Methods, apparatus, machinery, and readable storage media for stacking interlocking boxes

Abstract

This invention relates to the field of logistics equipment, and provides a method, apparatus, machine, and readable storage medium for palletizing mating boxes. The palletizing method includes: controlling the palletizing machine to grab the mating box and move it above the mating box of the Nth layer, where N is an integer greater than 2; when the horizontal coordinate of the vertical center line of the mating box is the same as the horizontal coordinate of the center point of the stacking position, controlling the mating box to descend to a first preset height, and controlling the palletizing machine to move the mating box horizontally so that the mating structure of the bottom of the mating box combines with the mating structure on the lid of the mating box of the (N-1)th layer, and the mating box and the mating box of the (N-1)th layer slide together through the interlocking between the mating structures, thereby completing the stacking of the Nth layer of boxes and achieving the aligned stacking of the mating boxes.

Description

Technical Field

[0001] This invention relates to the field of logistics equipment, and more specifically, to a method for palletizing mating boxes, a palletizing device for mating boxes, a readable storage medium, and a palletizing machine. Background Technology

[0002] In the field of logistics automation, interlocking boxes are typically stacked automatically using stacking machinery.

[0003] However, in actual use, abnormal stacking of the lower-level boxes can easily occur. This usually happens when the interlocking structure of the upper and lower boxes fails to fit properly, resulting in misalignment. If the lower-level boxes are misaligned, subsequent layers will also become misaligned, causing the entire stack to become severely skewed. This skewness can lead to instability in the stack, eventually causing it to collapse.

[0004] Therefore, overcoming the aforementioned technical deficiencies has become an urgent technical problem to be solved. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0006] Therefore, the first aspect of the present invention proposes a stacking method for interlocking boxes.

[0007] A second aspect of the present invention provides a stacking device for interlocking mother-daughter boxes.

[0008] A third aspect of the present invention provides a stacking device for interlocking mother-daughter boxes.

[0009] A fourth aspect of the present invention provides a readable storage medium.

[0010] The fifth aspect of the present invention provides a palletizing machine.

[0011] In view of this, a first aspect of the present invention provides a method for stacking mat-and-child interlocking boxes, applied to a stacking machine. The top and bottom surfaces of the mat-and-child interlocking boxes are provided with mat-and-child interlocking structures. The stacking method includes: controlling the stacking machine to grasp the mat-and-child interlocking box and move it above the mat-and-child interlocking box of the Nth layer, where N is an integer greater than 2; when the horizontal coordinate of the vertical center line of the mat-and-child interlocking box is the same as the horizontal coordinate of the center point of the stacking position, controlling the mat-and-child interlocking box to descend to a first preset height; controlling the stacking machine to move the mat-and-child interlocking box horizontally, so that the mat-and-child interlocking structure at the bottom of the mat-and-child interlocking box combines with the mat-and-child interlocking structure on the lid of the (N-1)th layer of mat-and-child interlocking boxes, and the mat-and-child interlocking box and the (N-1)th layer of mat-and-child interlocking boxes slide together through the interlocking between the mat-and-child interlocking structures, completing the stacking of the Nth layer of boxes; repeating the above steps until the stacking of the mat-and-child interlocking boxes is completed.

[0012] In addition, the stacking method for the interlocking boxes in the above-mentioned technical solution provided by the present invention may also have the following additional technical features:

[0013] In some technical solutions, optionally, before controlling the palletizing machinery to grasp the mating boxes and move them above the mating boxes of the Nth layer, the palletizing method further includes: obtaining the horizontal coordinates of the center point of the stacking position and the height of the mating boxes; controlling the palletizing machinery to grasp the mating boxes and move them to the stacking position; releasing the mating boxes to complete the stacking of the first layer of mating boxes when the horizontal coordinates of the vertical center line of the mating boxes are the same as the horizontal coordinates of the center point of the stacking position; controlling the palletizing machinery to grasp the mating boxes and move them above the mating boxes of the first layer; controlling the mating boxes to descend to a second preset height and releasing them to complete the stacking of the second layer of mating boxes when the horizontal coordinates of the vertical center line of the mating boxes are the same as the horizontal coordinates of the center point of the stacking position.

[0014] In some technical solutions, optionally, the step of controlling the palletizing machinery to move the mating boxes horizontally includes:

[0015] The control mechanism moves the mating housing from its current position a first preset distance in a first direction, then a second preset distance in a second direction, and finally returns to its current position; and / or

[0016] The control unit moves the mating box from its current position a first preset distance in a third direction, then moves it a second preset distance in a fourth direction, and then returns to its current position. The first direction is opposite to the second direction, the third direction is opposite to the fourth direction, and the first direction and the third direction are not parallel.

[0017] In some technical solutions, optionally, the formula for calculating the first preset distance is: δ=b+a, and the formula for calculating the second preset distance is: ε=2×[b+a];

[0018] Where b is the repeatability error, b=5, and a ranges from 1 to 3, with the unit of calculation being millimeters.

[0019] In some technical solutions, optionally, the second preset height is equal to the box height, and the first preset height is equal to the sum of the box height and the reserved tolerance height.

[0020] In some technical solutions, optionally, the formula for calculating the reserved fault tolerance height is: Δ=ha;

[0021] Where Δ is the reserved fault tolerance height, h is the height of the mother-child interlocking structure, and the value of a ranges from 1 to 3. The unit of calculation is millimeters.

