operations, thereby improving stacking stability and stacking efficiency.

Description

Technical Field

[0001] The present invention relates to a method and system for stacking panels, and in particular to a method and system for automatically stacking panels. Background Art

[0002] There are many types of artificial boards or solid wood boards, all of which have different characteristics and are widely used in various furniture manufacturing and decoration woodworking fields.

[0003] Since the suppliers of panels are often different from furniture manufacturers or carpenters, after the panels are cut and sawed, they must be stacked, packaged and shipped to furniture manufacturers or carpenters in various places. However, the panels used for different objects are cut into different sizes according to different appearance designs and sizes, and have various lengths and widths, so that when stacking, the panels cannot be stacked through automated operations due to different sizes. At this time, only manual experience and the actual conditions on site can be relied upon to smoothly stack the panels on a transportable pallet. During the stacking process, gaps will be formed due to the different lengths of the panels between layers, resulting in disadvantages such as easy tipping, low stability, and poor stacking efficiency. Summary of the invention

[0004] The object of the present invention is to provide a method and system for automatically stacking panels which can improve stacking stability and stacking efficiency.

[0005] The method for automatically stacking panels of the present invention is suitable for stacking a plurality of panels cut from sheet materials and not of a single size in at least one stacking area along a height direction, and forming a plurality of stacking layers on the at least one stacking area, each of the panels comprising two edges spaced apart along a width direction, and the at least one stacking area comprising a periphery, characterized in that the method for automatically stacking panels performs the following steps by means of a system for automatically stacking panels:

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

[0007] (b) obtaining the remaining width available for discharging the plate;

[0008] (c) finding an optimal arrangement and combination according to a preset limiting width, wherein the optimal arrangement and combination is determined by the maximum width sum of the optimal arrangement and combination, wherein the maximum width sum is not greater than the limiting width and is at least equal to the sum of the widths of all the plates of the optimal arrangement and combination;

[0009] (d) determining whether the sum of the maximum widths of the optimal arrangement and combination is not greater than the remaining width; if so, introducing at least one compensation width so that the width of the corresponding stacking layer = the sum of the maximum widths of the optimal arrangement and combination + the compensation width; if not, proceeding to step (e), wherein the at least one compensation width comes from the width of the pad block group along the width direction;

[0010] (e) arranging the corresponding panels and the pad blocks in sequence according to the optimal arrangement and combination; and

[0011] (f) Determine whether all the panels and the gasket block groups have been discharged. If so, end the discharge operation; if not, return to step (e).

[0012] The method for automatically stacking panels of the present invention, in step (d), further introduces at least one compensation width when the width of the corresponding stacking layer is not greater than the limiting width, the limiting width = the remaining width + the preset value, and when arranging the panels and the pad block groups in step (e), the corresponding panels and the pad block groups are arranged in a horizontally centered manner along the width direction.

[0013] In the method for automatically stacking panels of the present invention, the step (d) comprises:

[0014] (d1) determining whether the sum of the maximum widths of the optimal arrangement and combination is not greater than the remaining width, and if so, proceeding to step (d2); if not, proceeding to step (e), and further in step (e), after completing the optimal arrangement and combination, resetting the remaining width to the width of the stacking area;

[0015] (d2) determining whether the sum of the maximum width of the optimal arrangement combination + the compensation width is not less than the remaining width, if yes, proceeding to step (d3), if no, proceeding to step (d5);

[0016] (d3) determining whether the sum of the maximum width of the optimal arrangement combination + the compensation width is not greater than the limit width, if yes, proceeding to step (d4), if no, proceeding to step (e);

[0017] (d4) introducing the compensation width so that the width of the corresponding stacking layer = the sum of the maximum widths of the optimal arrangement combination + the compensation width, and then proceeding to step (e), and further in step (e), arranging the plate members and the spacer block groups in a horizontally centered manner along the width direction;

[0018] (d5) According to the optimal arrangement and combination, the panels are arranged in sequence in a horizontally centered manner along the width direction, and after completing the optimal arrangement and combination, the remaining width of the next round of optimal arrangement and combination is made to be the remaining width after arranging the previous round of optimal arrangement and combination, and the remaining width = the width of the stacking area - the sum of the maximum widths of the previous round of optimal arrangement and combination.

