A packing bag stacking method of a stacking mechanism and a control system

Abstract

The application provides a packaging bag stacking method of a stacking mechanism and a control system, the packaging bag stacking method controls the motion trajectory of a workpiece in the air to be parabolic motion of a center of mass and rotation in the air, so that one side of the workpiece falls and contacts a stacking work surface first, and then the workpiece is flipped and falls to be stably stopped. Compared with free-fall stacking, the stacking method can obtain a stacking workpiece coverage range which greatly exceeds the motion range of the stacking mechanism by changing different preset parameters and motion mechanism parameters, can perform stacking at a position where there is an obstacle in front, and due to the coincidence of the stacking motion process and the time of a workpiece release mechanism and the shortening of the stroke of the stacking mechanism, the stacking cycle time is shortened.

Description

Technical Field

[0001] This invention relates to the field of packaging palletizing, specifically to a method for palletizing packaging bags using a palletizing mechanism and a control system. Background Technology

[0002] In existing palletizing mechanisms, the mechanism typically moves to directly above the target palletizing position before releasing the workpiece. The released workpiece then undergoes a vertical free-fall motion. In this method, the workpiece's position at the target palletizing location largely overlaps with its position within the palletizing mechanism, resulting in a small coverage area and low efficiency. Furthermore, it cannot palletize workpieces in locations where there are obstacles above them. Summary of the Invention

[0003] The first objective of this invention is to provide a method for palletizing packaging bags using a palletizing mechanism, which addresses the problems of existing palletizing methods having small palletizing coverage area, low efficiency, and inability to palletize in locations with obstacles.

[0004] A second objective of the present invention is to provide a control system for implementing the above-described palletizing mechanism for packaging bags.

[0005] To achieve the aforementioned first objective, the present invention provides a packaging bag stacking method for a palletizing mechanism. The palletizing mechanism is equipped with a control system and includes a vertical movement drive component, a length movement drive component, a width movement drive component, and a placement component. The vertical movement drive component drives the placement component to move vertically, the length movement drive component drives the placement component to move along a first horizontal direction, and the width movement drive component drives the placement component to move along a second horizontal direction. The first and second horizontal directions are perpendicular to each other. The placement component includes a conveyor belt, a drive roller, and a conveyor drive component. The conveyor drive component drives the conveyor belt to move along the second horizontal direction. The conveyor belt is connected to the drive roller. A carriage is provided below the placement component, and packaging bags are stacked inside the carriage. The packaging bag stacking method specifically includes the following steps: S1: The control system acquires application scenario information, palletizing mechanism position information, workpiece information, and palletizing target position information. S2: Determine the motion mode of the workpiece. Based on the information obtained in step S1, set the angle γ between the longer side of the workpiece and the horizontal plane when it lands, and the horizontal speed of the conveyor belt. S3: Calculate the second horizontal movement distance Y and the vertical movement distance Z of the workpiece; S4: Determine whether the second horizontal movement distance Y, the vertical movement distance Z, and the height U of the placement assembly extending into the carriage meet the palletizing requirements; S5: If step S4 meets the requirements, calculate the motion parameters of the placement assembly and the conveyor belt in the first horizontal direction, the second horizontal direction, and the vertical direction; if step S4 does not meet the requirements, reset the angle γ between the long side of the workpiece and the horizontal plane when it lands and the horizontal speed of the conveyor belt. Then return to step S3; S6: The palletizing mechanism executes motion parameters; S7: The palletizing of the workpiece is completed.

[0006] As can be seen from the above scheme, the packaging bag palletizing method of the present invention controls the movement trajectory of the workpiece in the air to be a parabolic motion with the center of mass and rotation in the air, thereby controlling one end of the workpiece to fall first and contact the palletizing working surface, and then the workpiece to undergo different flips and fall until the workpiece stops stably. Compared with free fall palletizing, the palletizing method of this invention can obtain a palletizing workpiece coverage range that greatly exceeds the movement range of the palletizing mechanism by changing different preset parameters and motion mechanism parameters. It can perform palletizing in places where there are obstacles in front, and because the time of the palletizing movement process coincides with the workpiece release mechanism and the stroke of the palletizing mechanism is shortened, the palletizing cycle time is shortened.

[0007] A further approach is to include the carriage width in the application scenario information during step S1. Height of the front side panel of the carriage Height of the side railings of the carriage Distance between the drive roller and the front edge of the palletizing mechanism Distance between the side of the conveyor belt and the edge of the component placement mechanism Width of the components Safety margin E, radius R of the conveyor roller, and palletizing mechanism position information including the location of the components are also considered. The workpiece information includes workpiece length L, workpiece height T, the angle θ between the workpiece diagonal and the workpiece long side, and the maximum workpiece blanking height F.

