Automatic package stacking method achieved through computer program and computer program product

Abstract

The invention discloses an automatic package stacking method achieved through a computer program and a computer program product. The method comprises the following steps that S7, all packaged packages are conveyed to a stacking robot in sequence; s8, the palletizing robot is made to palletize the parcels conveyed in sequence layer by layer according to a palletizing scheme, and the palletizing scheme comprises the palletizing layer number, the palletizing position of each layer of parcels and the palletizing sequence; and S70, in the conveying process, whether the sorting position of each package in the current package conveying sequence conforms to the preset stacking sequence or not is judged, and if not, S71, conveying of the package is delayed, and conveying of the package is recovered until the sorting position of the package in the package conveying sequence conforms to the stacking sequence. By means of the method, it is ensured that the sequence of the packages reaching the stacking station conforms to the package stacking sequence, and it is ensured that the stacking robot can normally stack all the packages layer by layer.

Description

Technical Field

[0001] The present invention relates to the technical field of package palletizing, and in particular to an automatic package palletizing method implemented by a computer program and a computer program product. Background Art

[0002] With the development of mechanical automation and intelligence, many manufacturing plants use robots to realize automated production lines, reduce labor costs and improve production efficiency. The home furnishing manufacturing industry involves related processing processes such as panel packaging and palletizing. Some home furnishing companies have proposed an automatic palletizing production line. The automatic palletizing production line automatically determines the various sizes of panels and their quantities required for the order according to the order information in advance, and then subpackages the panels required for the order into multiple packages according to the subpackaging rules to obtain the panel subpackaging plan, and then automatically calculates the corresponding palletizing plan through the palletizing algorithm. The palletizing plan includes the number of palletizing layers, the palletizing position of each layer of packages, and the palletizing sequence. The operator subpackages the panels into multiple packages according to the subpackaging plan, and then delivers each package to the palletizing robot according to the package stacking sequence in the palletizing plan. The palletizing robot automatically palletizes each package according to the palletizing plan. The robot palletizing speed will be much higher than the manual packaging speed. Therefore, in order to improve production efficiency, the automatic palletizing production line usually sets a palletizing station and multiple parallel manual packaging stations. These multiple manual packaging stations jointly deliver packages to the palletizing station. Since different manual packaging stations have different delivery speeds, the order of packages arriving at the palletizing station may not conform to the package palletizing order in the palletizing plan. Packages may pile up at the palletizing station, causing the automatic palletizing production line to crash and stop working. Summary of the invention

[0003] The technical problem to be solved by the present invention is how to prevent the order in which packages arrive at the palletizing station from being inconsistent with the package palletizing order.

[0004] In order to solve the above technical problems, the present invention provides a method for automatic palletizing of packages implemented by a computer program, comprising the following steps:

[0005] S7, conveying the packaged packages to the palletizing robot in sequence, wherein each package is obtained by packaging each panel according to the panel subpackaging plan, and each package includes at least one panel;

[0006] S8, instructing the palletizing robot to palletize the packages that have been delivered successively layer by layer according to the palletizing plan, wherein the palletizing plan includes the number of palletizing layers, the palletizing position of the packages in each layer, and the palletizing sequence;

[0007] S7 executes S70 during the conveying process: for each package, determine whether its sorting position in the current package conveying sequence conforms to the preset stacking sequence. If not, execute S71: temporarily suspend the conveying of the package, and resume conveying the package when its sorting position in the package conveying sequence conforms to the stacking sequence.

[0008] Further, the method includes the following steps performed before S7:

[0009] S1. Determine the panels of various sizes and quantities required for the order according to the order information;

[0010] S2. According to the panels of various sizes and their quantities required by the order, a panel subpackaging plan for the order is obtained according to the preset subpackaging rules. The panel subpackaging plan contains panel information of each package. The panel information includes at least one size of panel and its quantity.

[0011] S3. According to the panel subpackaging plan of the order, the palletizing plan is automatically calculated according to a preset palletizing algorithm.

[0012] Furthermore, S70 is specifically implemented as follows: determine whether the current stacking layer of the palletizing robot is equal to the palletizing layer to which the package belongs, and based on this determine whether the sorting position of the package in the current package conveying sequence conforms to the preset palletizing sequence; if the current stacking layer of the palletizing robot is equal to the palletizing layer to which the package belongs, then determine that the sorting position of the package in the current package conveying sequence conforms to the preset palletizing sequence; otherwise, determine that it does not conform.

[0013] Furthermore: each packaged package is affixed with a corresponding identification code; in S70, the identification code on each package is scanned to obtain the stacking layer to which the package belongs.

