Realization method of palletizing and loading device control system

Abstract

The application discloses a palletizing and loading device control system implementation method, the palletizing and loading device control system comprises a CPU controller, the CPU controller is connected with a palletizing manipulator, a conveying line, a loading device main body, a laser radar system, a palletizing sensor system, a platform control system and an upper computer, the platform control system is installed in a control cabinet at the rear of the loading machine, the CPU controller controls the loading machine platform to realize front-back, left-right, up-down, angle and vehicle docking control effects, the laser radar system is installed on a gantry frame, the palletizing sensor system is installed on the conveying line, and the palletizing sensor system is a combination of a wine barrel detection sensor, a wine barrel positioning sensor, a wine barrel grabbing sensor and a wine barrel releasing sensor, and information is transmitted to the CPU controller to realize accurate control of the palletizing part.

Description

Technical Field

[0001] This invention relates to a method for implementing a control system for a palletizing and loading device specifically for beer kegs, belonging to the field of electromechanical control technology. Background Technology

[0002] Currently, most beer keg loading on the market is done manually, with very few using automated loading equipment. This results in high labor intensity, slow speed, and low production efficiency. Furthermore, existing loading control systems on the market are cumbersome to operate, have difficulty automatically grabbing and stacking round materials, are complex to automatically identify and align, and are difficult to advance the stacking process. The equipment is also complicated to operate, inconvenient to use, and difficult to integrate with upstream management. Summary of the Invention

[0003] The technical problem to be solved by this invention is to address the above-mentioned shortcomings by providing a control system and implementation method for a dedicated palletizing and loading device for beer kegs. This system enables automatic docking between the vehicle and the loading device, and can automatically design the palletizing pattern based on vehicle parameters, facilitating loading and adapting to various vehicle types. The automated palletizing process using robots eliminates the labor intensity of manual handling, better connects to the production line, and enables continuous and efficient production, thereby increasing capacity.

[0004] To solve the above technical problems, the present invention adopts the following technical solution:

[0005] The implementation method of the palletizing and loading device control system includes a CPU controller. The CPU controller is connected to the palletizing robot, conveyor line, loading machine body, lidar system, palletizing sensor system, platform control system and host computer. The platform control system is installed in the control cabinet at the rear of the loading machine. The CPU controller controls the platform of the loading machine body to achieve the control function of docking with the car in front and behind, left and right, up and down, and angle. The lidar system is installed on the gantry frame. The palletizing sensor system is installed on the conveyor line. The palletizing sensor system is a combination of barrel detection sensor, barrel positioning sensor, barrel gripping sensor and barrel release sensor. It transmits information to the CPU controller to achieve precise control of the palletizing part.

[0006] The implementation method is applied to the control system of the palletizing and loading device, and includes the loading process, the vehicle docking operation process, and the barrel palletizing operation process.

[0007] Furthermore, the loading process includes the following steps:

[0008] The operation process of this equipment begins with step S0001;

[0009] Step S0002: Begin program initialization;

[0010] Step S0003: According to production needs, enter the required operating parameters into the host computer. The parameters include the number of barrels to be loaded onto the truck and the license plate number.

[0011] Step S0004: Based on the production input order loading quantity and vehicle license plate number parameters, the width of the palletizing and loading device push plate is automatically adjusted. The CPU controller calculates the width based on the parameters input from the host computer. It retrieves the corresponding vehicle length, width, and height information from the vehicle information database based on the input license plate number, designs the vehicle stacking data on the host computer, and then obtains the data that the push plate needs to be adjusted. The motor is then controlled to adjust the width. During the adjustment process, the width to be adjusted is compared with the data from the distance sensors installed on both sides of the platform of the loading machine body, until the sensor-collected value and the calculated value are consistent. Once the range is reached, the push plate adjustment is completed.

[0012] Furthermore, the loading process also includes the following steps:

[0013] Step S0005: After the material arrives from the cargo conveyor line, the barrel detection sensor determines that the number of barrels to be grabbed has been reached. Then, the barrel positioning sensor performs positioning. The positioning is completed based on the signal from the barrel positioning sensor. A positioning completion signal is sent to the palletizing robot. The palletizing robot reaches the grabbing position and performs grabbing. The grabbing is completed based on the signal from the barrel grabbing sensor.