[0008] As can be seen from the above scheme, by acquiring the above parameters, the control system can easily confirm the motion mode of the workpiece and preset reasonable parameters.

[0009] A further approach is that, in step S2, it is determined that the workpiece falls in a first motion mode, which is that the workpiece moves in a parabolic shape after leaving the placement assembly, and one side of the workpiece lands first and then tilts towards the placement assembly. Based on the information obtained in S1, the angle γ between the longer side of the workpiece and the horizontal plane and the horizontal speed of the conveyor belt are set. The angle γ between the longer side of the workpiece and the horizontal plane when the workpiece lands and the horizontal speed of the conveyor belt. satisfy ,and Where g is the acceleration due to gravity, and β is the radius of the circular motion of the workpiece as it leaves the conveyor belt and moves away from its center of mass. This refers to the time the workpiece spends in the air.

[0010] As can be seen from the above scheme, when the palletizing mechanism is close to the target palletizing position, the first motion mode can be used to drop the palletizing mechanism, which can minimize the travel of the palletizing mechanism and shorten the palletizing cycle time.

[0011] A further approach is that, in step S2, it is determined that the workpiece falls in a first motion mode, which is that the workpiece moves in a parabolic shape after leaving the placement assembly, and one side of the workpiece lands first and then tilts towards the placement assembly. Based on the information obtained in S1, the angle γ between the longer side of the workpiece and the horizontal plane and the horizontal speed of the conveyor belt are set. The angle γ between the longer side of the workpiece and the horizontal plane when the workpiece lands and the horizontal speed of the conveyor belt. satisfy , ,and Where g is the acceleration due to gravity, and β is the radius of the circular motion of the workpiece as it leaves the conveyor belt and moves away from its center of mass. Let J be the workpiece's flight time, J be the workpiece's moment of inertia, ω be the workpiece's angular velocity upon leaving the drive roller, and Di be... .

[0012] As can be seen from the above scheme, the control system can achieve the first motion mode by pre-setting different parameters for the workpiece, making it more convenient to use.

[0013] A further solution is that, in step S2, it is determined that the workpiece falls in a second motion mode. The second motion mode is that the workpiece moves in a parabolic shape after leaving the placement assembly. When one side of the workpiece lands first, the side of the workpiece that has not contacted the carriage is closer to the placement assembly than the side of the workpiece that has contacted the carriage. The workpiece tilts away from the placement assembly. Based on the information obtained in S1, the angle γ between the longer side of the workpiece and the horizontal plane and the horizontal speed of the conveyor belt are set when the workpiece lands. The angle γ between the longer side of the workpiece and the horizontal plane when the workpiece lands and the horizontal speed of the conveyor belt. satisfy , ,and Where g is the acceleration due to gravity, and β is the radius of the circular motion of the workpiece as it leaves the conveyor belt and moves away from its center of mass. Let J be the workpiece's flight time, J be the workpiece's moment of inertia, ω be the workpiece's angular velocity upon leaving the drive roller, and Di be... .

[0014] As can be seen from the above scheme, when the palletizing mechanism is far from the target position, the workpiece can be dropped using the second motion method, which can minimize the stroke of the palletizing mechanism and shorten the palletizing cycle time.

[0015] A further approach is that, in step S2, it is determined that the workpiece falls in a second motion mode. This second motion mode involves the workpiece moving in a parabolic trajectory after leaving the placement assembly. When one side of the workpiece lands first, the side of the workpiece that did not contact the carriage is closer to the placement assembly than the side that did contact the carriage. The workpiece tilts away from the placement assembly. Based on the information obtained in S1, the angle γ between the longer side of the workpiece and the horizontal plane and the horizontal speed of the conveyor belt are set when the workpiece lands. The angle γ between the longer side of the workpiece and the horizontal plane when the workpiece lands and the horizontal speed of the conveyor belt. satisfy , ,and Where g is the acceleration due to gravity, and β is the radius of the circular motion of the workpiece as it leaves the conveyor belt and moves away from its center of mass. Let J be the workpiece's flight time, J be the workpiece's moment of inertia, ω be the workpiece's angular velocity upon leaving the drive roller, and Di be... .

[0016] As can be seen from the above scheme, the control system can achieve the second motion mode by pre-setting different parameters for the workpiece, making it more convenient to use.