[0022] The second aspect of this invention provides a palletizing device for interlocking boxes, applied to palletizing machinery. The top and bottom surfaces of the interlocking boxes are provided with interlocking structures. The palletizing device includes: a control module, which controls the palletizing machinery to grasp the interlocking boxes and move them above the Nth layer of interlocking boxes, where N is an integer greater than 2; when the horizontal coordinate of the vertical center line of the interlocking box is the same as the horizontal coordinate of the center point of the stacking position, the control module lowers the interlocking box to a first preset height, and controls the palletizing machinery to move the interlocking box horizontally, so that the interlocking structure at the bottom of the interlocking box combines with the interlocking structure on the lid of the (N-1)th layer of interlocking boxes. The interlocking structures cause the interlocking boxes and the (N-1)th layer of interlocking boxes to slide, completing the stacking of the Nth layer of boxes; the above steps are repeated until the stacking of the interlocking boxes is completed.

[0023] In some embodiments, optionally, the palletizing device for mating boxes further includes: an acquisition module, configured to acquire the horizontal coordinates of the center point of the stacking position and the height of the mating box; a control module, configured to control the palletizing machinery to grasp the mating box and move it to the stacking position; when the horizontal coordinates of the vertical center line of the mating box are the same as the horizontal coordinates of the center point of the stacking position, release the mating box to complete the stacking of the first layer of mating boxes; the control module is also configured to control the palletizing machinery to grasp the mating box and move it above the first layer of mating boxes; when the horizontal coordinates of the vertical center line of the mating box are the same as the horizontal coordinates of the center point of the stacking position, control the mating box to descend to a second preset height and release the mating box to complete the stacking of the second layer of mating boxes.

[0024] A third aspect of the present invention provides a palletizing device for mating boxes, comprising: a memory storing a program or instructions; and a processor connected to the memory, wherein the processor executes the program or instructions to implement the palletizing method for mating boxes as described in any of the above technical solutions.

[0025] The fourth aspect of the present invention provides a readable storage medium on which a program or instructions are stored, and when the program or instructions are executed by a processor, the steps of the stacking method of the mother-daughter interlocking box as described in any of the above technical solutions are implemented.

[0026] The fifth aspect of the present invention provides a palletizing machine, comprising: a palletizing device as provided in the second aspect of the present application; and / or a palletizing device as provided in the third aspect of the present application; and / or a readable storage medium as described in the above technical solutions.

[0027] In some technical solutions, the palletizing machinery may optionally include: a robotic arm, the robotic arm including a gripping part for gripping or releasing mating boxes; and a motion mechanism connected to the robotic arm, the motion mechanism being able to drive the robotic arm to lift, move and translate.

[0028] Beneficial technical effects of the present invention:

[0029] 1. The interlocking box design in this application is primarily for molded packaging boxes and turnover boxes made of plastic or PVC with regular shapes, featuring an interlocking structure between the bottom and the lid. Applying the palletizing method provided in this application can effectively solve most problems of unevenness in mechanized automated palletizing, eliminating the need for frequent changes to palletizing coordinate parameters, easily achieving zero-human intervention, simplifying the production process, and optimizing resource allocation.

[0030] 2. The palletizing method provided in this application does not require any additional accessories or equipment. It only requires corresponding improvements at the mechanical control program level, which can facilitate the application of most automatic palletizing scenarios. It is simple, convenient, and easy to deploy.

[0031] 3. This application achieves stacking by using a gripping robot to drive the upper interlocking boxes to make a small creeping motion in the horizontal direction. There is no rigid connection between the stack and the robot arm, so it will not cause any physical damage to the stacking machine or the interlocking boxes, and there are no related maintenance costs.

[0032] 4. The palletizing method provided in this application is applicable to program-controlled mechanized automatic palletizing scenarios and has no special requirements for equipment.

[0033] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0034] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0035] Figure 1 A schematic flowchart of a stacking method for matte boxes according to an embodiment of the present invention is shown;

[0036] Figure 2 A schematic flowchart of a stacking method for matte boxes according to an embodiment of the present invention is shown;

[0037] Figure 3 A schematic diagram of the stacking mechanism according to an embodiment of the present invention is shown;

[0038] Figure 4 A schematic diagram of the stacking mechanism according to an embodiment of the present invention is shown;

[0039] Figure 5 A schematic diagram of the stacking mechanism according to an embodiment of the present invention is shown;

[0040] Figure 6 A schematic block diagram of a stacking device for a mating box according to an embodiment of the present invention is shown;

[0041] Figure 7 A schematic block diagram of a stacking device for interlocking boxes according to an embodiment of the present invention is shown.

[0042] in, Figures 3 to 7 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0043] 100 Palletizing machine, 110 robotic arm, 112 gripper, 120 motion mechanism, 130 mother-daughter interlocking box, 200 palletizing device, 210 acquisition module, 220 control module, 300 palletizing device, 310 memory, 320 processor. Detailed Implementation

[0044] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0045] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0046] The following reference Figures 1 to 7The present invention describes a method for stacking mating boxes, a stacking device for mating boxes, a readable storage medium, and a stacking machine according to some embodiments of the present invention.

