A method for controlling narrow board lamination

Abstract

The present application relates to the technical field of package stacking, and particularly relates to a narrow plate stacking control method. The control method realizes the stacking of narrow plates with a width of 50-130 mm and a length of 250-2750 mm, and the stacking structure is stable and not prone to falling when being conveyed on an online body. If the width of the plates in the current batch is less than 130 mm, the control method takes a special paper skin at the special package paper skin adding port arranged in front of the plate taking area and places it on the first layer to act as the first layer plate, increases the bottom area of the stack, provides greater support, and thus increases the stability of the stack. In addition, the clamp used in the plate stacking process is an H-shaped clamp, the H-shaped clamp has relatively wide applicability, the H-shaped clamp can be compatible with different types of plates such as narrow plates, and the H-shaped clamp can realize high-precision positioning and clamping. The high-precision clamp can ensure that the plates remain stable during transportation and stacking, thereby ensuring the machining precision and product quality.

Description

Technical Field

[0001] This invention relates to the field of package stacking technology, and more particularly to a method for controlling narrow-plate stacking. Background Technology

[0002] In the production process, narrow plates often need to be stacked. However, current technology cannot stack narrow plates with a width of 50 mm to 130 mm and a length of 250 mm to 2750 mm. Most companies use manual stacking to stack small packages. This method results in high labor intensity, high skill requirements, and unstable stacking of small packages. It is also prone to tipping over during transport on the production line, causing damage to the packages and threatening the personal safety of the operators. Summary of the Invention

[0003] Therefore, the purpose of this invention is to provide a method for controlling the stacking of narrow plates with a width of 50 mm to 130 mm and a length of 250 mm to 2750 mm, which results in a stable stacking structure and prevents the stacks from tipping over during transport on a production line.

[0004] The technical solution adopted by this invention to solve its technical problem is: a narrow plate stacking control method, characterized by comprising the following steps:

[0005] S1. Information collection: Obtain the dimensional information of the board and store it in a dataset;

[0006] S2. Data preprocessing: Calculate the priority of the board components based on their volume, height, width, and length in the board size information, and sort the board dataset according to the priority results.

[0007] S3. Rule definition: Define the stacking rules for the panels based on their size information.

[0008] S4. Simulate the stacking pattern of goods based on the plate size, and calculate the optimal stacking pattern of goods based on the preset stacking algorithm;

[0009] S5. Transmit the calculated stacking scheme to the robot system, plan the robot's motion path, and have the robot perform stacking according to the planned path.

[0010] S6. Determine whether the width of the first layer board is less than the set value. If so, add special cardboard to the first layer and place the special cardboard at the starting point of the coordinate system. If not, place the first layer board at the starting point of the coordinate system according to the board output order.

[0011] S7. Establish a rectangular coordinate system with a corner point of the first layer board or special cardboard, and arrange the boards layer by layer according to the output stacking scheme.

[0012] S8. Determine if there are any remaining plates. If yes, proceed to S7. If no, end the stacking process.

[0013] The narrow plate stacking control method described above is characterized in that the preset stacking algorithm is a depth-first search algorithm.

[0014] The narrow plate stacking control method described above is characterized in that the step of calculating the optimal stacking shape of the plates according to a preset stacking algorithm includes sub-steps S41 to S46:

[0015] S41. Define a data structure, including defining a panel class, a stack class, and a status class. The panel class includes the size information of the panel. The stack class includes the total size of the stack, the position and orientation information of each layer of panels, etc. The status class represents the current status of the stack. The status class includes the placed panels, the list of remaining panels, etc.

[0016] S42. Initialize an empty stack, a list of boards, and a state object, wherein the list of boards includes all boards to be stacked.

[0017] S43. Select the starting plate; select the plate with the largest width as the starting plate.

[0018] S44. Create a stack and put the starting piece into the stack;

[0019] S45. When the stack is not empty, perform the following steps:

[0020] S451. According to the priority order of processing in S2, pop the top plate from the stack;

[0021] S452. Traverse all possible positions and orientations, and try to place the plate in the stack;

[0022] S453. If the palletizing rules are met, update the status of the pallet and continue searching for the next board.