[0014] Further, the method is applied to an automatic palletizing production line for packages, the production line includes a conveyor chain and a panel outbound section, a manual packaging section, an automatic box sealing section and an automatic palletizing section which are sequentially passed by the conveyor chain, the panel outbound section includes a sorting channel provided with a sorting robot and a panel stacking channel provided with a panel stacking robot, the method includes the following steps performed between S3 and S7:

[0015] S4, controlling the sorting robot to sort and output the panels of each package in sequence according to the panel information of each package;

[0016] S5, control the stacking robot to stack the panels in units of packages according to the panel information of each package, and then transport the stacked panels in units of packages to the manual packaging section, pack them into packages for the operator, affix identification codes on the box surfaces, and then output them;

[0017] S6. The packages outputted from the manual packaging section are transported to the automatic box sealing section, and the packages are automatically sealed and packaged using a box sealing machine to obtain packaged packages.

[0018] Furthermore: there are multiple sorting robots and multiple stacking robots, and the multiple sorting robots are respectively arranged in multiple sorting channels, and the multiple stacking robots are respectively arranged in multiple stacking channels, and each sorting channel corresponds to each stacking channel one by one; in S4, the panels are sorted in units of packages by each sorting robot in turn according to the stacking layer from low to high, and each stacking robot takes turns to stack them.

[0019] Further:

[0020] The manual packaging section is equipped with multiple manual packaging channels, and the exits of each manual packaging channel converge into the automatic box sealing section;

[0021] S5 conveys the stacked panels to the manual packaging section in packages. Specifically, after allocating the first batch of packages to all manual packaging channels in the package conveying order, if any manual packaging channel has a package output, the next package is added to the manual packaging channel accordingly.

[0022] Including S60 executed between S5 and S6, for each manual packaging channel, if the stacking layer to which the currently output package belongs is higher than the lowest stacking layer among the stacking layers to which the current packages on other manual packaging channels belong by a preset number of layers, the conveyance of the package is suspended, and the conveyance of the package is resumed after all the packages on the lowest stacking layer on other manual packaging channels enter the automatic box sealing section, wherein the preset number of layers is at least 2.

[0023] Furthermore, S71 specifically includes: temporarily moving the package away from the conveyor line, allowing the subsequent packages to continue to be conveyed for palletizing by the stacking robot layer by layer, and when the current stacking layer of the stacking robot reaches the stacking layer to which the package belongs, the package is put back on the conveyor line for conveyance for the stacking robot to stack the package.

[0024] The present invention also provides a computer program product, comprising a computer program, which is executed by a processor to implement the automatic palletizing method for packages as described above.

[0025] The automatic package stacking method S7 provided by the present invention executes S70 during the package conveying process: for each package, determine whether its sorting position in the current package conveying sequence conforms to the preset stacking sequence; if not, execute S71: temporarily suspend the conveying of the package until its sorting position in the package conveying sequence conforms to the stacking sequence, and then resume the conveying of the package. In this way, it can be ensured that the order in which the packages arrive at the stacking station conforms to the package stacking sequence, and that the stacking robot can normally stack each package layer by layer. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is the structural block diagram of the automatic palletizing production line for packages.

[0027] Figure 2 It is a schematic diagram of the planar structure of the automatic palletizing production line for packages.

[0028] Figure 3 It is a three-dimensional structural diagram of the chain cache mechanism.

[0029] Figure 4 It is a front view of the chain buffer mechanism when all the layers of the rack have risen above the conveyor chain.

[0030] Figure 5 This is a front view of the chain buffer mechanism when the highest level of the rack is flush with the conveyor chain.

[0031] Figure 6 It is a schematic diagram of the number of stacking layers in the stacking solution.

[0032] Figure 7 It is a schematic diagram of the distribution of panels in the sorting and stacking channels of the panel outbound section, with the panel being distributed in units of packages.

[0033] Figure 8 It is a schematic diagram of the planar structure of the automatic carton sealing section, the chain buffer section and the automatic palletizing section of a modified embodiment. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below in conjunction with specific implementation methods.

[0035] Automatic palletizing production line for packages Figure 1 , Figure 2 As shown, it includes a conveyor chain 100 and a panel outgoing section 1, a manual packaging section 3, an automatic box sealing section 4, a chain buffer sequence adjustment section 5 and an automatic palletizing section 6 which are sequentially passed by the conveyor chain 100, and also includes a control system (not shown) for controlling the conveyor chain and related equipment in the above sections. The processor of the control system can execute a computer program product to implement the automatic palletizing method for packages. The process of the control system executing the automatic palletizing method for packages is described in detail below.

[0036] S1. Determine the panels of various sizes and quantities required for the order based on the order information.

[0037] After receiving the customer's order, the control system determines the various sizes and quantities of panels required to manufacture the furniture based on the furniture model and quantity in the order.