[0047] like Figure 1 As shown, the first aspect of the present invention provides a stacking method for mating boxes, applied to stacking machinery. The top and bottom surfaces of the mating boxes are provided with mating structures. The stacking method includes the following steps:

[0048] S102, control the palletizing machine to grab the mating box and move it to the top of the mating box on the Nth layer, where N is an integer greater than 2;

[0049] S104, when the horizontal coordinate of the vertical center line of the mating box is the same as the horizontal coordinate of the center point of the stacking position, control the mating box to descend to the first preset height position, control the stacking machine to drive the mating box to move in the horizontal direction, so that the mating structure of the bottom of the mating box is combined with the mating structure on the lid of the mating box of the N-1th layer, and the mating box and the mating box of the N-1th layer are slid by the interlocking between the mating structures, and the N-1th layer of mating boxes is completed.

[0050] S106, Repeat the above steps until the mating boxes are stacked.

[0051] The stacking method provided in this application is mainly for interlocking boxes. The top and bottom surfaces of the interlocking boxes are provided with interlocking structures, allowing the upper interlocking box to nest with the lower interlocking box. The interlocking boxes are stacked by a stacking machine, which can stack the interlocking boxes from bottom to top.

[0052] Palletizing machinery can be either automated robots or translational gripping and palletizing robots. Both types operate under system control programs, performing operations such as gripping, lifting, translating, and releasing to palletize mating boxes. Specifically, palletizing machinery includes a robotic arm and a motion mechanism. The robotic arm includes a gripping section used to grip or release mating boxes, primarily gripping the top surface of the boxes and releasing them after the mating boxes have moved to the appropriate position. The motion mechanism is connected to the robotic arm and drives its lifting, translating, and moving motion.

[0053] The palletizing method provided in this application involves stacking the third and subsequent layers of mating boxes after the second layer is completed. The robotic arm of the palletizing machine grasps the mating boxes and moves them above the second layer. When the horizontal coordinate of the vertical center line of the mating box matches the horizontal coordinate of the center point of the stacking position, the motion mechanism drives the robotic arm to descend to a first preset height. This first preset height refers to the distance between the top surface of the upper mating box and the top surface of the lower mating box. When the robotic arm descends to this first preset height, the bottom surface of the upper mating box contacts the top surface of the lower mating box. The robotic arm then moves the upper mating box horizontally to correct any mating boxes that cannot properly close or nest together, allowing the mating structure to automatically return to its correct position and fit correctly, thereby achieving correction or pallet reset. The mating structure at the bottom of the mating box unit combines with the mating structure on the lid of the (N-1)th layer mating box unit. The interlocking between these structures causes the mating box unit and the (N-1)th layer mating box unit to slide, completing the stacking of the Nth layer. This process is repeated until all mating boxes are stacked.

[0054] This application achieves stacking by having the robotic arm of the stacking machine move the upper interlocking boxes horizontally. The stacks and the robotic arm are not rigidly connected, so there is no physical damage to the stacking machine or the interlocking boxes, and no related maintenance costs are incurred.

[0055] Based on the same inventive concept, this application also provides a method for stacking interlocking boxes, such as... Figure 2 As shown, the palletizing method includes the following steps:

[0056] S202, obtain the horizontal coordinates of the center point of the stacking position and the height of the mating box;

[0057] S204, control the palletizing machine to grab the mother-daughter interlocking box and move it to the stacking position; when the horizontal coordinate of the vertical center line of the mother-daughter interlocking box is the same as the horizontal coordinate of the center point of the stacking position, release the mother-daughter interlocking box to complete the stacking of the first layer of mother-daughter interlocking boxes.

[0058] S206, control the palletizing machine to grab the mother-daughter interlocking box and move it to the top of the mother-daughter interlocking box of the first layer; when the horizontal coordinate of the vertical center line of the mother-daughter interlocking box is the same as the horizontal coordinate of the center point of the stacking position, control the mother-daughter interlocking box to descend to the second preset height position, and release the mother-daughter interlocking box to complete the stacking of the mother-daughter interlocking box of the second layer.

[0059] S208, control the palletizing machine to grab the mating box and move it to above the mating box of the Nth layer, where N is an integer greater than 2; when the horizontal coordinate of the vertical center line of the mating box is the same as the horizontal coordinate of the center point of the stacking position, control the mating box to descend to the first preset height, and control the palletizing machine to move the mating box horizontally so that the mating structure of the bottom of the mating box combines with the mating structure on the lid of the mating box of the (N-1)th layer. Through the interlocking between the mating structures, the mating box and the mating box of the (N-1)th layer slide, completing the stacking of the Nth layer of boxes; repeat the above steps until the stacking of the mating boxes is completed.

[0060] The palletizing method provided in this application mainly targets nested boxes. First, it obtains the horizontal coordinates of the center point of the palletizing position and the height of the nested box. The number of horizontal coordinates of the center point is related to the number of nested boxes in a single layer of palletizing. When a single layer of palletizing contains only one nested box, only the horizontal coordinates of the center point of that box's palletizing position need to be obtained. When a single layer of palletizing includes multiple nested boxes, the horizontal coordinates of the center point of the palletizing position corresponding to each box need to be obtained. Obtaining the height of the nested box is mainly used to determine the specific height at which the palletizing machinery releases the nested box.

[0061] The first layer of mating boxes is stacked based on the horizontal coordinates of the center point of the stacking position. Specifically, the robotic arm of the palletizing machine grasps the mating box, and the motion mechanism drives the robotic arm to move the mating box to the stacking position. The process of moving to the stacking position includes operations such as rising, translating, falling, and releasing. The rising height needs to ensure that the bottom surface of the mating box is higher than the stacking plane. When the horizontal coordinates of the vertical center line of the mating box are the same as the horizontal coordinates of the center point of the stacking position, the motion mechanism drives the robotic arm to fall. When the bottom surface of the mating box contacts the stacking plane, the mating box is released to complete the stacking of the first layer of mating boxes.