[0017] A further approach is that, in step S2, it is determined that the workpiece falls in a third motion mode. This third motion mode involves the workpiece moving in a parabolic trajectory after leaving the placement assembly. When one side of the workpiece lands first, the side of the workpiece that did not contact the carriage is farther from the placement assembly than the side that did contact the carriage. The workpiece tilts away from the placement assembly. Based on the information obtained in S1, the angle γ between the longer side of the workpiece and the horizontal plane and the horizontal speed of the conveyor belt are set when the workpiece lands. The angle γ between the longer side of the workpiece and the horizontal plane when the workpiece lands and the horizontal speed of the conveyor belt. satisfy .

[0018] As can be seen from the above scheme, when the palletizing mechanism is close to the target position, the workpiece can be dropped using a third motion method, which can minimize the stroke of the palletizing mechanism, shorten the palletizing cycle time, and reduce the workpiece flipping process, making it safer and more convenient.

[0019] A further solution is that the judgment method in step S4 is specifically as follows: when and and The horizontal movement distance Y of the workpiece, the vertical movement distance Z of the workpiece, and the height distance U of the placement assembly extending into the carriage meet the palletizing requirements. N represents the maximum height to which the palletizing mechanism can penetrate into the carriage.

[0020] As can be seen from the above scheme, the Y value that meets the above conditions will not cause the palletizing mechanism to collide with the carriage, ensuring safe use; the Z value that meets the above conditions will not damage the workpiece.

[0021] A further solution is to include step S601 after step S6. Step S601 is to verify whether the parameters in step S5 meet the actual usage requirements. If the actual usage requirements are met, step S7 is executed. Step S7 is to store the parameters as fixed palletizing parameters and complete the palletizing of the workpiece. If the actual usage requirements are not met, step S602 is executed. Step S602 is to adjust the motion parameters according to the actual usage situation and then execute step S6.

[0022] As can be seen from the above scheme, storing fixed palletizing parameters makes it convenient to directly call up the data when encountering the same material or workpiece in subsequent use, thereby further improving palletizing efficiency.

[0023] To achieve the second objective described above, the present invention provides a control system comprising a processor and a memory, the memory storing a computer program, which, when executed by the processor, implements a packaging bag palletizing method of a palletizing mechanism as described in any of the embodiments. Attached Figure Description

[0024] Figure 1 This is a flowchart of a packaging palletizing method of a palletizing mechanism according to the present invention.

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments. Detailed Implementation

[0026] The packaging bag palletizing method of the palletizing mechanism provided by the present invention can achieve a larger palletizing coverage area than existing palletizing methods, is more efficient, and can perform palletizing even in the presence of obstacles.

[0027] The packaging bag stacking method of the palletizing mechanism of the present invention is based on a palletizing mechanism. The palletizing mechanism is equipped with a control system and includes a vertical movement drive component, a length movement drive component, a width movement drive component, and a placement component. The vertical movement drive component drives the placement component to move vertically, the length movement drive component drives the placement component to move along a first horizontal direction, and the width movement drive component drives the placement component to move along a second horizontal direction. The first horizontal direction and the second horizontal direction are perpendicular to each other. The placement component includes a conveyor belt, a drive roller, and a conveyor drive component. The conveyor drive component drives the conveyor belt to move along the second horizontal direction. The conveyor belt is connected to the drive roller. A carriage is provided below the placement component, and the packaging bags are stacked in the carriage.

[0028] The palletizing mechanism of this invention uses large packaging bags containing granular or powdery materials for palletizing. These bags typically weigh between 25 and 80 kilograms, are relatively soft, and deform under external force as the contents redistribute. Packaged items include cement, dry-mixed mortar, feed, raw grains, grain products, plastic granules, caustic soda, bauxite, salt, and sugar, among others.

[0029] The packaging bag palletizing method of the palletizing mechanism of the present invention specifically includes the following steps:

[0030] S1: The control system acquires application scenario information, palletizing mechanism position information, workpiece information, and palletizing target position information. ;

[0031] Application scenario information includes carriage width Height of the front side panel of the carriage Height of the side railings of the carriage Distance between the drive roller and the front edge of the palletizing mechanism Distance between the side of the conveyor belt and the edge of the component placement mechanism Width of the components Safety margin E, radius R of the conveyor roller, angle α between the conveyor belt and the horizontal plane, and maximum speed in the first horizontal direction. The maximum acceleration in the first horizontal direction is Maximum speed of conveyor belt ， Maximum acceleration of conveyor belt The maximum height N that the palletizing mechanism can penetrate into the carriage;

[0032] Palletizing mechanism location information includes the location of the components. ;

[0033] The workpiece information includes workpiece length L, workpiece height T, the angle θ between the workpiece diagonal and the workpiece long side, workpiece mass M, and the maximum workpiece blanking height F.