[0019] The method for automatically stacking panels of the present invention further includes a step (d6) after step (d3) and between step (e): introducing a compensation gap so that the panels in the optimal arrangement and combination are separated by the compensation gap, wherein the compensation gap = (the width of the stacking area - the sum of the widths of all panels in the optimal arrangement and combination) / (the number of panels in the optimal arrangement and combination + 1), and the distance between one edge of the first panel arranged in the optimal arrangement and the periphery of the stacking area = 1 / 2 of the compensation gap, and the distance between the other edge of the last panel arranged and the periphery of the stacking area = 1 / 2 of the compensation gap, and then in step (e), the panels are arranged in a horizontally centered manner along the width direction.

[0020] The method for automatically stacking panels of the present invention, step (c) comprises:

[0021] (c1) determining whether the optimal permutation combination can be found, if yes, proceeding to step (d), if no, proceeding to step (c2);

[0022] (c2) determining whether the remaining width is not less than 1 / 2 of the width of the stacking area, if yes, proceeding to step (c3), if no, proceeding to step (c4);

[0023] (c3) introducing 2× the compensation width, so that the width of the corresponding stacking layer = the maximum width sum of the best arrangement combination in the previous round + (the compensation width×2), and then proceeding to step (e), and further in step (e), arranging the pad block group in a horizontally centered manner along the width direction;

[0024] (c4) Import 1× the compensation width so that the width of the corresponding stacking layer = the sum of the maximum widths of the best arrangement combinations in the previous round + the compensation width, and then proceed to step (e). In step (e), the pad block group is arranged in a horizontally centered manner along the width direction.

[0025] In the method for automatically stacking panels of the present invention, one edge of the first panel to be arranged is adjacent to and does not exceed the periphery of the stacking area, and when the optimal arrangement combination is introduced into the compensation width and the pad group is added, the pad group will be arranged preferentially.

[0026] In the method for automated stacking of panels of the present invention, the sum of the maximum widths of the optimal arrangement and combination = the sum of the widths of all panels in the optimal arrangement and combination + (the number of all panels in the optimal arrangement and combination × the reserved gap), and the limited width = the remaining width + a preset value, and the reserved gap is defined between two adjacent panels, or between one of the edges and the periphery of the stacking area.

[0027] A system using the above-mentioned automated plate stacking method comprises a platform, a pallet unit, a discharge unit, and a control unit.

[0028] The platform is used to carry the plate;

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

[0030] The discharge unit includes 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 discharge unit, and is used to control the robot arm to carry each of the panels off the platform, and to discharge each of the panels into the stacking area.

[0032] In the automatic plate stacking system of the present invention, the pallet unit comprises at least two pallets, wherein the area of ​​one of the pallets is larger than the area of ​​the other pallet.

[0033] The system for automatically stacking panels of the present invention, the discharge unit also includes a suction cup frame rotatably mounted on the robot arm, and two suction cup groups spaced apart and movably mounted on the suction cup frame, each of the suction cup groups generates suction to adsorb the corresponding panel through negative pressure.

[0034] The system for automatically stacking panels of the present invention also includes a photographic unit. The system for automatically stacking panels also includes a photographic unit. The photographic unit is installed on the robotic arm and is used to take an image of each of the panels to obtain the length and width of each of the panels.

[0035] In the system for automatically stacking panels of the present invention, each of the images is one of the appearance and barcode of the respective panel.

[0036] The system for automated stacking of panels of the present invention also includes a feeding unit, which includes a feeding rail frame, a preparation rail frame that can slide movably on the feeding rail frame, and a driving group installed on the feeding rail frame and driving the preparation rail frame to move. The feeding rail frame defines at least one feeding rail groove for the pad block groups to be arranged in sequence, and the preparation rail frame defines at least one preparation rail groove for stacking the pad block groups along the height direction. During the movement of the preparation rail frame, each of the pad block groups falls from the at least one preparation rail groove into a vacant position of the at least one feeding rail groove, and the robotic arm carries the corresponding pad block group out of the at least one feeding rail groove and discharges it in the stacking area.