[0014] According to the production parameters, the palletizing robot automatically places the barrels onto the loading push plate. The robot, based on the number of barrels to be loaded and the stacking type obtained from the entered parameters, neatly places the barrels onto the palletizing and loading device push plate, and judges that the stacking is complete based on the barrel release sensor signal.

[0015] The automatic program of the palletizing robot will determine again whether the palletizing of the whole vehicle is completed. If not, the palletizing process will be restarted. If the determination is successful, the palletizing robot will send a whole vehicle palletizing signal to the CPU controller.

[0016] Step S0006: Wait for the robot to complete the palletizing of the entire vehicle. The robot returns to the origin and waits. After the robot completes the palletizing, it automatically returns to the starting position of the palletizing and waits for the next palletizing.

[0017] Furthermore, the loading process also includes the following steps:

[0018] Step S0007: After the vehicle is in place, the vehicle is automatically docked with the palletizing and loading device. When the vehicle is in place, the deceleration sensor signal installed at the front of the platform of the loading machine body causes the vehicle to decelerate to achieve more accurate positioning. When the vehicle stop sensor signal installed at the front of the platform of the loading machine body is valid, the vehicle stops and reaches the positioning position. After the vehicle is in place, the palletizing is completed. The palletizing and loading device will automatically dock the vehicle with the palletizing and loading device according to the laser radar sensor data.

[0019] Step S0008: After the vehicle docking is completed, the palletizing and loading device pushes the barrels into the carriage. After the vehicle is in place, the palletizing is completed. The palletizing and loading device will automatically push the palletizing and loading device push plate loaded with barrels into the carriage. The push plate motor will push the push plate full of barrels forward. The pushing will stop after the positioning sensors installed at the front end of the push plate and on both sides of the front end of the push plate are valid.

[0020] Furthermore, the loading process also includes the following steps: Step S0009, the gantry stop is lowered, and the gantry stop falls from above the gantry to the position of the limit position sensor installed at the lower end of the gantry, that is, the correct position of the barrel blocking;

[0021] In step S0010, the gantry barrier extends to block the wine barrel. The CPU controller calculates the extension distance of the gantry barrier by calling the vehicle information database parameters through the license plate number input by the host computer and the set stack type parameters. The motor of the gantry barrier executes according to the calculated data to push the wine barrel to the front of the vehicle, keeping the wine barrel in the vehicle and waiting for the loading push plate to retract.

[0022] Step S0011: The push plate of the palletizing and loading device retracts. After receiving the signal from the push plate front end positioning sensor, the CPU controller controls the push plate motor to reverse and retract the push plate, leaving the wine barrel inside the vehicle to achieve the loading purpose.

[0023] In step S0012, the entire palletizing and loading device platform returns to its original position, awaiting the next cycle.

[0024] Furthermore, the vehicle docking operation process includes the following steps:

[0025] The vehicle docking process begins with step S0021.

[0026] Step S0022: Collect vehicle angle data through the lidar system;

[0027] Step S0023: Correct the angle between the loading machine body and the vehicle based on the collected angle. The angle data value collected by the lidar is transmitted to the CPU controller, and the CPU controller calculates the rotation distance of the rotating device through a pre-set angle-to-distance function to achieve angle adjustment.

[0028] Step S0024: Collect the left and right distances of the vehicle using a lidar system;

[0029] Step S0025: Based on the left and right distances collected by the LiDAR system, the alignment of the loading machine body with the vehicle is corrected. The left and right data values ​​of the loading machine body corresponding to the vehicle collected by the LiDAR are transmitted to the CPU controller. The CPU controller then calculates the distance moved by the left and right equipment using the left and right data function to achieve left and right adjustment.

[0030] Step S0026: Collect the distance between the front and rear of the vehicle using a lidar system;

[0031] Step S0027: Based on the front and rear distance collected by the lidar system, adjust the appropriate distance between the loading machine body and the vehicle. The front and rear data values ​​of the loading machine body corresponding to the vehicle collected by the lidar are transmitted to the CPU controller. Based on the distance set by the host computer, the distance moved by the forward equipment is calculated by the front and rear distance corresponding function of the CPU controller to realize the adjustment of the distance between the loading machine body and the vehicle.