[0062] After stacking the first layer of interlocking boxes, the second layer of interlocking boxes is stacked. The robotic arm of the palletizing machine grasps the interlocking boxes and moves them above the first layer. When the horizontal coordinate of the vertical center line of the interlocking box matches the horizontal coordinate of the center point of the stacking position, the motion mechanism drives the robotic arm to descend to a second preset height. This second preset height must ensure that the second layer of interlocking boxes can be stably placed on top of the first layer to avoid releasing the boxes from an excessively high distance, which could cause impact damage to the boxes themselves and the items stored inside. The interlocking boxes are then released to complete the stacking of the second layer of interlocking boxes.

[0063] In some embodiments, optionally, such as Figure 3 As shown, the steps for controlling the palletizing machinery to move the mating boxes horizontally include:

[0064] The control mechanism moves the mating housing from its current position a first preset distance in a first direction, then a second preset distance in a second direction, and finally returns to its current position; and / or

[0065] The control unit moves the mating box from its current position a first preset distance in a third direction, then moves it a second preset distance in a fourth direction, and then returns to its current position. The first direction is opposite to the second direction, the third direction is opposite to the fourth direction, and the first direction and the third direction are not parallel.

[0066] In this embodiment, controlling the robotic arm of the palletizing machine to move the mating box in the horizontal direction mainly involves controlling the mating box to reciprocate along the first direction and its opposite direction; and controlling the mating box to reciprocate along the third direction and its opposite direction.

[0067] Specifically, the control mechanism moves the mating housing from its current position a first preset distance in a first direction, then a second preset distance in a second direction, and finally returns to its current position. The first direction and the second direction are opposite. This step can be performed once, twice, or more as needed.

[0068] The control mechanism moves the mating enclosure from its current position a first preset distance in a third direction, then a second preset distance in a fourth direction, before returning to its current position. The third direction is the opposite of the fourth direction. This step can be performed once, twice, or multiple times depending on the actual situation.

[0069] Optionally, such as Figure 3 As shown, the first direction is perpendicular to the third direction.

[0070] When the step of controlling the palletizing machinery to move the mating box in the horizontal direction includes controlling the mating box to move from the current position to the first direction by a first preset distance and then to the second direction by a second preset distance, and then back to the current position, and controlling the mating box to move from the current position to the third direction by a first preset distance and then to the fourth direction by a second preset distance, and then back to the current position, the two cases can be executed alternately, or the mating box can be controlled to move back and forth along the first direction and its opposite direction twice, and then the mating box can be controlled to move back and forth along the third direction and its opposite direction.

[0071] This application corrects misalignment starting from the third layer of the stack by repeatedly moving the upper layer of interlocking boxes horizontally at a first preset height position, so that the second, third and subsequent layers of interlocking boxes automatically fit together, achieving correct stacking.

[0072] In some embodiments, optionally, such as Figure 5 As shown, the formula for calculating the first preset distance is: δ=b+a, and the formula for calculating the second preset distance is: ε=2×[b+a];

[0073] Where b is the repeatability error, b=5, and a ranges from 1 to 3, with the unit of calculation being millimeters.

[0074] In this embodiment, calculation formulas for the first preset distance and the second preset distance are further provided. The first preset distance depends on the misalignment range and is usually slightly higher than the repeatability of the palletizing machine by 1 mm to 3 mm. For example, if the repeatability error b is 5 mm, then the first preset distance is b + a mm, and the second preset distance ε = 2 × [b + a] mm. The reason for being greater than the repeatability error is that the palletizing machine can use the redundant dimensions to generate an appropriate force on the lower layer of mating boxes during correction. Under the action of this force, the lower layer of mating boxes can move within a small range so that its mating structure can be mated with the next lower layer of mating boxes. That is, relying on the creep of the current mating box, the lower layer of already stacked mating boxes is slid so that the lower layer of mating boxes can also be correctly mated with the previous next lower layer of mating boxes, achieving aligned stacking.

[0075] In some embodiments, the second preset height is optionally equal to the box height dimension, and the first preset height is equal to the sum of the box height dimension and the reserved tolerance height.

[0076] In this embodiment, the second reserved height is mainly used for stacking the second layer of mating boxes, and the first preset height is used for stacking the third layer and subsequent mating boxes. Since a robotic arm is not needed to move the boxes when stacking the second layer of mating boxes, the second preset height can be equal to or slightly greater than the box height, ensuring that the second layer of mating boxes can be stably placed on top of the first layer. The first preset height is equal to the sum of the box height and the reserved tolerance height, referring to the distance between the top surface of the upper mating box and the top surface of the lower mating box. The reserved tolerance height is set because when mating boxes are misaligned during stacking, the upper and lower box mating structures cannot properly close and nest together, inevitably causing the mating structure to extend beyond its normal position, resulting in height differences and box tilting. When stacking the next layer, the stacking machine will place it in the set position under program control. If a previous layer is misaligned, causing abnormal box height and overall tilt, then if the boxes are still stacked according to the original program's positioning parameters, the interlocking boxes on the upper and lower layers will be severely squeezed. Therefore, a height tolerance is reserved to avoid damaging the boxes.