[0037] The beneficial effect of the present invention is that through a special horizontal centering arrangement and an optimal arrangement and combination method, the present invention can stack the panels of non-single size in the height direction by automated operations, thereby improving the stacking stability and stacking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Other features and effects of the present invention will be clearly presented in the embodiments with reference to the accompanying drawings, in which:

[0039] Figure 1 is a three-dimensional schematic diagram illustrating an embodiment of a system for automatically stacking panels according to the present invention;

[0040] Figure 2 is a perspective view illustrating a feeding unit of the embodiment;

[0041] Figure 3 is a flow chart of the embodiment;

[0042] Figure 4 is a schematic diagram illustrating the first best arrangement and combination of the embodiment;

[0043] Figure 5 is a schematic diagram illustrating the second best arrangement and combination of the embodiment;

[0044] Figure 6 is a schematic diagram illustrating the third best arrangement and combination of the embodiment;

[0045] Figure 7 is a schematic diagram illustrating the fourth best arrangement and combination of the embodiment;

[0046] Figure 8 is a schematic diagram illustrating the fifth best arrangement and combination of the embodiment;

[0047] Fig. 9 is a schematic diagram illustrating the sixth best arrangement and combination of the embodiment;

[0048] Fig.10 It is a schematic diagram illustrating the seventh best arrangement combination of the embodiment. DETAILED DESCRIPTION

[0049] See also Figure 1 , Figure 2 and Figure 4 An embodiment of the system for automatically stacking panels of the present invention is suitable for stacking a plurality of panels 11 cut from a plate 1 and not of a single size along a height direction Z. Each of the panels 11 includes two edges 111 spaced apart along a width direction Y. The system for automatically stacking panels comprises a platform 2, a pallet unit 3, a feeding unit 4, a discharge unit 5, a camera unit 6, and a control unit 7.

[0050] The platform 2 is used to carry the board 11. In this embodiment, the platform 2 is installed on a sawing machine (not shown), and is mainly used to carry a large-area board 1. The board 1 is cut into the board 11 on the platform 2.

[0051] In this embodiment, the pallet unit 3 includes a pallet 31. The pallet 31 has a periphery 311 that defines a stacking area 310. The stacking area 310 is formed on the top surface of the pallet 31. The stacking area 310 is used to stack the panels 11.

[0052] In this embodiment, the feeding unit 4 includes three feeding rail frames 41, three preparation rail frames 42 that can slide movably on the feeding rail frames 41, a driving group 43 installed on the feeding rail frames 41 and driving the preparation rail frames 42 to move, and multiple pads 44.

[0053] The feed rail frame 41 defines three feed rail slots 411 extending along the length direction X.

[0054] The material preparation rail frame 42 defines three material preparation rail grooves 421 extending along the height direction Z.

[0055] The driving group 43 has three pressure cylinders 431 installed on the feeding rail frame 41 and connected to the preparation rail frame 42. Each of the pressure cylinders 431 can drive the respective preparation rail frame 42 to move along the length direction X.

[0056] In this embodiment, the pads 44 are respectively rectangular prisms, and every three pads 44 are stacked in the preparation rail groove 421 along the height direction Z, and during the movement of the preparation rail frame 42, they fall from the preparation rail groove 421 into the vacant position of the supply rail groove 411 and are arranged in sequence along the length direction X.

[0057] The discharge unit 5 includes a base 51, a mechanical arm 52 rotatably mounted on the base 51 and movable relative to the pallet unit 3, a suction cup frame 53 rotatably mounted on the mechanical arm 52, and two suction cup groups 54 spaced apart and movably mounted on the suction cup frame 53. Each suction cup group 54 generates suction force to absorb the corresponding plate 11 through negative pressure. The mechanical arm 52 carries the corresponding pad 44 out of the feed rail groove 411 and discharges it in the stacking area 310.

[0058] The photographing unit 6 is installed on the mechanical arm 52, and is used to take an image of each of the panels 11. Each of the images may be one of the appearance and barcode of the respective panel 11.

[0059] The control unit 7 is electrically connected to the discharge unit 5, and is used to control the robot arm 52 to carry each of the panels 11 off the platform 2, discharge each of the panels 11 to the stacking area 310, and control the moving position of the suction cup group 54, and obtain the length and width t of each panel 11 according to each of the images. The control unit 7 defines 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 ),in:

[0060] The maximum width sum T = the sum of the widths t of all the panels 11 in the best arrangement + (the number of the panels 11 in the best arrangement × a reserved gap g). The reserved gap g is defined between two adjacent panels 11 or between one of the edges 111 and the periphery 311 of the pallet 31.

[0061] The remaining width S=the width W of the stacking area 310-the maximum width sum T of the previous round of optimal arrangement combinations.

[0062] The limited width L=the remaining width S+a preset value.

[0063] The compensation width C=the width of each of the spacers 44 .

[0064] The compensation gap G=(the width W of the stacking area 310-the sum of the widths t of all the plates 11 in the optimal arrangement and combination) / (the number of plates 11 in the optimal arrangement and combination+1).