[0032] Step S0028: The vertical distance of the vehicle is collected by the ranging system installed at the front end of the loading machine.

[0033] Step S0029: Collect the vertical distance of the vehicle through the ranging system, and adjust the loading machine body to be parallel to the vehicle height;

[0034] Step S0030: Adjust the height of the loading machine body and the vehicle in real time during the loading process using the ranging system to keep them consistent.

[0035] Furthermore, the implementation method also includes a barrel stacking process, which includes the following steps:

[0036] The process of stacking barrels begins with step S0031.

[0037] Step S0032: The barrel is transported to the palletizing robot gripping position by the conveyor chain. The front end of the palletizing robot is the gripping position. The barrel detection sensor determines whether the barrel is in the gripping position and the number of barrels. The data is compared with the data calculated by the CPU controller. If the data is consistent, the barrel is positioned and blocked.

[0038] Step S0033: Wait for the barrels to meet the required number of grabs for one row;

[0039] Step S0034: The palletizing robot moves to the gripping position according to the position taught in the program;

[0040] Step S0035: The end effector of the palletizing robot clamps the barrels.

[0041] Step S0036: According to the position taught in the program, drive the palletizing robot to move to the barrel unloading position;

[0042] Step S0037: Release the grippers of the palletizing robot;

[0043] Step S0038: The palletizing robot returns to the barrel grabbing waiting position;

[0044] Step S0039: Wait for one row of grippers to complete, and the palletizing robot moves forward a certain distance. The CPU controller automatically calculates the pallet type and the walking distance of the palletizing robot based on the vehicle parameters.

[0045] Step S0040: Wait for the entire vehicle to be stacked.

[0046] The present invention adopts the above technical solution and has the following technical effects compared with the prior art:

[0047] 1. Using lidar to achieve automatic docking between vehicles and palletizing and loading devices eliminates the complicated manual docking process, enabling automatic matching and docking between palletizing and loading devices and different models of vehicles upstream, and is simple to operate.

[0048] 2. Using robots to automate the palletizing process eliminates the labor intensity of manual handling. During the palletizing process, the beer kegs can be automatically aligned, making the kegs neatly arranged and less prone to breakage.

[0049] 3. The palletizing and loading device automatically pushes the wine barrels and adapts to changes in vehicle height, improving loading efficiency.

[0050] 4. It can better connect with the production line, enabling continuous and efficient production and increasing capacity.

[0051] 5. It can automatically design the palletizing pattern based on vehicle parameters, making loading easier and more adaptable to various vehicle types.

[0052] 6. It can improve the flexibility and versatility of loading operations, and realize intelligent and automated palletizing and loading.

[0053] 7. It can be completely operated without human intervention, adapting to loading in complex environments without causing harm to workers.

[0054] 8. The adoption of a host computer control mode makes operation simpler and more intuitive, improves the efficiency of data recording and storage, facilitates connection with other equipment, and realizes unified management of the production network. Attached Figure Description

[0055] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0056] Figure 1 and Figure 2 This is a schematic diagram of the palletizing and loading device in this invention;

[0057] Figure 3 This is a structural block diagram of the control system in this invention;

[0058] Figure 4 This is a flowchart of the loading process in this invention;

[0059] Figure 5 This is a flowchart of the docking process between the loading device and the vehicle in this invention;

[0060] Figure 6 This is a flowchart of the operation process of stacking wine barrels in this invention. Detailed Implementation

[0061] Example 1, such as Figure 1 and Figure 2 As shown, the palletizing and loading device includes a palletizing robot 1, a conveyor line 2, a loading machine body 3, a pusher assembly 4, a gantry block 5, and a multi-directional motion assembly 6. The conveyor line 2 and the loading machine body 3 are arranged in parallel. The palletizing robot 1 is located at one end of the conveyor line 2. The bottom of the palletizing robot 1 is equipped with a servo motor and gears. The conveyor line 2 is equipped with a rack and pinion along the conveying direction. The palletizing robot 1 moves relative to the conveyor line 2 through servo motor drive and rack and pinion transmission. The pusher assembly 4 is installed on the loading machine body 3. A pusher chain is installed on the loading machine body 3. The pusher assembly 4 can move along the pusher chain. The multi-directional motion assembly 6 is installed at the bottom of the loading machine body 3. The gantry block 5 is installed at one end of the loading machine body 3, at the same end as the palletizing robot 1.