[0034] S2: Determine the motion mode of the workpiece. Based on the information obtained in step S1, set the angle γ between the longer side of the workpiece and the horizontal plane when it lands, and the horizontal speed of the conveyor belt. ;

[0035] There are three types of workpiece movement: the first type, the second type, and the third type. The first type involves the workpiece moving in a parabolic trajectory after leaving the placement assembly, with one side of the workpiece landing first and then tilting towards the placement assembly. The second type involves the workpiece moving in a parabolic trajectory after leaving the placement assembly, with one side of the workpiece landing first and the side not in contact with the carriage closer to the placement assembly than the side in contact with the carriage, and the workpiece tilting away from the placement assembly. The third type involves the workpiece moving in a parabolic trajectory after leaving the placement assembly, with one side of the workpiece landing first and the side not in contact with the carriage farther away from the placement assembly than the side in contact with the carriage, and the workpiece tilting away from the placement assembly.

[0036] S3: Calculate the second horizontal movement distance Y and the vertical movement distance Z of the workpiece;

[0037] S4: Determine whether the workpiece's second horizontal movement distance Y, the workpiece's vertical movement distance Z, and the distance U of the placement component's penetration into the carriage meet the palletizing requirements;

[0038] The specific judgment method is when and and The horizontal movement distance Y of the workpiece, the vertical movement distance Z of the workpiece, and the height distance U of the placement assembly extending into the carriage meet the palletizing requirements. N represents the maximum height to which the palletizing mechanism can penetrate into the carriage.

[0039] S5: If step S4 meets the requirements, calculate the motion parameters of the placement component and the conveyor belt in the first horizontal direction, the second horizontal direction, and the vertical direction; if step S4 does not meet the requirements, execute step S501.

[0040] Step S501 involves resetting the angle γ between the longer side of the workpiece and the horizontal plane when it lands, and the horizontal speed of the conveyor belt. Then return to step S3.

[0041] The motion parameters include the first horizontal movement speed of the placement component. The running time of the first horizontal direction of the placement components , The first horizontal running distance X of the placement components, and the conveyor belt running time First horizontal direction running delay time The second horizontal direction of the placement components is pre-running distance. The vertical running distance of the placement components is predetermined. Horizontal speed of conveyor belt .

[0042] The first horizontal movement speed of the placement components The calculation formula is The running time of the placement components in the first horizontal direction. The calculation formula is ,in This refers to the acceleration time in the first horizontal direction for placing the component. The formula for calculating the distance X traveled in the first horizontal direction for placing the component is: Conveyor belt running time The calculation formula is ,in The acceleration time of the conveyor belt in the horizontal direction. The time it takes for the workpiece to leave the conveyor belt. First horizontal direction running delay time The calculation formula is The second horizontal direction of the placement components is pre-traveled. The calculation formula is The vertical travel distance of the placement components is predetermined. The calculation formula is Horizontal speed of conveyor belt These are preset parameters.

[0043] S6: The palletizing mechanism executes motion parameters.

[0044] The specific implementation method is as follows: the placement components are moved a certain distance in the vertical direction in advance. Distance of movement along the second horizontal direction The vertical and second horizontal movements of the components can follow the existing palletizing mechanism's operating method, ensuring that the palletizing mechanism's movements in both directions do not exceed its maximum acceleration and maximum speed. At this point, the palletizing mechanism stops moving, and the conveyor belt is started. Time accelerated to Then move at a constant speed Then Time slows down to 0, total running time is The components are placed in the first horizontal direction at the start of the conveyor belt. Start after the time, Time accelerated to Then move at a constant speed Then Time slows down to 0, total running time is It should be noted that if If the number is positive, the conveyor belt will start before the first horizontal direction of the placement components. If the value is negative, the component will start moving in the first horizontal direction before the conveyor belt.

[0045] S601: Verify whether the motion parameters in step S6 meet the actual usage requirements. If they meet the actual usage requirements, proceed to step S7; if they do not meet the actual usage requirements, proceed to step S602.

[0046] S602 specifically involves adjusting the motion parameters based on actual usage conditions, and then executing step S6.

[0047] S7 specifically stores fixed palletizing parameters to complete the palletizing of workpieces.