[0077] In some embodiments, optionally, such as Figure 4 As shown, the formula for calculating the reserved fault tolerance height is: Δ = ha;

[0078] Where Δ is the reserved fault tolerance height, h is the height of the interlocking structure, and the value of a ranges from 1 to 3. The unit of calculation is millimeters.

[0079] In this embodiment, a formula for calculating the fault tolerance height is provided. Experiments show that the reserved fault tolerance height should be 1-3 mm lower than the design height h of the parent-child interlocking structure, i.e., Δ = ha. This condition must be met in subsequent layer stacking.

[0080] like Figure 6 As shown, a second aspect of the present invention provides a palletizing device 200 for mating boxes, applied to a palletizing machine 100. The top and bottom surfaces of the mating box 130 are provided with mating structures. The palletizing machine 100 can stack the mating box 130 through gripping, lifting, translating, and releasing operations. The palletizing machine 100 includes a robotic arm 110 and a motion mechanism 120. The robotic arm 110 includes a gripping part 112 for gripping or releasing the mating box 130. The motion mechanism 120 is connected to the robotic arm 110 and can drive the robotic arm 110 to lift, lower, and translate. The palletizing device 200 includes:

[0081] The acquisition module 210 is used to acquire the horizontal coordinates of the center point of the stacking position and the height dimension of the mother-daughter interlocking box 130;

[0082] The control module 220 is used to control the palletizing machine 100 to grab the mother-daughter interlocking box 130 and move it to the stacking position; when the horizontal coordinate of the vertical center line of the mother-daughter interlocking box 130 is the same as the horizontal coordinate of the center point of the stacking position, the mother-daughter interlocking box 130 is released to complete the stacking of the first layer of mother-daughter interlocking boxes 130.

[0083] The control module 220 is also used to control the palletizing machine 100 to grab the mating box 130 and move it to a second preset height position above the mating box 130 of the first layer; when the horizontal coordinate of the vertical center line of the mating box 130 is the same as the horizontal coordinate of the center point of the stacking position, the mating box 130 is released to complete the stacking of the mating box 130 of the second layer;

[0084] The control module 220 is also used to control the palletizing machine 100 to grab the mating box 130 and move it to a position at a first preset height above the mating box 130 of the Nth layer, where N is an integer greater than 2;

[0085] When the horizontal coordinate of the vertical center line of the mating box 130 is the same as the horizontal coordinate of the center point of the stacking position, the control robot arm 110 drives the mating box 130 to move horizontally, so that the mating structure of the bottom of the mating box 130 is combined with the mating structure on the lid of the mating box 130 of the (N-1)th layer. Through the interlocking between the mating structures, the mating box 130 and the mating box 130 of the (N-1)th layer slide, completing the stacking of the Nth layer of boxes; repeat the above steps until the stacking of the mating box 130 is completed.

[0086] The palletizing device 200 for mating boxes provided in this application corresponds to the palletizing method for mating boxes provided in the first aspect. The palletizing device 200 for mating boxes includes an acquisition module 210 and a control module 220.

[0087] Specifically, the acquisition module 210 is used to acquire the horizontal coordinates of the center point of the stacking position and the height dimensions of the mating boxes. The number of horizontal coordinates of the center point of the stacking position is related to the number of mating boxes in a single layer of stacking. When there is only one mating box in a single layer of stacking, only the horizontal coordinates of the center point of the stacking position of that mating box need to be acquired. When there are multiple mating boxes in a single layer of stacking, the horizontal coordinates of the center point of the stacking position corresponding to each mating box need to be acquired. Acquiring the height dimensions of the mating boxes is mainly used to determine the specific height at which the stacking machinery releases the mating boxes.

[0088] The first layer of mating boxes is stacked based on the horizontal coordinates of the center point of the stacking position. Specifically, the control module 220 controls the robotic arm of the palletizing machine to grasp the mating boxes and controls the motion mechanism to drive the robotic arm to move the mating boxes to the stacking position. The process of moving to the stacking position includes operations such as rising, translating, falling, and releasing. The rising height needs to ensure that the bottom surface of the mating box is higher than the stacking plane. When the horizontal coordinates of the vertical center line of the mating box are the same as the horizontal coordinates of the center point of the stacking position, the motion mechanism drives the robotic arm to fall. When the bottom surface of the mating box contacts the stacking plane, the mating box is released to complete the stacking of the first layer of mating boxes.

[0089] After stacking the first layer of matte boxes, the second layer of matte boxes is stacked. The control module 220 also controls the robotic arm of the palletizing machine to grasp the matte boxes and move them above the first layer. When the horizontal coordinate of the vertical center line of the matte box matches the horizontal coordinate of the center point of the stacking position, the control mechanism drives the robotic arm to descend to a second preset height. This second preset height ensures that the second layer of matte boxes can be stably placed on top of the first layer, preventing damage to the boxes themselves and their contents from excessive height during release. The matte boxes are then released to complete the stacking of the second layer of matte boxes.

[0090] After stacking the second layer of mating boxes, the third and subsequent layers of mating boxes are stacked. The control module 220 also controls the robotic arm of the palletizing machine to grasp the mating boxes and move them above the second layer. When the horizontal coordinate of the vertical center line of the mating box matches the horizontal coordinate of the center point of the stacking position, the control mechanism drives the robotic arm to descend to a first preset height. This first preset height refers to the distance between the top surface of the upper mating box and the top surface of the lower mating box. When the robotic arm descends to the first preset height, the bottom surface of the upper mating box contacts the top surface of the lower mating box. The control module then moves the upper mating box horizontally to correct any mating boxes that cannot properly close or nest together, allowing the mating structure to automatically return to its correct position and fit correctly, thereby achieving correction or stack reset. The mating structure at the bottom of the mating box unit combines with the mating structure on the lid of the (N-1)th layer mating box unit. The interlocking between these structures causes the mating box unit and the (N-1)th layer mating box unit to slide, completing the stacking of the Nth layer. This process is repeated until all mating boxes are stacked.