[0062] The palletizing robot 1 is used to grab the barrels and place them on the pusher assembly 4 to complete the palletizing operation.

[0063] The pusher assembly 4 is used to carry the barrels and, together with the loading machine, transports the barrels to the cargo compartment of the van to complete the loading operation. The overall structure is flat and stable, the surface is smooth and wear-resistant, the whole machine moves smoothly, and it can automatically adjust its size according to the width of the barrels to accommodate barrels of different widths.

[0064] The conveyor line 2 is used to transport wine barrels to the palletizing robot and align them to ensure that the gripper can grasp them smoothly.

[0065] The main body 3 of the loading machine is a key component that connects the upper and lower parts of the loading machine, and at the same time provides power for the movement of the push plate, ensuring the overall stability of the system.

[0066] The gantry stop 5 is used to push the barrel into the van after the push plate assembly 4 pushes it in. During the retraction of the push plate assembly 4, the gantry stop blocks the barrel to facilitate the retraction of the push plate assembly 4. At the same time, the forward propulsion device will press the loaded barrel tightly to achieve the purpose of stable transportation.

[0067] The multi-directional motion component 6 is responsible for the movement of the loading machine and the van during the docking and alignment process. With the cooperation of various sensors, it accurately aligns the loading machine and the van. It can simultaneously and automatically realize the lifting, forward and backward, left and right and rotation of the loading machine in four directions to meet the applicability of the loading machine in different situations during the alignment process, so as to ensure that the push plate and wine barrel are smoothly pushed into the van and complete the loading operation.

[0068] like Figure 3 As shown, the control system of the palletizing and loading device includes a CPU controller. The CPU controller is connected to the palletizing robot 1, the conveyor line 2, the loading machine body 3, the lidar system, the palletizing sensor system, the platform control system, and the host computer. The platform control system is installed in the control cabinet at the rear of the loading machine. The CPU controller controls the platform of the loading machine body to achieve the control function of docking with the vehicle in front and behind, left and right, up and down, and angle. The lidar system is installed on the gantry frame 5. The palletizing sensor system is installed on the conveyor line 2. The palletizing sensor system is a combination of barrel detection sensors, barrel positioning sensors, barrel gripping sensors, and barrel release sensors, which transmit information to the CPU controller to achieve precise control of the palletizing part.

[0069] like Figure 4 As shown, the implementation method of the control system for the dedicated palletizing and loading device for beer kegs includes a loading process, which includes the following steps:

[0070] The operation process of this equipment begins with step S0001;

[0071] Step S0002: Begin program initialization;

[0072] Step S0003: According to production needs, enter the required operating parameters into the host computer. The parameters include the number of barrels to be loaded onto the truck and the license plate number.

[0073] Step S0004: Based on the production input order loading quantity and vehicle license plate number parameters, the width of the palletizing and loading device push plate is automatically adjusted. The CPU controller calculates the width based on the parameters input from the host computer. According to the input license plate number, it calls the corresponding vehicle length, width and height information from the vehicle information database. Then, the vehicle stacking data is designed on the host computer, and the data that needs to be adjusted by the push plate is obtained. The motor is controlled to adjust the width. During the adjustment process, the width to be adjusted according to the production parameters is compared with the data of the distance sensors installed on both sides of the platform of the loading machine body until the sensor collection value and the calculated value are consistent. After the range is reached, the push plate adjustment is completed.

[0074] Step S0005: After the material arrives from the cargo conveyor line, the barrel detection sensor determines that the number of barrels to be grabbed has been reached. Then, the barrel positioning sensor performs positioning. The positioning is completed based on the signal from the barrel positioning sensor. A positioning completion signal is sent to the palletizing robot. The palletizing robot reaches the grabbing position and performs grabbing. The grabbing is completed based on the signal from the barrel grabbing sensor.

[0075] According to the production parameters, the palletizing robot automatically places the barrels onto the loading push plate. The robot, based on the number of barrels to be loaded and the stacking type obtained from the entered parameters, neatly places the barrels onto the palletizing and loading device push plate, and judges that the stacking is complete based on the barrel release sensor signal.