[0048] When it is determined that the workpiece moves in the first motion mode, the first case step S2 is step S2-1. Step S2-1 specifically involves: determining that the workpiece falls in the first motion mode, and based on the information obtained in S1, setting the angle γ between the long side of the workpiece and the horizontal plane when it lands and the horizontal speed of the conveyor belt. The angle γ between the longer side of the workpiece and the horizontal plane when the workpiece lands and the horizontal speed of the conveyor belt. satisfy ,and Where g is the acceleration due to gravity, and β is the radius of the circular motion of the workpiece as it leaves the center of mass of the workpiece on the conveyor belt. For the workpiece's flight time in the air;

[0049] The formula for calculating the arc β of the circular motion of the workpiece as it leaves the conveyor belt and its center of mass is: , The calculation formula is Where ω is the angular velocity of the workpiece leaving the drive roller, and the formula for calculating ω is: .

[0050] At this point, the formula for calculating the second horizontal movement distance Y of the workpiece in step S3 is: The formula for calculating the vertical movement distance Z of the workpiece is: .

[0051] When it is determined that the workpiece moves in the first motion mode, the second case step S2 is step S2-2. Step S2-2 specifically involves: determining that the workpiece falls in the first motion mode, and based on the information obtained in S1, setting the angle γ between the long side of the workpiece and the horizontal plane when it lands and the horizontal speed of the conveyor belt. The angle γ between the longer side of the workpiece and the horizontal plane when the workpiece lands and the horizontal speed of the conveyor belt. satisfy , ,and Where g is the acceleration due to gravity, and β is the radius of the circular motion of the workpiece as it leaves the conveyor belt and moves away from its center of mass. Let J be the workpiece's flight time, J be the workpiece's moment of inertia, ω be the workpiece's angular velocity upon leaving the drive roller, and Di be... ;

[0052] The formula for calculating the arc β of the circular motion of the workpiece as it leaves the conveyor belt and its center of mass is: , The calculation formula is The formula for calculating ω is: The formula for calculating J is: .

[0053] At this point, the formula for calculating the second horizontal movement distance Y of the workpiece in step S3 is: The formula for calculating the vertical movement distance Z of the workpiece is: .

[0054] When it is determined that the workpiece moves in the second motion mode, the first case step S2 becomes step S2-3. Step S2-3 specifically involves: determining that the workpiece falls in the second motion mode, and based on the information obtained in S1, setting the angle γ between the long side of the workpiece and the horizontal plane when it lands and the horizontal speed of the conveyor belt. The angle γ between the longer side of the workpiece and the horizontal plane when the workpiece lands and the horizontal speed of the conveyor belt. satisfy , ,and Where g is the acceleration due to gravity, and β is the radius of the circular motion of the workpiece as it leaves the conveyor belt and moves away from its center of mass. Let J be the workpiece's flight time, J be the workpiece's moment of inertia, ω be the workpiece's angular velocity upon leaving the drive roller, and Di be... ;

[0055] The formula for calculating the arc β of the circular motion of the workpiece as it leaves the conveyor belt and its center of mass is: , The calculation formula is The formula for calculating ω is: The formula for calculating J is: .

[0056] At this point, the formula for calculating the second horizontal movement distance Y of the workpiece in step S3 is: The formula for calculating the vertical movement distance Z of the workpiece is: .

[0057] When it is determined that the workpiece moves in the second motion mode, step S2 in the second case becomes step S2-4. Step S2-4 specifically involves: determining that the workpiece falls in the second motion mode, and based on the information obtained in S1, setting the angle γ between the long side of the workpiece and the horizontal plane when it lands and the horizontal speed of the conveyor belt. The angle γ between the longer side of the workpiece and the horizontal plane when the workpiece lands and the horizontal speed of the conveyor belt. satisfy , ,and Where g is the acceleration due to gravity, and β is the radius of the circular motion of the workpiece as it leaves the conveyor belt and moves away from its center of mass. Let J be the workpiece's flight time, J be the workpiece's moment of inertia, ω be the workpiece's angular velocity upon leaving the drive roller, and Di be... ;

[0058] The formula for calculating the arc β of the circular motion of the workpiece as it leaves the conveyor belt and its center of mass is: , The calculation formula is The formula for calculating ω is: The formula for calculating J is: .

[0059] At this point, the formula for calculating the second horizontal movement distance Y of the workpiece in step S3 is: The formula for calculating the vertical movement distance Z of the workpiece is: .

[0060] When it is determined that the workpiece moves in the third motion mode, step S2 becomes step S2-5. Step S2-5 specifically involves: determining that the workpiece falls in the third motion mode, and based on the information obtained in S1, setting the angle γ between the long side of the workpiece and the horizontal plane when it lands and the horizontal speed of the conveyor belt. The angle γ between the longer side of the workpiece and the horizontal plane when the workpiece lands and the horizontal speed of the conveyor belt. satisfy .

[0061] At this point, the formula for calculating the second horizontal movement distance Y of the workpiece in step S3 is: The formula for calculating the vertical movement distance Z of the workpiece is: .