[0065] 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 plate 11, the control unit 7 calculates the length and width t of the respective plate 11 through 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 plates 11 by scanning the barcode.

[0066] It is worth noting that, since the board 11 is cut according to the required size, the size of each board 11 is a known condition, and each barcode can be pasted on the corresponding board after cutting.

[0067] For the convenience of description, ten panels 11 are taken as an example below, and the panels 11 are numbered #1 to #10, where:

[0068] The stacking area 310 of the pallet 31 has the following dimensions: length×width W=1200 mm×860 mm.

[0069] Spacer 44: length×width=100 mm×100 mm.

[0070] Plate 11 numbered #1: length×width t=714 mm×200 mm.

[0071] Plate 11 numbered #2: length×width t=802 mm×500 mm.

[0072] Plate 11 numbered #3: length×width t=700 mm×210 mm.

[0073] Plate 11 No. #4: length×width t=714 mm×350 mm.

[0074] Plate 11 with number #5: length×width t=802 mm×310 mm.

[0075] Plate 11 No. #6: length×width t=800mm×400mm.

[0076] Plate 11 No. #7: length×width t=700mm×401mm.

[0077] Plate 11 No. #8: length×width t=700mm×600mm.

[0078] Plate 11 with number #9: length×width t=802mm×500mm.

[0079] Plate 11 No. #10: length×width t=714mm×500mm.

[0080] It is worth noting that the limited width L = the remaining width S + the preset value = (the width W of the stacking area 310 - the maximum width sum T of the previous round of optimal arrangement combinations) + the preset value. Taking the preset value = 60 mm and the reserved gap g = 30 mm as an example, if there is no plate 11 arranged on the stacking area 310, the remaining width S = 860-0 = 860 mm, and the limited width L = (860-0) + 60 = 920 mm.

[0081] See also Figure 1 and Figure 3 The method for automatically stacking panels of the present invention is to execute the following steps by the control unit of the embodiment:

[0082] Step S01 : controlling the robot arm 52 to drive the photographing unit 6 to scan the image of each of the plates 11 , and obtaining the length and width t of each of the plates 11 .

[0083] Step S02: Obtain the remaining width S available for arrangement. The remaining width S is the width W (initial value) of the stacking area 310 or the remaining width after the previous round of best arrangement and combination. The remaining width of the previous round of best arrangement and combination is the width of the stacking area 310 minus the maximum width sum T of the previous round of best arrangement and combination. The remaining width S will be described in the subsequent steps S09 and S12.

[0084] like Figure 4 If the stacking area 310 has been stacked with the plates 11 numbered #2 and #4 to form a stacking layer, the maximum width sum T = 500 + 350 + 60 = 910 mm, which exceeds the width of the stacking area 310, 860-910 = -50 mm. Although the plate 11 numbered #4 is partially suspended, it does not exceed the limit width L = 920 mm, so it can still form the stacking layer.

[0085] Step S03: Under the condition that the maximum width sum T of the optimal permutation combination is less than or equal to the limit width L, determine whether the optimal permutation combination can be found. If yes, proceed to step S04; if not, proceed to step S13, indicating that all optimal permutations and combinations are greater than the limit width L.

[0086] For example, if the panels 11 numbered #1 to #4 can be arranged in the stacking area 310 of the pallet 31, there are 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), (#1, #2, #4), (#1, #3, #4), (#2, #3, #4), (#1, #2, #3 ,#4); if the first arrangement of the stacked layers only arranges the plate 11 numbered #1, the maximum total width T=200+30=230mm; if the second arrangement only arranges the plate 11 numbered #1 and #2, the maximum total width T=200+500+2×30=760mm; if the third arrangement arranges the plate 11 numbered #1, #2, and #3, the maximum total width T=200+500+210+3×30=1000mm. Since the third arrangement is greater than the preset limit width L=920mm, the third arrangement will be excluded, and the maximum total width T of the second arrangement is greater than that of the first arrangement. Therefore, the second arrangement is preferred to the first arrangement, and so on, until the best arrangement combination of the plates 11 is arranged, the best arrangement combination for the next round is found.

[0087] Step S04: Is it determined whether the maximum width sum T of the optimal arrangement combination is ≦ the remaining width S? If yes, proceed to step S05; if not, proceed to step S09.

[0088] Step S05: Determine whether the maximum width sum T of the optimal arrangement combination + the compensation width C ≧ the remaining width S. If yes, proceed to step S06; if not, proceed to step S12.