[0076] The automatic program of the palletizing robot will determine again whether the palletizing of the whole vehicle is completed. If not, the palletizing process will be restarted. If the determination result is yes, the palletizing robot will send a whole vehicle palletizing signal to the CPU controller.

[0077] Step S0006: Wait for the robot to complete the palletizing of the entire vehicle. The robot returns to the origin and waits. After the robot completes the palletizing, it automatically returns to the starting position of the palletizing and waits for the next palletizing.

[0078] Step S0007: After the vehicle is in place, the vehicle is automatically docked with the palletizing and loading device. When the vehicle is in place, the deceleration sensor signal installed at the front of the platform of the loading machine body will cause the vehicle to decelerate and achieve more accurate positioning. When the vehicle stop sensor signal installed at the front of the platform of the loading machine body is valid, the vehicle stops and reaches the position. After the vehicle is in place, the palletizing is completed. The palletizing and loading device will automatically dock with the vehicle based on the laser radar sensor data.

[0079] Step S0008: After the vehicle docking is completed, the palletizing and loading device pushes the barrels into the carriage. After the vehicle is in place, the palletizing is completed. The palletizing and loading device will automatically push the palletizing and loading device push plate loaded with barrels into the carriage. The push plate motor will push the push plate full of barrels forward. The pushing will stop after the positioning sensors installed at the front end of the push plate and on both sides of the front end of the push plate are valid.

[0080] Step S0009: The gantry stop is lowered. The gantry stop falls from above the gantry frame to the position of the limit position sensor installed at the lower end of the gantry, which is the correct position of the barrel blocking the way.

[0081] In step S0010, the gantry barrier extends to block the wine barrel. The CPU controller calculates the extension distance of the gantry barrier by calling the vehicle information database parameters through the license plate number input by the host computer and the set stack type parameters. The motor of the gantry barrier executes according to the calculated data to push the wine barrel to the front of the vehicle, keeping the wine barrel in the vehicle and waiting for the loading push plate to retract.

[0082] Step S0011: The push plate of the palletizing and loading device retracts. After receiving the signal from the push plate front end positioning sensor, the CPU controller controls the push plate motor to reverse and retract the push plate, leaving the wine barrel inside the vehicle to achieve the loading purpose.

[0083] In step S0012, the entire palletizing and loading device platform returns to its original position, awaiting the next cycle.

[0084] As shown in Figure 5, the implementation method further includes a vehicle docking process, which includes the following steps:

[0085] The vehicle docking process begins with step S0021.

[0086] Step S0022: Collect vehicle angle data through the lidar system;

[0087] Step S0023: Correct the angle between the loading machine body and the vehicle based on the collected angle. The angle data value collected by the lidar is transmitted to the CPU controller, and the CPU controller calculates the rotation distance of the rotating device through a pre-set angle-to-distance function to achieve angle adjustment.

[0088] Step S0024: Collect the left and right distances of the vehicle using a lidar system;

[0089] Step S0025: Based on the left and right distances collected by the LiDAR system, the alignment of the loading machine body with the vehicle is corrected. The left and right data values ​​of the loading machine body corresponding to the vehicle collected by the LiDAR are transmitted to the CPU controller. The CPU controller then calculates the distance moved by the left and right equipment using the left and right data function to achieve left and right adjustment.

[0090] Step S0026: Collect the distance between the front and rear of the vehicle using a lidar system;

[0091] Step S0027: Based on the front and rear distance collected by the lidar system, adjust the appropriate distance between the loading machine body and the vehicle. The front and rear data values ​​of the loading machine body corresponding to the vehicle collected by the lidar are transmitted to the CPU controller. Based on the distance set by the host computer, the distance moved by the forward equipment is calculated by the front and rear distance corresponding function of the CPU controller to realize the adjustment of the distance between the loading machine body and the vehicle.

[0092] Step S0028: The vertical distance of the vehicle is collected by the ranging system installed at the front end of the loading machine.

[0093] Step S0029: Collect the vertical distance of the vehicle through the ranging system, and adjust the loading machine body to be parallel to the vehicle height;

[0094] Step S0030: Adjust the height of the loading machine body and the vehicle in real time during the loading process using the ranging system to keep them consistent.