[0091] The palletizing device 200 for mating boxes provided in this application achieves alignment by moving the upper mating boxes horizontally through the robotic arm of the palletizing machine. The pallet and the robotic arm are not rigidly connected, so there will be no physical damage to the palletizing machine or the mating boxes, and no related maintenance costs will be incurred.

[0092] like Figure 7 As shown, a third aspect of the present invention provides a palletizing device 300 for mating boxes, comprising: a memory 310 storing a program or instructions; and a processor 320 connected to the memory 310, wherein the processor 320 executes the program or instructions to implement the palletizing method for mating boxes as described in any of the above embodiments.

[0093] The palletizing device 300 for mating boxes provided by the present invention includes a memory 310 and a processor 320, and also includes a program or instructions stored in the memory 310. When the program or instructions are executed by the processor 320, they can implement the steps of the palletizing method for mating boxes of the first aspect described above. Therefore, the palletizing device 300 for mating boxes of the present invention has all the beneficial effects of the palletizing method for mating boxes of the present invention, which will not be described in detail here.

[0094] The fourth aspect of the present invention provides a readable storage medium on which a program or instructions are stored, which, when executed by a processor 320, implement the steps of the stacking method for mating boxes as described in any of the above embodiments.

[0095] The readable storage medium provided by the present invention stores a program or instructions. When the program or instructions are executed by the processor 320, they implement the steps of the stacking method of the mating box as described in any of the above embodiments. Therefore, the readable storage medium has all the beneficial effects of the above-described stacking method of the mating box, which will not be repeated here.

[0096] The fifth aspect of the present invention provides a palletizing machine 100, comprising: a palletizing device 200 as provided in the second aspect of the present application; and / or a palletizing device 300 as provided in the third aspect of the present application; and / or a readable storage medium as described in the above embodiments.

[0097] The palletizing machine 100 provided in this application includes the palletizing device 200 as provided in the second aspect of this application; and / or the palletizing device 300 as provided in the third aspect of this application; and / or the readable storage medium as described in the above embodiments. Therefore, it has all the beneficial effects of the palletizing device 200 provided in the second aspect of this application, the palletizing device 300 provided in the third aspect of this application, and the readable storage medium, which will not be elaborated here.

[0098] In some embodiments, optionally, such as Figure 3As shown, the palletizing machine 100 includes: a robotic arm 110, which includes a gripping part 112 for gripping or releasing a mating box 130; and a motion mechanism 120 connected to the robotic arm 110, which can drive the robotic arm 110 to lift, move and translate.

[0099] In this embodiment, the palletizing mechanism can be an automated robot or a translational gripping and palletizing machine 100. Both the automated robot and the gripping and palletizing machine 100 are controlled by the system control program to palletize the mating boxes 130 through operations such as gripping, lifting, translating, and releasing. Specifically, the palletizing machine 100 includes a robotic arm 110 and a motion mechanism 120. The robotic arm 110 includes a gripping part 112, which is used to grip or release the mating boxes 130. The gripping part 112 mainly grips the top surface of the mating boxes 130 and releases them after the mating boxes have moved to the appropriate position. The motion mechanism 120 is connected to the robotic arm 110 and can drive the robotic arm 110 to lift, lower, and translate.

[0100] In practical applications, to ensure correct placement of upper and lower layers of boxes and proper insertion of the interlocking structure to form a stable stack, previous methods have included machine vision and laser ranging technologies to determine the horizontal coordinates of the stack, as well as manual coordinate adjustments by the operator. However, practical experience shows that machine vision and laser ranging technologies are relatively expensive and do not effectively solve the problem of misaligned stacks. Manually adjusting coordinate parameters is a passive adjustment method, severely impacting efficiency and being cumbersome, making it unsuitable for production adaptability and convenience. Even combining these two methods cannot completely eliminate the problem of misaligned stacks, only providing some improvement. The reason is that all improvements involve adjusting parameters for fixed coordinate values, failing to completely correct misalignments of varying shapes. This necessitates a control system capable of performing fuzzy calculations based on specific situations to determine the actual coordinates and parameters. Alternatively, 3D-assisted positioning could be used, but all currently available technologies are relatively expensive and require specific site conditions, making them uneconomical in low-cost operating environments.

[0101] The present invention aims to solve the problem that during the palletizing process, due to changes in production conditions, such as deformation of the bottom pallet of the pallet, deformation of the box body and box lid, the box lid and bottom fitting structure cannot fit properly.

[0102] This invention aims to solve the problem of misalignment of palletized boxes caused by the palletizing position positioning error due to the 100% repeatability positioning accuracy problem of palletizing machinery.

[0103] The problem object of this invention is the common box palletizing operation in production applications, rather than a key link in product manufacturing. It is necessary to fully consider the economics of the final production application environment, so the economics of this invention should be expected to be relatively accurate.