[0089] Step S06: Is it determined whether the maximum width sum T of the optimal arrangement combination + the compensation width C ≦ the limit width L? If yes, proceed to step S07; if not, proceed to step S08.

[0090] Step S07: introducing the compensation width C, so that the width of the corresponding stacking layer = the maximum width sum T + the compensation width C, and then proceeding to step S09.

[0091] It is worth noting that the purpose of introducing the compensation width C is to add a pad block group to the corresponding stacking layer. In this embodiment, the pad block group has a pad block 44. It should be noted that the number of the pad block 44 is not limited to 1. In other variations of the embodiments, there may be 2 or 3 or more pad blocks 44 arranged along the length direction X, but it is not limited to this. The following two examples are used for illustration:

[0092] 1. If Figure 5 , the first optimal arrangement and combination is used to arrange the panels numbered #1 and #2 in the stacking area 310. At this time, the maximum width sum T of the optimal arrangement and combination is 200+500+2×30=760mm, the remaining width S is 860-0=860mm, and the limit width L is 860+60=920mm. In step S05, the maximum width sum T+the compensation width C is 760+100=860mm=the remaining width S, which meets the condition of step S05, and step S06 is performed. Since the maximum width sum T+the compensation width C is 860mm<the limit width (920mm), which meets the condition of step S06, step S07 is performed, thereby introducing the compensation width C so that the width of the stacked layer to be arranged is 760+100=860mm.

[0093] 2. If Figure 6 If the stacking area 310 is filled with the plate 11 numbered #4 to form a stacking layer, the remaining width S of the previous round of optimal arrangement combination is 860-(350+30)=480mm, and the limiting width L is 480+60=540mm. At this time, assuming that the next round of optimal arrangement and combination only has plate 11 numbered #6, the maximum width sum T of the optimal arrangement and combination is 400+30=430mm. In step S05, the maximum width sum T+the compensation width C=430+100=530mm>the remaining width S (480mm), which meets the condition of step S05, and step S06 is performed. Since the maximum width sum T+the compensation width C=530mm<the limiting width L (540mm), which meets the condition of step S06, step S07 is performed. Thus, the compensation width C is introduced to make the width of the discharged stacking layer = 350+400+100+60=910mm.

[0094] Step S08: introducing a compensation gap G to replace the reserved gap g, so that the panels 11 in the best arrangement and combination are separated by the compensation gap G (such as Figure 7 ), then proceed to step S09.

[0095] See also Figure 7Taking the first optimal arrangement and combination for arranging 5 plates 11 with a width of 135 mm on the stacking area 310 as an example, the maximum width sum T of the optimal arrangement and combination is 135×5+30×5=825 mm, the remaining width S is 860-0=860 mm, and the limiting width L is 860+60=920 mm. In step S05, the maximum width sum T+the compensation width C is 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 is 925 mm>the limiting width L (920 mm), which does not meet the condition of step S06, step S08 is performed, and the compensation gap G is introduced as (860-(135×5)) / (5+1)≈30.8 mm, thereby separating the plates 11 by the compensation gap G.

[0096] It is worth noting that, when arranging the optimal arrangement combination, the distance between one of the edges 111 of the first arranged panel 11 and the periphery 311 of the pallet 31 = 1 / 2 of the compensation gap G = 15.4 mm, and the distance between the other edge 111 of the last arranged panel 11 and the periphery 311 of the pallet 31 = 1 / 2 of the compensation gap G = 15.4 mm, so that in step S14, the panels 11 can be arranged along the width direction Y in a manner of vertically equidistant and horizontally centered.

[0097] Step S09: Arrange the panels 11 of the optimal arrangement and combination, or add the pads 44 according to the imported compensation width C at the same time, and after completing the optimal arrangement and combination, the control unit 7 resets the remaining width S to the width W (initial value) of the pallet 31 and stores it as the remaining width for the next round of stacking panels (ie, step S02), which means that this stacking layer has been discharged, and the panels that need to be arranged in the future will be stacked on this stacking layer to be arranged on the new stacking layer, and then proceed to step S10.

[0098] The panels 11 of the optimal arrangement and combination are arranged, or the spacers 44 added simultaneously are arranged in sequence along the width direction Y in a horizontally centered manner.

[0099] Step S10: Determine whether all the panels 11 have been placed. If yes, proceed to step S11; if no, return to step S02.

[0100] Step S11: End.