[0023] S454. If the stacking rules are not met, put the board back into the stack and try the next possible position and orientation.

[0024] S46. Output the optimal stack layout. Once all panels have been placed in the stack, the search ends, and the position and orientation of each layer of panels in the optimal stack layout are output.

[0025] The narrow-board stacking control method described above is characterized in that the special cardboard has a length of 800 mm and a width in the range of 120 mm to 140 mm.

[0026] The narrow board stacking control method described above is characterized in that the size of the special cardboard combination of the first layer must be greater than or equal to the size of all the boards to be stacked. If the length of the board is greater than the length of the special cardboard, multiple special cardboard pieces need to be spliced ​​together so that the length of the special cardboard combination is greater than or equal to the length of the board.

[0027] The narrow board stacking control method described above is characterized by having a special cardboard filling port provided in front of the board taking area.

[0028] The narrow plate stacking control method described above is characterized in that, after the robot completes the stacking of the plates, the remaining gaps are transported to the manual filling port through the packaging conveyor line for filling.

[0029] The narrow plate stacking control method described above is characterized in that the clamp used in the stacking process is an H-shaped clamp.

[0030] The narrow board stacking control method described above is characterized in that the stacking rules include: the maximum stacking height is 36 mm, the size of the spliced ​​board assembly must be less than or equal to the size of the first layer of board or special cardboard, and the board assemblies are stacked layer by layer in descending order of width, with the widest board assembly placed on the first layer.

[0031] The narrow plate stacking control method described above is characterized in that the set value is 130 mm.

[0032] The beneficial effects of this invention are as follows: This invention proposes a method for controlling the stacking of narrow boards, which enables the stacking of narrow boards with a width of 50 mm to 130 mm and a length of 250 mm to 2750 mm, and the stack structure is stable, making it less prone to collapse during conveying on the production line. If the width of the boards in the current batch is less than 130 mm, a piece of special cardboard needs to be placed in the first layer at the special cardboard filling port 2 set in front of the board taking area 1 to serve as the first layer board. Since the narrow boards are small in size, if they are placed directly on the pallet, it may lead to insufficient stability and easy collapse or sliding. Adding a piece of special cardboard to the first layer can increase the bottom area of ​​the stack, provide greater support, and thus increase the stability of the stack.

[0033] In addition, the clamps used in the stacking process are H-shaped clamps. H-shaped clamps have a wide range of applications and can accommodate different types of plates, such as narrow plates. At the same time, H-shaped clamps can achieve high-precision positioning and clamping. Since narrow plates are narrow, if the positioning and clamping accuracy of the clamps is not high enough, it is easy for them to shift or slide during the stacking process. High-precision clamps can ensure that the plates remain stable during transportation and stacking, preventing stacking instability or collapse due to shifting or sliding, thereby ensuring processing accuracy and product quality. Attached Figure Description

[0034] Figure 1 This is a flowchart of the narrow plate stacking control method provided in the embodiments of the present invention;

[0035] Figure 2 This is a flowchart of a method for determining the optimal stacking type provided in an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of a palletizing robot conveyor line provided in an embodiment of the present invention;

[0037] Figure 4 This is an example diagram of a panel assembly provided in an embodiment of the present invention. Detailed Implementation

[0038] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention. Furthermore, it should be noted that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, not all of them.

[0039] Figure 1 A flowchart of a narrow plate stacking method according to an embodiment of the present invention is shown, as follows: Figure 1 As shown, the method includes the following steps:

[0040] S1. Information collection: Obtain the size information of the board and store it in a dataset. The size information of the board may include the volume, length, width, height and other information of the board.

[0041] S2. Data preprocessing: In order to plan the stacking method of the boards in a reasonable way, considering that in the process of stacking narrow boards, placing the board with the largest area and width on the first layer can provide better support and foundation for the entire stacking structure. Larger boards can better withstand the pressure of the upper board and reduce the bending or deformation of the lower board, thereby providing overall stability. Therefore, the priority of the board is calculated based on the volume, height, width and length in the board size information, and the board dataset is sorted according to the priority results.