[0095] like Figure 6 As shown, the implementation method also includes a barrel stacking process, which includes the following steps:

[0096] The process of stacking barrels begins with step S0031.

[0097] Step S0032: The barrel is transported to the palletizing robot gripping position by the conveyor chain. The front end of the palletizing robot is the gripping position. The barrel detection sensor determines whether the barrel is in the gripping position and the number of barrels. The data is compared with the data calculated by the CPU controller. If the data is consistent, the barrel is positioned and blocked.

[0098] Step S0033: Wait for the barrels to meet the required number of grabs for one row;

[0099] Step S0034: The palletizing robot moves to the gripping position according to the position taught in the program;

[0100] Step S0035: The end effector of the palletizing robot clamps the barrels.

[0101] Step S0036: According to the position taught in the program, drive the palletizing robot to move to the barrel unloading position;

[0102] Step S0037: Release the grippers of the palletizing robot;

[0103] Step S0038: The palletizing robot returns to the barrel grabbing waiting position;

[0104] Step S0039: Wait for one row of grippers to complete, and the palletizing robot moves forward a certain distance. The CPU controller automatically calculates the pallet type and the walking distance of the palletizing robot based on the vehicle parameters.

[0105] Step S0040: Wait for the entire vehicle to be stacked.

[0106] The description of this invention is given for illustrative and descriptive purposes only and is not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of the invention and to enable those skilled in the art to understand the invention and design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A method for implementing a control system for a palletizing and loading device, characterized in that: The palletizing and loading device control system includes a CPU controller, which connects to the palletizing robot, conveyor line, loading machine body, lidar system, palletizing sensor system, platform control system, and host computer. The platform control system is installed in the control cabinet at the rear of the loading machine body. The CPU controller controls the platform of the loading machine body to adjust forward, backward, left, right, up, down, and angle to dock the loading machine body with the vehicle. The lidar system is installed on the gantry frame, and the palletizing sensor system is installed on the conveyor line. The palletizing sensor system is a combination of barrel detection sensors, barrel positioning sensors, barrel gripping sensors, and barrel release sensors, which transmit information to the CPU controller to achieve precise control of the palletizing part. The implementation method is applied to the control system of the palletizing and loading device, and the implementation method includes the loading process, the vehicle docking operation process, and the barrel palletizing operation process. The loading process includes the following steps: The loading process begins with step S0001. Step S0002: Begin program initialization; Step S0003: According to production needs, enter the required operating parameters into the host computer. The parameters include the number of barrels to be loaded onto the truck and the license plate number. Step S0004: Based on the production input order loading quantity and vehicle license plate number parameters, the width of the push plate of the palletizing and loading device is automatically adjusted. The CPU controller calculates the width based on the parameters input from the host computer. According to the input license plate number, the corresponding vehicle length, width, and height information is retrieved from the vehicle information database. The vehicle stacking data is then designed on the host computer to obtain the data that the push plate needs to be adjusted. The motor is then controlled to adjust the width. During the adjustment process, the width to be adjusted according to the production parameters is compared with the data from the distance sensors installed on both sides of the platform of the loading machine body until the collected value of the distance sensor matches the calculated value. The push plate adjustment is then completed. Step S0005: After the material arrives from the cargo conveyor line, the barrel detection sensor determines that the number of barrels to be grabbed has been reached. Then, the barrel positioning sensor performs positioning. The positioning is completed based on the signal from the barrel positioning sensor. A positioning completion signal is sent to the palletizing robot. The palletizing robot reaches the grabbing position and performs grabbing. The grabbing is completed based on the signal from the barrel grabbing sensor. According to the production parameters, the palletizing robot automatically places the barrels onto the push plate. Based on the number of barrels to be loaded and the stacking type obtained from the entered parameters, the palletizing robot neatly places the barrels onto the push plate and determines that the stacking is complete based on the barrel release sensor signal. The automatic program of the palletizing robot will determine again whether the palletizing of the whole vehicle is completed. If the result is no, the palletizing process will be restarted. If the result is yes, the palletizing robot will send a whole vehicle palletizing signal to the CPU controller. Step S0006: Wait for the palletizing robot to complete the palletizing of the entire vehicle. After the palletizing robot completes the palletizing, it will automatically return to the starting position and wait for the next palletizing. The process of stacking barrels includes the following steps: The operation process for stacking barrels begins with step S0031. Step S0032: The barrel is transported to the palletizing robot gripping position by the conveyor chain. The front end of the palletizing robot is the gripping position. The barrel detection sensor determines whether the barrel is in the gripping position and the number of barrels. The data is compared with the data calculated by the CPU controller. If the data is consistent, the barrel is positioned and blocked. Step S0033: Wait for the barrels to meet the required number of grabs for one row; Step S0034: The palletizing robot moves to the gripping position according to the position taught in the program; Step S0035: The gripper at the end of the palletizing robot clamps the wine barrel; Step S0036: According to the position taught in the program, drive the palletizing robot to move to the barrel unloading position; Step S0037: Release the grippers of the palletizing robot; Step S0038: The palletizing robot returns to the barrel grabbing waiting position; Step S0039: Wait for one row of grippers to complete, the palletizing robot moves forward, and the CPU controller automatically calculates the pallet type and the walking distance of the palletizing robot based on the vehicle parameters. Step S0040: Wait for the entire vehicle to be stacked.