[0101] Step S12: Arrange the panels 11 of the optimal arrangement and combination, and after completing the optimal arrangement and combination, because there is a possibility of continuing to arrange panels on the same stacking layer, the remaining width S is not reset and the remaining width S is calculated and stored. The remaining width S is the width W of the stacking area 310 minus the maximum width sum T of the optimal arrangement and combination, so that the remaining width of the next round of optimal arrangement and combination is the remaining width after arranging the previous round of optimal arrangement and combination.

[0102] See also Figure 8 For example, if the plate 1 is cut into three plates 11 numbered #8, #9, and #10, the first round of optimal arrangement and combination is used to arrange the plate 11 numbered #8 on the stacking area 310, the maximum width sum T=600+30=630mm, the remaining width S=860-0=860mm, in step S04, the maximum width sum T=630mm<the remaining width (860mm), which meets the condition of step S04, and step S05 is performed. Since the maximum width sum T+the compensation width C=630+100=730mm<the remaining width S(860mm), it does not meet the condition of step S05. Therefore, step S12 is performed, and the plate 11 numbered #8 is directly arranged in the stacking area 310, but the remaining width S is not reset. At this time, the remaining width S of the stacking layer after arranging the first round of optimal combinations is S=860-630=230mm.

[0103] Thus, when the second best arrangement combination determines the remaining width S, 230 mm will be used as the remaining width.

[0104] Step S13: Is it determined whether the remaining width S of the optimal arrangement combination is ≧ 1 / 2 of the width W of the pallet 31? If yes, proceed to step S14; if not, proceed to step S15.

[0105] See also Fig. 9 For example, if the sheet 1 is cut into three panels 11 numbered #6, #9, and #10, the first round of optimal arrangement and combination is used to arrange the panel numbered #6 on the stacking area 310. At this time, the maximum width sum of the first round of optimal arrangement and combination T = 400 + 30mm = 430mm, and the remaining width when arranging the second round of optimal arrangement and combination = 860-430 = 430mm. Since only the panels numbered #9 and #10 have not been arranged, there are the following two arrangement conditions:

[0106] 1. Choose to add plate 11 numbered #9 or #10 in the remaining space mentioned above.

[0107] 2. None of the panels 11 meets the requirements, and the remaining space must be filled by the spacer 44 .

[0108] In step S03, the maximum total width T of the panels 11 numbered #9 or #10 is 500+30=530mm, and the limit width L=430+60=490mm. Therefore, the maximum total width T (530mm)>the limit width L (490mm). In the second round of optimal arrangement and combination, the remaining width S (430mm) of the panels 11 available for arrangement can no longer accommodate other panels, and the condition of step S03 is not met, so step S13 is performed.

[0109] Step S14: import 2× the compensation width C, so that the width of the corresponding stacking layer=the maximum width sum T+(the compensation width C×2), and then proceed to step S09.

[0110] See also Fig. 9 Taking the optimal arrangement and combination that meets the conditions of the aforementioned step S13 as an example, since the remaining width S (430 mm) = 1 / 2 (430 mm) of the width W of the pallet 31, it meets the conditions of step S13, and step S14 is performed. Therefore, before performing the second round of optimal arrangement and combination, 2× the compensation width C is first introduced, so that the width of the stacked layer is arranged = 430+100+100=630 mm.

[0111] Step S15: import 1× the compensation width C, so that the width of the corresponding stacking layer = the maximum width sum T + the compensation width C, and then proceed to step S09.

[0112] See also Fig.10 Taking the best arrangement combination that meets the conditions of the aforementioned step S13 as an example, if the plate numbered #6 is changed to the plate numbered #7 11, 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 stacking layer = 431 + 100 = 531mm.

[0113] It is worth noting that when the panels 11 are arranged, one edge 111 of the firstly arranged panel 11 is adjacent to and does not exceed the perimeter 311 of the stacking area 310, and if the pad 44 is added to the optimal arrangement combination, the pad 44 will be arranged first, and then the panels 11 will be arranged. Figure 5 For example, since the optimal arrangement combination will include the pad 44, when arranging, the pad 44 will be arranged first, and then the panels 11 with numbers #1 and #2 will be arranged. Figure 6For example, since there are two rounds of optimal arrangement combinations in this stacking layer, the first round of optimal arrangement combinations does not introduce the spacer 44. Therefore, when arranging the second round of optimal arrangement combinations, although the spacer 44 is also arranged first and then the plate 11 numbered #6, the spacer 44 will be located between the plate 11 numbered #4 and the plate 11 numbered #6. In this way, when forming a stacking layer, it can be ensured that only the last arranged plate 11 will exceed the perimeter 311 of the pallet 3, and the spacer 44 will not exceed the perimeter 311.