[0062] The formula for calculating the arc β of the circular motion of the workpiece as it leaves the conveyor belt and its center of mass is: , The calculation formula is .

[0063] It should be noted that after controlling the movement and attitude of the workpiece through the above steps, calculating and assigning the corresponding axis speed and start-up delay, and using obstacles with calibrated coordinate positions to block the workpiece after it lands, a stable stacking position can be obtained. When there are no obstacles, as long as the coefficient of friction between the bottom surface of the workpiece and the stacking contact surface is appropriate, the workpiece can also stop within the allowable error range of the desired target stacking position.

[0064] It should be noted that the above calculation method assumes the workpiece is a rigid object. However, in practical applications, the workpiece is flexible, and its contents are subjected to corresponding forces as the workpiece's posture changes, causing changes in the position of the contents and affecting the workpiece's motion. Furthermore, during the workpiece's sliding process, after the front end of the workpiece stops due to an obstacle, the contents continue to move forward under inertia, compressing the already stopped contents until the kinetic energy is exhausted. Multiple sets of experiments have verified that the stacking position obtained by applying the above method to flexible workpieces is within the allowable error range.

[0065] It should be noted that the above three modes of movement are based on the premise that ,when This indicates that the workpiece's mass leaves the conveyor belt at the point of tangency between the conveyor belt and the roller. This requires... The value is quite large, and it is difficult to achieve in practical applications because conveyor belts usually have a maximum speed. The angle γ between the longer side of the workpiece and the horizontal plane when the workpiece lands and the horizontal speed of the conveyor belt. make At this point, the workpiece will rotate away from the placement assembly, but it cannot flip past its highest point, maintaining a vertical position. This situation needs to be avoided in actual use.

[0066] The control system of the present invention includes, but is not limited to, a processor and a memory. The memory stores a computer program, which, when executed by the processor, implements the packaging bag palletizing method of the palletizing mechanism described in any of the above embodiments. Those skilled in the art will understand that the control system may include more or fewer components, or a combination of certain components, or different components. For example, the control system may also include input / output devices, network access devices, buses, etc.

[0067] The present invention will be further described below with reference to the embodiments.

[0068] First Embodiment

[0069] The packaging bag palletizing method of the palletizing mechanism in this embodiment specifically includes the following steps:

[0070] S1: The control system acquires application scenario information, palletizing mechanism position information, workpiece information, and palletizing target position information (1, -1.088, -0.814).

[0071] Application scenario information includes carriage width Height of the front side panel of the carriage Height of the side railings of the carriage Distance between the drive roller and the front edge of the palletizing mechanism Distance between the side of the conveyor belt and the edge of the component placement mechanism Width of the components Safety margin E = 0.1m, radius of conveyor roller R = 0.05m, angle between conveyor belt and horizontal plane α = 0°, maximum speed in the first horizontal direction is... The maximum acceleration in the first horizontal direction is Maximum speed of conveyor belt ， Maximum acceleration of conveyor belt The maximum height to which the palletizing mechanism can penetrate the carriage. ;

[0072] The palletizing mechanism position information includes the position of the placement component (0,0,0). It should be noted that in this embodiment, the position of the placement component refers to the position of the inner center of the transmission roller. The inner side refers to the side of the transmission roller away from the edge of the palletizing mechanism.

[0073] Workpiece information includes workpiece length Workpiece height The angle between the workpiece diagonal and the workpiece long side Workpiece quality Maximum workpiece blanking height .

[0074] S2: Determine that the workpiece moves in the first case of the second motion mode. Based on the information obtained in step S1, set the angle between the longer side of the workpiece and the horizontal plane when it lands. and the horizontal speed of the conveyor belt ; , , , , , It meets the conditions of the first case of the second type of motion;

[0075] S3: Calculate the workpiece's second horizontal movement distance. Vertical movement distance of the workpiece ;

[0076] S4: Determine the distance the workpiece has moved in the second horizontal direction. Vertical movement distance of the workpiece and the height distance of the placement components inside the carriage Does it meet the palletizing requirements?

[0077] because , ,and It meets the palletizing requirements and the error is within the allowable range.

[0078] S5: Calculate the motion parameters of the placement components and the conveyor belt in the first horizontal direction, the second horizontal direction, and the vertical direction;

[0079] The motion parameters include the first horizontal movement speed of the placement component. The running time of the first horizontal direction of the placement components The first horizontal running distance of the placement components Conveyor belt running time First horizontal direction running delay time The second horizontal direction of the placement components is pre-running distance. The vertical running distance of the placement components is predetermined. Horizontal speed of conveyor belt Acceleration time of the first horizontal direction of the placement components Horizontal acceleration time of the conveyor belt Time taken for the workpiece to leave the conveyor belt .