2. The implementation method of the palletizing and loading device control system as described in claim 1, characterized in that: The loading process also includes the following steps: Step S0007: After the vehicle is in place, the vehicle is automatically docked with the palletizing and loading device. When the vehicle is in place, the vehicle is decelerated according to the deceleration sensor signal installed at the front of the platform of the loading machine to achieve more accurate positioning. When the vehicle stop sensor signal installed at the front of the platform of the loading machine is valid, the vehicle stops and reaches the position. After the vehicle is in place, the vehicle is automatically docked with the palletizing and loading device according to the laser radar sensor data. Step S0008: After the vehicle docking is completed, the palletizing and loading device pushes the barrels into the carriage. After the vehicle is in place, the palletizing and loading device will automatically push the push plate loaded with barrels into the carriage, and the push plate's actuator motor will push the push plate full of barrels forward.

3. The implementation method of the palletizing and loading device control system as described in claim 2, characterized in that: The loading process also includes the following steps: Step S0009, the gantry stop is lowered, and the gantry stop falls from above the gantry to the position of the limit position sensor installed at the lower end of the gantry, which is the correct position where the barrel is blocked. In step S0010, the gantry barrier extends to block the wine barrel. The CPU controller calculates the extension distance of the gantry barrier by calling the vehicle information database parameters through the license plate number input by the host computer and the set stack type parameters. The motor of the gantry barrier executes according to the calculated data. The gantry barrier pushes the wine barrel to the front of the vehicle, keeping the wine barrel inside the vehicle, and waits for the push plate to retract. Step S0011: Push plate retracts. After receiving the signal from the push plate front end positioning sensor, the CPU controller controls the push plate's execution motor to reverse and retract the push plate, leaving the wine barrel inside the vehicle to achieve the purpose of loading the vehicle. In step S0012, the entire palletizing and loading device is returned to its original position, ready for the next cycle.

4. The implementation method of the palletizing and loading device control system as described in claim 1, characterized in that: The vehicle docking operation process includes the following steps: The vehicle docking process begins with step S0021. Step S0022: Collect vehicle angle data through the lidar system; Step S0023: Correct the angle between the loading machine body and the vehicle based on the collected angle; Step S0024: Collect the left and right distances of the vehicle using a lidar system; Step S0025: Based on the left and right distances of the vehicle collected by the lidar system, correct the alignment of the loading machine body with the vehicle's left and right sides; Step S0026: Collect the distance between the front and rear of the vehicle using a lidar system; Step S0027: Adjust the distance between the loading machine and the vehicle based on the distance between the front and rear of the vehicle collected by the lidar system. Step S0028: The vertical distance of the vehicle is collected by the ranging system installed at the front end of the loading machine. Step S0029: Adjust the loading machine body to be parallel to the vehicle height by using the vertical distance of the vehicle collected by the ranging system; Step S0030: Adjust the height of the loading machine body and the vehicle in real time during the loading process using the ranging system to keep them consistent.

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