[0104] In a specific embodiment, this invention employs a mechanical method, utilizing the shape and position characteristics of the interlocking structure of the upper and lower boxes when misalignment occurs during stacking. During stacking, a stacking robot performs small reciprocating movements in the horizontal plane, allowing the interlocking structures on the bottom and top of the boxes to temporarily nest or hook together when in a suitable position. The entanglement on the interlocking structure then causes a small simultaneous sliding of the upper and lower boxes, bringing the misaligned boxes back to their correct positions and releasing them together, thus achieving the function of correcting box stacking. Specifically, as follows:

[0105] Reserved tolerance height Δ: When stacking misalignment occurs in nested boxes of the mating type, the upper and lower box structures cannot properly close and nest together. This inevitably causes the mating structure to extend beyond the box, resulting in height differences and box tilting. When stacking the next layer, the palletizing machine 100 will place it in the set position under program control. However, as before, if the previous layer was misaligned, causing abnormal box height and overall tilting, then if the original positioning parameters are still used for stacking, the upper and lower boxes will be severely compressed. Therefore, an interval height dimension needs to be added in the original stacking height coordinate direction in its positioning control program; that is, a tolerance height dimension needs to be reserved during stacking. Through experiments, this height should be slightly lower than the design height h of the mating structure by 1-3 mm, i.e., Δ=ha, where the value of a is between 1 and 3 mm. This condition must be met in subsequent layers of stacking.

[0106] Reciprocating creeping correction: When misalignment occurs in box stacking, it is mainly due to abnormal positioning on the horizontal plane. The palletizing machine 100 needs to correct the horizontal positioning under program control. The basic principle of this invention is that after the palletizing machine 100 grabs the box, it moves it back and forth and left and right in the horizontal direction several times under program control. Then, relying on the mutual restraint of the upper and lower box interlocking structures, the box is driven back to the ideal position, so that the interlocking structure returns to its correct position and fits correctly, thereby achieving correction or box stack reset. The creeping distance depends on the degree of misalignment, and is usually slightly higher than the repeatability of the palletizing machine 100 by 1 to 3 mm. For example, if the repeatability error b is 5 mm, then the unidirectional creeping distance (corresponding to the first preset distance δ) is δ = b + a mm, and the bidirectional creeping distance (corresponding to the second preset distance ε) is ε = 2 × [b + a], where a ranges from 1 to 3 mm. The reason for requiring a repeatability accuracy greater than the specified value is to allow the palletizing machine 100 to apply an appropriate force to the lower-level box during correction, relying on the redundant dimensions. This force causes the lower-level box to move slightly, allowing its interlocking structure to engage with the box below it. In other words, the creeping motion of the current box drives the sliding of the already stacked lower-level boxes, ensuring that the lower-level boxes also correctly engage with the box below them.

[0107] Determining the Correction Level: When positioning errors occur in stacked boxes, the earliest detection time can be after the second layer has been stacked. Misalignment is also common in subsequent layers, but once misalignment occurs, the subsequent layers will follow suit. Therefore, the common understanding is to start correction from the second layer. However, in reality, the misalignment of the second layer is generally smaller than that of the first layer. Correction can be performed simultaneously with the third layer, which is highly efficient from a palletizing perspective.

[0108] The method to achieve creep correction: Typically, palletizing machinery 100 stacks boxes from bottom to top. Whether using an automated robot or a simpler translational palletizing manipulator, the processes of grasping, lifting, translating, and stacking are all controlled by the system control program. This program needs to be repeated for different stacks. To achieve creep correction, a translational control program needs to be added to the control program, starting from the third layer, to repeatedly move the boxes in small ranges forward, backward, left, and right in the horizontal direction. This uses the creeping motion during stacking to create a purely mechanical box positioning range, rather than a fixed position. This correction method is achieved by adding a creep control program to the palletizing machinery 100 after considering the tolerance for height differences and the redundancy of horizontal movement. After adding this function, the palletizing machinery 100 can correct misalignment starting from the third layer of the stack, allowing the second, third, and subsequent layers of boxes to automatically fit into the interlocking structure, achieving correct stacking.

[0109] Compared with palletizing methods in related technologies, the present invention has the following advantages:

[0110] 1. This invention is a study and invention of the control logic of palletizing machinery 100;

[0111] 2. This invention fully utilizes the shape and position characteristics of the interlocking structure of the mother and child boxes when abnormal stacking occurs, and can perfectly deal with the problem of stacking misalignment under normal circumstances.

[0112] 3. This invention can not only correct the misalignment of the current layer, but also correct the position of misaligned lower layer boxes that were previously stacked;

[0113] 4. When applying this invention, only instructions to control its movement trajectory need to be added to the palletizing program. No additional equipment or auxiliary devices are required, and zero-cost improvement can be achieved.

[0114] In practical applications, precise positioning can be achieved using robot 3D vision positioning technology, but it is costly, technically complex, and requires specialized site conditions. Alternatively, the structure of the interlocking housing 130 can be improved by increasing the redundancy of the interlocking structure between the upper and lower housings, allowing for seamless integration even without precise positioning.

[0115] In the claims, description, and accompanying drawings of this invention, the term "plural" refers to two or more. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and simplifying the descriptive process, and are not intended to indicate or imply that the device or element referred to must have the described specific orientation, or be constructed and operated in a specific orientation. Therefore, these descriptions should not be construed as limiting the invention. The terms "connected," "installed," "fixed," etc., should be interpreted broadly. For example, "connected" can be a fixed connection between multiple objects, a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects or an indirect connection between multiple objects through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this invention can be understood based on the specific circumstances described above.