[0080] S6: The palletizing mechanism executes motion parameters.

[0081] The specific execution method is as follows: the component is placed at (0,0,0), the target stacking position is (1, -1.088, -0.814), the conveyor belt is started and accelerates to 0.88 m / s in 0.1s, then moves at a constant speed for 0.43s, and then decelerates to 0 in 0.1s, for a total running time of 0.63s. The component placement in the first horizontal direction starts 0.361s after the conveyor belt starts, accelerates to 0.534 m / s in 0.1s, and then moves at a constant speed. It then decelerates to 0 in 0.1s, with a total running time of 0.269s and a distance of 0.09m.

[0082] S601: Verify that the motion parameters in step S6 meet the actual usage requirements;

[0083] S7: Store as fixed palletizing parameters to complete the palletizing of the workpiece.

[0084] The above are merely preferred embodiments of the present invention, but the design concept of the invention is not limited thereto. Without departing from the concept of the present invention, many other equivalent embodiments may be included. Those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the protection scope of the present invention.

Claims

1. A method for palletizing packaging bags using a palletizing mechanism, the palletizing mechanism being equipped with a control system, the palletizing mechanism comprising a vertical direction movement drive component, a length direction movement drive component, a width direction movement drive component, and a placement component, wherein the vertical direction movement drive component drives the placement component to move vertically, the length direction movement drive component drives the placement component to move along a first horizontal direction, the width direction movement drive component drives the placement component to move along a second horizontal direction, the first horizontal direction and the second horizontal direction being perpendicularly arranged, the placement component comprising a conveyor belt, a drive roller, and a conveyor drive component, the conveyor drive component driving the conveyor belt to move along the second horizontal direction, the conveyor belt being connected to the drive roller; Its features are, The packaging bag stacking method specifically includes the following steps: S1: The control system acquires application scenario information, the position information of the palletizing mechanism, workpiece information, and palletizing target position information. ; S2: Determine the motion mode of the workpiece. Based on the information obtained in step S1, set the angle γ between the longer side of the workpiece and the horizontal plane when it lands, and the horizontal speed of the conveyor belt. ; S3: Calculate the second horizontal movement distance Y and the vertical movement distance Z of the workpiece; S4: Determine whether the second horizontal movement distance Y of the workpiece, the vertical movement distance Z of the workpiece, and the height distance U of the placement component entering the carriage meet the palletizing requirements; S5: If step S4 meets the requirements, calculate the motion parameters of the placement assembly and the conveyor belt in the first horizontal direction, the second horizontal direction, and the vertical direction; if step S4 does not meet the requirements, reset the angle γ between the long side of the workpiece and the horizontal plane when it lands and the horizontal speed of the conveyor belt. Then return to step S3; S6: The palletizing mechanism executes the motion parameters; S7: Complete the stacking of the workpieces.

2. The method for stacking packaging bags using a palletizing mechanism as described in claim 1, characterized in that: The application scenario information in step S1 includes the width of the carriage. Height of the front side panel of the carriage Height of the side railings of the carriage The distance between the transmission roller and the front edge of the palletizing mechanism The distance between the side of the conveyor belt and the edge of the placement component mechanism The width of the placement component The safety margin E, the radius R of the transmission roller, and the position information of the palletizing mechanism including the position of the placement component. The workpiece information includes workpiece length L, workpiece height T, angle θ between the workpiece diagonal and the long side of the workpiece, workpiece mass M, and maximum workpiece blanking height F.

3. The method for palletizing packaging bags using a palletizing mechanism as described in claim 2, characterized in that... : In step S2, it is determined that the workpiece falls in a first motion mode. The first motion mode is that the workpiece moves in a parabolic shape after leaving the placement assembly, and one side of the workpiece lands first and then tilts towards the placement assembly. Based on the information obtained in S1, the angle γ between the longer side of the workpiece and the horizontal plane when it lands and the horizontal speed of the conveyor belt are set. The angle γ between the longer side of the workpiece and the horizontal plane when the workpiece lands and the horizontal speed of the conveyor belt. satisfy ,and Where g is the acceleration due to gravity, and β is the radius of the circular motion of the workpiece as it leaves the conveyor belt and its center of mass. The time it takes for the workpiece to fly in the air.