[0042] S3. Rule Definition: Based on the dimensions of the panels, define the stacking rules for the panels. These rules include: a maximum stacking height of 36 mm; the dimensions of the assembled panel combination must be less than or equal to the dimensions of the first layer of panels or special cardboard; and the panels are stacked layer by layer in descending order of width, with the widest panel combination placed on the first layer. These stacking rules ensure that items are stacked in a predetermined order and manner. Reasonable stacking rules guarantee the stability of the panels during stacking, effectively improve space utilization, and prevent damage or tipping accidents caused by improper stacking. This ensures the safety of both goods and personnel.

[0043] S4. Simulate the stacking pattern of goods based on the plate size, and calculate the optimal stacking pattern of goods according to the preset stacking algorithm. The optimal stacking pattern has strong stability, high space utilization, and good safety.

[0044] S5. The calculated stacking scheme is transmitted to the robot system, and the robot's motion path is planned. The robot stacks according to the planned path. Through precise path planning and positioning technology, the robot system can ensure the accuracy of stacking. Compared with manual stacking, the robot runs faster, has higher work efficiency, reduces human fatigue, operation errors and other factors, and greatly improves production efficiency.

[0045] S6. Determine if the width of the first layer of boards is less than a set value, which is 130 mm. If so, to increase the stability of stacking, special cardboard should be added to the first layer and placed at the starting point of the coordinate system. A special cardboard filling port 2 is provided in front of the board taking area 1. Because the narrow boards are small, placing them directly on the pallet may lead to insufficient stability and easy collapse or slippage. Adding a piece of special cardboard to the first layer can increase the bottom area of ​​the stack, providing greater support and thus increasing the stability of the stacking. If not, place the first layer of boards at the starting point of the coordinate system according to the board taking order.

[0046] Specifically, the length of the special cardboard is 800 mm and the width is in the range of 120 mm to 140 mm. The size of the first layer of special cardboard assembly must be greater than or equal to the size of the widest board among all the boards to be wrapped. If the length of the widest board is greater than the length of the special cardboard, multiple pieces of special cardboard need to be spliced ​​together so that the length of the special cardboard assembly is greater than or equal to the length of the widest board.

[0047] S7. Establish a rectangular coordinate system with a corner point of the first layer board or special cardboard, and arrange the boards layer by layer according to the output stacking scheme.

[0048] S8. Determine if there are any remaining plates. If yes, proceed to S7. If no, end the stacking process.

[0049] like Figure 2 As shown, the preset palletizing algorithm is a depth-first search algorithm, and the step of calculating the optimal pallet type of the panels according to the preset palletizing algorithm includes sub-steps S41 to S46:

[0050] S41. Define a data structure, including defining a panel class, a stack class, and a status class. The panel class includes the size information of the panel. The stack class includes the total size of the stack, the position and orientation information of each layer of panels, etc. The status class represents the current status of the stack. The status class includes the placed panels, the list of remaining panels, etc.

[0051] S42. Initialize an empty stack, a list of boards, and a state object, wherein the list of boards includes all boards to be stacked.

[0052] S43. Select the starting plate. Choose the plate with the largest width as the starting plate.

[0053] S44. Create a stack and put the starting piece into the stack.

[0054] S45. When the stack is not empty, perform the following steps:

[0055] S451. According to the priority order of processing in S2, pop the top board from the stack. Popping boards in priority order can ensure that the more suitable boards are placed first, thereby making better use of space and improving stability.

[0056] S452. To find the optimal stacking scheme, it is necessary to traverse all possible positions and orientations, attempting to place the plates in the stack. Traversing all possible positions and orientations helps the algorithm consider all possible combinations and permutations, thereby finding the best stacking scheme.

[0057] S453. If the palletizing rules are met, update the status of the pallet and continue searching for the next board.

[0058] S454. If the stacking rules are not met, put the board back into the stack and try the next possible position and orientation.

[0059] S46. Output the optimal stack layout. Once all panels have been placed in the stack, the search ends, and the position and orientation of each layer of panels in the optimal stack layout are output.

[0060] After the robot completes the stacking of panels, in order to increase the stability of the stacking and prevent the products from shifting or tipping over during transportation, the stacked panels are transported to the manual filling port through the packaging conveyor line to fill the remaining gaps. The filling materials are foam, pearl cotton, bubble wrap, etc. Such filling materials can provide additional cushioning and protection for the panels, reducing the risk of damage to the panels during transportation and storage.