[0116] In the claims, description, and accompanying drawings of this invention, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In the claims, description, and accompanying drawings of this invention, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0117] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for stacking interlocking boxes, characterized in that, Applied to palletizing machinery, the top and bottom surfaces of the mating box are both provided with mating structures, and the palletizing method includes: The palletizing machine is controlled to grab the mating box and move it to the top of the mating box on the Nth layer, where N is an integer greater than 2; When the horizontal coordinate of the vertical center line of the mating box is the same as the horizontal coordinate of the center point of the stacking position, the mating box is controlled to descend to a first preset height. The palletizing machine is then controlled to move the mating box horizontally so that the mating structure at the bottom of the mating box combines with the mating structure on the lid of the (N-1)th layer of mating boxes. The mating box and the (N-1)th layer of mating boxes slide together due to the interlocking between the mating structures, thus completing the stacking of the Nth layer of boxes. Repeat the above steps until the mating boxes are stacked. The step of controlling the palletizing machinery to move the mating boxes horizontally specifically includes: The mother-daughter interlocking box is controlled to move from its current position to the first direction by a first preset distance, then to the second direction by a second preset distance, and then back to the current position; The control mechanism moves the mating box from its current position a first preset distance in a third direction, then a second preset distance in a fourth direction, and finally returns to its current position. Wherein, the first direction is opposite to the second direction, the third direction is opposite to the fourth direction, and the first direction and the third direction are not parallel; The formula for calculating the first preset distance is: δ=b+a, and the formula for calculating the second preset distance is: ε=2×[b+a]; Where b is the repeatability error, b = 5 mm, and a ranges from 1 mm to 3 mm.

2. The palletizing method according to claim 1, characterized in that, Before controlling the palletizing machinery to grasp the mating box and move it above the mating box on the Nth layer, the palletizing method further includes: Obtain the horizontal coordinates of the center point of the stacking position and the height of the interlocking box; Control the palletizing machinery to grab the mating box and move it to the stacking position; When the horizontal coordinate of the vertical center line of the mating box is the same as the horizontal coordinate of the center point of the stacking position, the mating box is released to complete the stacking of the mating box in the first layer. Control the palletizing machinery to grab the mating box and move it above the mating box on the first layer; When the horizontal coordinate of the vertical center line of the mating box is the same as the horizontal coordinate of the center point of the stacking position, the mating box is controlled to descend to the second preset height and the mating box is released to complete the stacking of the mating box of the second layer.

3. The palletizing method according to claim 2, characterized in that, The second preset height is equal to the box height dimension, and the first preset height is equal to the sum of the box height dimension and the reserved fault tolerance height.

4. The palletizing method according to claim 3, characterized in that, The formula for calculating the reserved fault tolerance height is: Δ = ha; Where Δ is the reserved fault tolerance height, and h is the height of the mother-child interlocking structure.

5. A stacking device for interlocking mother-daughter boxes, characterized in that, Applied to palletizing machinery, for performing the palletizing method according to any one of claims 1 to 4, wherein the top and bottom surfaces of the mating box are provided with mating structures, and the palletizing device includes: The control module is used to control the palletizing machinery to grab the mating box and move it to the top of the mating box on the Nth layer, where N is an integer greater than 2; When the horizontal coordinate of the vertical center line of the mating box is the same as the horizontal coordinate of the center point of the stacking position, the mating box is controlled to descend to a first preset height. The palletizing machine is then controlled to move the mating box horizontally so that the mating structure at the bottom of the mating box combines with the mating structure on the lid of the (N-1)th layer of mating boxes. The mating box and the (N-1)th layer of mating boxes slide together due to the interlocking between the mating structures, thus completing the stacking of the Nth layer of boxes. The above steps are repeated until the stacking of the mating boxes is completed.

6. The stacking device for mating boxes according to claim 5, characterized in that, Also includes: The acquisition module is used to acquire the horizontal coordinates of the center point of the stacking position and the height dimension of the mother-daughter interlocking box; The control module is further configured to control the palletizing machinery to grasp the mating box and move it to the stacking position; when the horizontal coordinate of the vertical center line of the mating box is the same as the horizontal coordinate of the center point of the stacking position, the mating box is released to complete the stacking of the first layer of mating boxes. The control module is also used to control the palletizing machine to grab the mother-daughter interlocking box and move it above the mother-daughter interlocking box of the first layer; when the horizontal coordinate of the vertical center line of the mother-daughter interlocking box is the same as the horizontal coordinate of the center point of the stacking position, the control module controls the mother-daughter interlocking box to descend to a second preset height and releases the mother-daughter interlocking box to complete the stacking of the mother-daughter interlocking box of the second layer.

7. A stacking device for interlocking mother-daughter boxes, characterized in that, include: A memory that stores programs or instructions; A processor, connected to the memory, implements the palletizing method as described in any one of claims 1 to 4 when executing the program or instructions.

8. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the palletizing method as described in any one of claims 1 to 4.

9. A palletizing machine, characterized in that, include: The palletizing device as described in claim 5 or 6; and / or The palletizing device as described in claim 7; and / or The readable storage medium as described in claim 8.

10. The palletizing machinery according to claim 9, characterized in that, include: A robotic arm, the robotic arm including a gripping part for gripping or releasing a mating box; A motion mechanism is connected to the robotic arm, and the motion mechanism is capable of driving the robotic arm to rise, fall, and translate.

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