[0114] It should be noted that the number of the pallets 31 is not limited to 1. In other variations of the present embodiment, the number of the pallets 31 may be 2, 3 or 4 or more, which can increase the number of panels 11 that can be discharged during each automated operation. Preferably, the number of the pallets 31 is an even number, and they are distinguished by their area size, so that different pallets 31 can carry panels 11 of different size ranges. For example, the first pallet 31 only discharges panels 11 with a length greater than 849 mm, and the second pallet 31 discharges panels 11 with a length less than 849 mm, which is convenient for classification. Since those with ordinary knowledge in this field can infer the expanded details based on the above description, no further description is given.

[0115] Through the above description, the advantages of the above embodiments can be summarized as follows:

[0116] 1. The present invention can stack the panels 11 of non-single size along the height direction Z by automated operation through a special horizontal centering arrangement and an optimal arrangement and combination, thereby improving stacking stability and stacking efficiency.

[0117] 2. The present invention can add the pad 44 between adjacent stacking layers for stacking conditions that meet the conditions, so that no gaps are formed between adjacent stacking layers. In addition to supporting adjacent stacking layers, it can also effectively improve the stability of the stacking, thereby achieving the purpose of stacking the panels 11 by automated operations.

[0118] The above are merely embodiments of the present invention and should not be used to limit the scope of the present invention. That is, any simple equivalent changes and modifications made according to the claims and description of the present invention still fall within the scope of the present invention.

Claims

1. A method for automatically stacking panels, adapted to stack a plurality of panels cut from sheet materials and not of a single size in at least one stacking area along a height direction, and to form a plurality of stacking layers on the at least one stacking area, each of the panels comprising two edges spaced apart along a width direction, the at least one stacking area comprising a periphery, characterized in that: The method for automatically stacking panels is performed by a system for automatically stacking panels. (a) obtaining the length and width of each of the panels; (b) obtaining a remaining width available for arranging the plates, wherein the remaining width is the width of the stacking area or the remaining width = the width of the stacking area minus the sum of the maximum widths of the best arrangement combinations in the previous round; (c) according to a preset limiting width, finding the best arrangement and combination, the best arrangement and combination is determined by the maximum width sum of the best arrangement and combination, the maximum width sum is not greater than the limiting width, and is at least equal to the sum of the widths of all the plates of the best arrangement and combination, the limiting width = the remaining width + the preset value; (d) determining whether the sum of the maximum widths of the optimal arrangement and combination is not greater than the remaining width; if so, introducing at least one compensation width so that the width of the corresponding stacking layer = the sum of the maximum widths of the optimal arrangement and combination + the compensation width; if not, proceeding to step (e), wherein the at least one compensation width comes from the width of the pad block group along the width direction; (e) arranging the corresponding panels and the pad blocks in sequence according to the optimal arrangement and combination; and (f) Determine whether all the panels and the gasket block groups have been discharged. If so, end the discharge operation; if not, return to step (e).

2. The method for automatically stacking panels according to claim 1, characterized in that: In step (d), at least one compensation width is further introduced when the width of the corresponding stacking layer is not greater than the limiting width, and when arranging the plates and the pad block groups in step (e), the corresponding plates and the pad block groups are arranged in a horizontally centered manner along the width direction.

3. The method for automatically stacking panels according to claim 2, characterized in that: The step (d) comprises: (d1) determining whether the sum of the maximum widths of the optimal arrangement and combination is not greater than the remaining width, and if so, proceeding to step (d2); if not, proceeding to step (e), and further in step (e), after completing the optimal arrangement and combination, resetting the remaining width to the width of the stacking area; (d2) determining whether the sum of the maximum width of the optimal arrangement combination + the compensation width is not less than the remaining width, if yes, proceeding to step (d3), if no, proceeding to step (d5); (d3) determining whether the sum of the maximum width of the optimal arrangement combination + the compensation width is not greater than the limit width, if yes, proceeding to step (d4), if no, proceeding to step (e); (d4) introducing the compensation width so that the width of the corresponding stacking layer = the sum of the maximum widths of the optimal arrangement combination + the compensation width, and then proceeding to step (e), and further in step (e), arranging the plate members and the spacer block groups in a horizontally centered manner along the width direction; (d5) According to the optimal arrangement and combination, the panels are arranged in sequence in a horizontally centered manner along the width direction, and after the optimal arrangement and combination is completed, the remaining width of the next round of optimal arrangement and combination is the remaining width after the previous round of optimal arrangement and combination is arranged.