[0061] The clamps used in the stacking process are H-shaped clamps. H-shaped clamps have wide applicability and can accommodate different types of plates, such as narrow plates. They can be adjusted according to different processing requirements. At the same time, H-shaped clamps can achieve high-precision positioning and clamping. Because narrow plates are narrow, if the positioning and clamping accuracy of the clamps is insufficient, it is easy for them to shift or slide during the stacking process. High-precision clamps can ensure that the plates remain stable during transportation and stacking, preventing stacking instability or collapse due to shifting or sliding, thereby ensuring processing accuracy and product quality.

[0062] Specifically, for example, if a batch of boards needs to be stacked, the size information of the boards is first collected and stored in a dataset. The priority of the boards is calculated based on their volume, height, width, and length. The dataset is then sorted according to the priority results, with the board having the largest volume, height, width, and length having the highest priority. The purpose of sorting the dataset according to priority is to facilitate the subsequent calculation of the optimal stacking shape, ensuring that the boards popped from the top of the stack are placed in priority order. This ensures that the more suitable boards are placed first, thereby improving stability and space utilization.

[0063] Furthermore, based on the size information of the boards, the stacking rules of the boards are defined. The stacking rules set in this embodiment include: the maximum stacking height is 36 mm, the size of the spliced ​​board combination must be less than or equal to the size of the first layer of boards or special cardboard, and the boards are stacked layer by layer in descending order of width, with the board combination with the largest width placed on the first layer.

[0064] Furthermore, based on the preset palletizing algorithm, the optimal pallet shape for the goods is calculated. In this embodiment, a depth-first search algorithm is used to calculate the optimal pallet shape. The steps for outputting the stacking scheme can specifically include: First, defining a panel class, a pallet class, and a state class; then initializing an empty pallet, a panel list, and a state object; selecting the panel with the largest width as the starting panel; then creating a stack and placing the starting panel into the stack; according to the priority order of processing in step S2, popping the top panel from the stack in sequence; popping the top panel requires traversing all possible positions and directions and attempting to place the panel in the pallet. It should be noted that when splicing panels, the edges should be aligned to form a neat pallet shape. When placing the current panel in the stack, it is necessary to determine whether the current position and direction meet the palletizing rules. If they do, the state of the stack is updated; if not, the panel is put back into the stack, and the next possible position and direction is tried. During the search process, if a position is found that no longer meets the conditions for the optimal stacking configuration, optimization operations can be performed, such as rotating or rearranging certain plates, to try to obtain a better stacking configuration. The optimal stacking configuration is output when all plates are placed in the stack.

[0065] The simulated stacking results are used to determine whether the stacking targets have been achieved. For example, each layer of panels should fill the area of ​​the first layer as much as possible; each layer should not exceed the area of ​​the first layer; and each layer should be stacked in descending order of width. If the stacking targets are met, a stacking scheme is output, and panels are unloaded layer by layer according to the calculated stack type and scheme, following the unloading order. The stacking scheme is then sent to a robot system, which plans the robot's movement path. The robot performs the stacking operation according to the planned path, ensuring stacking stability and space utilization, and improving stacking efficiency and accuracy.

[0066] The system determines whether the width of the first-layer board is less than a set value, which is 130 mm. If the width of the first-layer board is less than 130 mm, a piece of special cardboard is placed at the special cardboard filling port 2 in front of the board taking area 1 and placed at the starting point of the coordinate system to serve as the first-layer board. Because the narrow board is small, placing it directly on the pallet may lead to insufficient stability and easy collapse or sliding. Adding a piece of special cardboard to the first layer can increase the bottom area of ​​the stack, provide greater support, and thus increase the stability of the stack. If the width of the first-layer board is greater than 130 mm, the first-layer board is placed directly at the starting point of the coordinate system. Then, a rectangular coordinate system is established with a corner point of the first-layer board or the special cardboard. According to the calculated stacking scheme, the boards are spliced ​​and placed layer by layer until all the boards are stacked. After the robot completes the stacking operation, the remaining gaps will be conveyed to the manual filling port through the packaging conveyor line for filling. The filling material can be foam, pearl cotton, bubble wrap, etc. These filling materials have good cushioning performance and elasticity, which can effectively reduce friction and collision between the boards, play a role in shock absorption and protection, and increase the stability of stacking.