4. The method for stacking packaging bags using a palletizing mechanism as described in claim 2, characterized in that... : In step S2, it is determined that the workpiece falls in a first motion mode. The first motion mode is that the workpiece moves in a parabolic shape after leaving the placement assembly, and one side of the workpiece lands first and then tilts towards the placement assembly. Based on the information obtained in S1, the angle γ between the longer side of the workpiece and the horizontal plane when it lands and the horizontal speed of the conveyor belt are set. The angle γ between the longer side of the workpiece and the horizontal plane when the workpiece lands and the horizontal speed of the conveyor belt. satisfy , ,and Where g is the acceleration due to gravity, and β is the radius of the circular motion of the workpiece as it leaves the conveyor belt and moves away from its center of mass. Let J be the time of flight of the workpiece, J be the moment of inertia of the workpiece, ω be the angular velocity of the workpiece when it leaves the transmission roller, and Di be the... .

5. The method for palletizing packaging bags using a palletizing mechanism as described in claim 2, characterized in that... : In step S2, it is determined that the workpiece falls in a second motion mode. The second motion mode is that the workpiece moves in a parabolic shape after leaving the placement assembly. When one side of the workpiece lands first, the side of the workpiece that has not contacted the carriage is closer to the placement assembly than the side of the workpiece that has contacted the carriage. The workpiece tilts away from the placement assembly. Based on the information obtained in S1, the angle γ between the longer side of the workpiece and the horizontal plane and the horizontal speed of the conveyor belt are set when the workpiece lands. The angle γ between the longer side of the workpiece and the horizontal plane when the workpiece lands and the horizontal speed of the conveyor belt. satisfy , ,and Where g is the acceleration due to gravity, and β is the radius of the circular motion of the workpiece as it leaves the conveyor belt and moves away from its center of mass. Let J be the time of flight of the workpiece, J be the moment of inertia of the workpiece, ω be the angular velocity of the workpiece when it leaves the transmission roller, and Di be the... .

6. The method for stacking packaging bags using a palletizing mechanism as described in claim 2, characterized in that... : In step S2, it is determined that the workpiece falls in a second motion mode. The second motion mode is that the workpiece moves in a parabolic shape after leaving the placement assembly. When one side of the workpiece lands first, the side of the workpiece that has not contacted the carriage is closer to the placement assembly than the side of the workpiece that has contacted the carriage. The workpiece tilts away from the placement assembly. Based on the information obtained in S1, the angle γ between the longer side of the workpiece and the horizontal plane and the horizontal speed of the conveyor belt are set when the workpiece lands. The angle γ between the longer side of the workpiece and the horizontal plane when the workpiece lands and the horizontal speed of the conveyor belt. satisfy , ,and Where g is the acceleration due to gravity, and β is the radius of the circular motion of the workpiece as it leaves the conveyor belt and moves away from its center of mass. Let J be the time of flight of the workpiece, J be the moment of inertia of the workpiece, ω be the angular velocity of the workpiece when it leaves the transmission roller, and Di be the... .

7. The method for stacking packaging bags using a palletizing mechanism as described in claim 2, characterized in that... : In step S2, it is determined that the workpiece falls in a third motion mode. This third motion mode is that after leaving the placement assembly, the workpiece moves in a parabolic trajectory. When one side of the workpiece lands first, the side of the workpiece that did not contact the carriage is farther from the placement assembly than the side that did contact the carriage. The workpiece tilts away from the placement assembly. Based on the information obtained in S1, the angle γ between the longer side of the workpiece and the horizontal plane when it lands and the horizontal speed of the conveyor belt are set. The angle γ between the longer side of the workpiece and the horizontal plane when the workpiece lands and the horizontal speed of the conveyor belt. satisfy .

8. The method for palletizing packaging bags using a palletizing mechanism as described in claim 2, characterized in that: The specific determination method for step S4 is as follows: when and and The second horizontal movement distance Y of the workpiece, the vertical movement distance Z of the workpiece, and the height distance U of the placement assembly extending into the carriage meet the palletizing requirements, wherein... N is the maximum height that the palletizing mechanism can penetrate into the carriage.

9. A method for stacking packaging bags using a stacking mechanism as described in any one of claims 1 to 8, characterized in that: Step S6 is followed by step S601, which is: Verify whether the motion parameters in step S6 meet the actual usage requirements. If they do, execute step S7, which is to store the parameters as fixed palletizing parameters and complete the palletizing of the workpiece. If they do not meet the actual usage requirements, execute step S602, which is to adjust the motion parameters according to the actual usage situation and then execute step S6.

10. A control system, characterized in that: The control system includes a processor and a memory, the memory storing a computer program that, when executed by the processor, implements a packaging bag palletizing method of a palletizing mechanism as described in any one of claims 1 to 9.

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