4. The method for automatically stacking panels according to claim 3, characterized in that: The method for automatically stacking plates also includes a step (d6) after step (d3) and between step (e): introducing a compensation gap so that the plates in the optimal arrangement combination are separated by the compensation gap, the compensation gap = (width of the stacking area - total width of all plates in the optimal arrangement combination) / (number of plates in the optimal arrangement combination + 1), and the distance between one edge of the first plate arranged in the optimal arrangement and the periphery of the stacking area = 1 / 2 of the compensation gap, and the distance between the other edge of the last plate arranged and the periphery of the stacking area = 1 / 2 of the compensation gap, and then in step (e), the plates are arranged in a horizontally centered manner along the width direction.

5. The method for automatically stacking panels according to claim 3, characterized in that: Step (c) comprises: (c1) determining whether the optimal permutation combination can be found, if yes, proceeding to step (d), if no, proceeding to step (c2); (c2) determining whether the remaining width is not less than 1 / 2 of the width of the stacking area, if yes, proceeding to step (c3), if no, proceeding to step (c4); (c3) introducing 2× the compensation width, so that the width of the corresponding stacking layer = the maximum width sum of the best arrangement combination in the previous round + (the compensation width×2), and then proceeding to step (e), and further in step (e), arranging the pad block group in a horizontally centered manner along the width direction; (c4) Import 1× the compensation width so that the width of the corresponding stacking layer = the sum of the maximum widths of the best arrangement combinations in the previous round + the compensation width, and then proceed to step (e). In step (e), the pad block group is arranged in a horizontally centered manner along the width direction.

6. The method for automatically stacking panels according to claim 2, characterized in that: When one of the edges of the firstly arranged plate is adjacent to and does not exceed the periphery of the stacking area, and the optimal arrangement combination is introduced into the compensation width and added to the pad group, the pad group will be arranged preferentially.

7. The method for automatically stacking panels according to claim 1, characterized in that: The maximum total width of the optimal arrangement combination = the total width of all the plates in the optimal arrangement combination + (the number of all the plates in the optimal arrangement combination × the reserved gap), and the reserved gap is defined between two adjacent plates, or between one of the edges and the periphery of the stacking area.

8. A system using the method for automatically stacking panels according to any one of claims 1 to 7, comprising: A platform, used for carrying the plate; A pallet unit, comprising at least one pallet, wherein the at least one pallet has the stacking area formed on a top surface; It is characterized in that The system 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 The control unit is electrically connected to the discharge unit, and is used to control the robot arm to carry each of the panels off the platform, and to discharge each of the panels into the stacking area.

9. The system for automatically stacking panels according to claim 8, characterized in that: The pallet unit includes at least two pallets, wherein an area of ​​one of the pallets is larger than an area of ​​another of the pallets.

10. The system for automatically stacking panels according to claim 8, characterized in that: The discharge unit also includes a suction cup frame rotatably mounted on the robot arm, and two suction cup groups spaced apart and movably mounted on the suction cup frame, each of the suction cup groups generating suction force for adsorbing the corresponding plate through negative pressure.

11. The system for automatically stacking panels according to claim 10, characterized in that: The system for automatically stacking panels also includes a photographing unit, which is installed on the robotic arm and is used to take an image of each panel to obtain the length and width of each panel.

12. The system for automatically stacking panels according to claim 11, characterized in that: Each of the images is one of the appearance and barcode of the respective board.

13. The system for automatically stacking panels according to claim 8, characterized in that: The system for automated stacking of panels also includes a feeding unit, which includes a feeding rail frame, a preparation rail frame that can slide movably on the feeding rail frame, and a driving group installed on the feeding rail frame and driving the preparation rail frame to move. The feeding rail frame defines at least one feeding rail groove for the pad block groups to be arranged in sequence, and the preparation rail frame defines at least one preparation rail groove for stacking the pad block groups along the height direction. During the movement of the preparation rail frame, each of the pad block groups falls from the at least one preparation rail groove into a vacant position of the at least one feeding rail groove, and the robotic arm carries the corresponding pad block group out of the at least one feeding rail groove and discharges it in the stacking area.

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