Claims

1. A method for controlling the stacking of narrow plates, characterized in that, Includes the following steps: S1. Information collection: Obtain the size information of the board and store it in a dataset. The size information of the board includes the volume, length, width and height of the board. S2. Data preprocessing: Calculate the priority of the board based on the volume, height, width and length in the board size information, and sort the board dataset according to the priority results. Placing the board with the largest area and width on the first layer can provide better support and foundation for the entire stacking structure. S3. Rule definition: Define the stacking rules for the panels based on their size information. S4. Simulate the stacking pattern of goods based on the plate size, and calculate the optimal stacking pattern of goods based on the preset stacking algorithm; S5. Transmit the calculated stacking scheme to the robot system, plan the robot's motion path, and have the robot perform stacking according to the planned path. S6. Determine whether the width of the first layer board is less than the set value. If so, add special cardboard to the first layer and place the special cardboard at the starting point of the coordinate system. If not, place the first layer board at the starting point of the coordinate system according to the board output order. S7. Establish a rectangular coordinate system with a corner point of the first layer board or special cardboard, and arrange the boards layer by layer according to the output stacking scheme. S8. Check if there are any remaining pieces. If yes, go to S7; otherwise, end the stacking process. The step of calculating the optimal stacking configuration of the panels according to the preset stacking algorithm includes sub-steps S41 to S46: S41. Define a data structure, including defining a panel class, a stack class, and a status class. The panel class includes the size information of the panel. The stack class includes the total size of the stack, the position and orientation information of each layer of panels, and the status class represents the current status of the stack. The status class includes a list of placed panels and a list of remaining panels. S42. Initialize an empty stack, a list of boards, and a state object, wherein the list of boards includes all boards to be stacked. S43. Select the starting plate; select the plate with the largest width as the starting plate. S44. Create a stack and put the starting piece into the stack; S45. When the stack is not empty, perform the following steps: S451. According to the priority order of processing in S2, pop the top plate from the stack; S452. Traverse all possible positions and orientations, and try to place the plate in the stack; S453. If the palletizing rules are met, update the status of the pallet and continue searching for the next board. S454. If the stacking rules are not met, put the board back into the stack and try the next possible position and orientation. S46. Output the optimal stacking pattern. When all panels have been placed in the stack, the search ends, and the position and orientation information of each layer of panels in the optimal stacking pattern is output.

2. The method for controlling narrow plate stacking according to claim 1, characterized in that, The preset palletizing algorithm is a depth-first search algorithm.

3. The method for controlling narrow plate stacking according to claim 1, characterized in that, The special cardboard has a length of 800 mm and a width in the range of 120 mm to 140 mm.

4. The method for controlling narrow plate stacking according to claim 1, characterized in that, The size of the first layer of special cardboard assembly must be greater than or equal to the size of the widest board among all the boards to be wrapped. If the length of the widest board is greater than the length of the special cardboard, then multiple pieces of special cardboard need to be spliced ​​together so that the length of the special cardboard assembly is greater than or equal to the length of the board.

5. The method for controlling narrow plate stacking according to claim 1, characterized in that, A special packaging cardboard filling port (2) is provided in front of the board taking area (1).

6. The method for controlling narrow plate stacking according to claim 1, characterized in that, After the robot completes the stacking of the panels, the remaining gaps will be transported to the manual filling port via the packaging conveyor line for filling.

7. The method for controlling narrow plate stacking according to claim 1, characterized in that, The clamps used in the stacking process are H-shaped clamps.

8. The method for controlling narrow plate stacking according to claim 1, characterized in that, The stacking rules include: the maximum stacking height is 36 mm; the size of the assembled board assembly must be less than or equal to the size of the first layer of board or special cardboard; the board assemblies are stacked in descending order of width, with the widest board assembly placed on the first layer.

9. The method for controlling narrow plate stacking according to claim 1, characterized in that, The setting value is 130 mm.

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