[0038] S2. Based on the panels of various sizes and their quantities required by the order, a panel subpackaging plan for the order is derived according to preset subpackaging rules. The panel subpackaging plan contains panel information for each package, and the panel information includes panels of at least one size and its quantity.

[0039] The control system has preset subpackaging rules, such as: all panels are divided into multiple categories according to size, and the size difference of each panel in each category does not exceed the threshold. If the height superposition value of the panels in a single category does not exceed the height threshold, it is regarded as one package. If it exceeds the height threshold, the height threshold is used as the dividing line to divide the panels in this category into two or more packages. The control system derives the panel subpackaging plan of the order according to the preset subpackaging rules based on the panels of various sizes and their quantities required for the order. The panel subpackaging plan contains the panel information of each package, and the panel information includes panels of at least one size and its quantity. For example, all the panels required for the order are subpacked into 16 packages, and each package contains its panel information, and the panel information includes panels of at least one size and its quantity.

[0040] S3. According to the panel subpackaging plan of the order, the palletizing plan is automatically calculated according to the preset palletizing algorithm.

[0041] The control system has a preset palletizing algorithm, such as a commonly used palletizing algorithm in the industry. After the control system determines the panel subpackaging plan, it automatically calculates the palletizing plan according to the preset palletizing algorithm based on the panel subpackaging plan of the order. The palletizing plan includes the number of palletizing layers, the palletizing position of each layer of packages, and the palletizing sequence.

[0042] S4: Control the sorting robot to sort and output the panels of each package in sequence according to the panel information of each package. S5: Control the stacking robot to stack the panels in units of packages according to the panel information of each package, and then transport the stacked panels in units of packages to the manual packaging section, pack them into packages for the operator, affix identification codes on the box surface, and then output them.

[0043] The plate outgoing section 1 is provided with three sorting channels 11, 12, 13 and three plate stacking channels 21, 22, 23, and each sorting channel 11, 12, 13 corresponds to each plate stacking channel 21, 22, 23. The conveyor chain 100 has three parallel sections at the plate outgoing section 1, corresponding to the three sorting channels 11, 12, 13 and the plate stacking channels 21, 22, 23, respectively. Each sorting channel 11, 12, 13 is provided with 2 to 3 sorting robots 14, and each plate stacking channel 21, 22, 23 is provided with a plate stacking robot 24. The control system controls the sorting robots 14 in each sorting channel to sort the panels in packages to the conveyor chain 100 in turn according to the panel information of each package in the panel subpackaging plan, and stacks the panels in layers from low to high. The conveyor chain 100 conveys the panels to the corresponding stacking channels 21, 22, and 23, and the corresponding stacking robots 24 stack the panels in turn. Figure 6 As shown in the figure, there are 3 palletizing layers, with 4 packages A1, A2, A3, A4 on the first layer, 5 packages B1, B2, B3, B4, B5 on the second layer, and 6 packages C1, C2, C3, C4, C5, C6 on the third layer. The control system allocates each package to each sorting channel 11, 12, 13 and stacking channel 21, 22, 23 layer by layer from low to high. Figure 7As shown, package A1 is assigned to sorting channel 11 and stacking channel 21, package A2 is assigned to sorting channel 12 and stacking channel 22, package A3 is assigned to sorting channel 13 and stacking channel 23, package A4 is assigned to sorting channel 11 and stacking channel 21, package B1 is assigned to sorting channel 12 and stacking channel 22, package B2 is assigned to sorting channel 13 and stacking channel 23, package B3 is assigned to sorting channel 11 and stacking channel 21, package B4 is assigned to sorting channel 11 and stacking channel 21. Channel 12 and pallet stacking channel 22, package B5 is assigned to sorting channel 13 and pallet stacking channel 23, package C1 is assigned to sorting channel 11 and pallet stacking channel 21, package C2 is assigned to sorting channel 12 and pallet stacking channel 22, package C3 is assigned to sorting channel 13 and pallet stacking channel 23, package C4 is assigned to sorting channel 11 and pallet stacking channel 21, package C5 is assigned to sorting channel 12 and pallet stacking channel 22, and package C6 is assigned to sorting channel 13 and pallet stacking channel 23. Then the control system controls the sorting robots 14 of each sorting channel 11, 12, 13 layer by layer from low to high stacking layers to sort the panels in units of packages onto the conveyor chain 100 in turn, and the conveyor chain 100 conveys the panels to the corresponding stacking channels 21, 22, 23. The stacking robots 24 of each stacking channel 21, 22, 24 stack the panels conveyed by the conveyor chain 100 in units of packages, which are described in detail in chronological order as follows: The board information of each package in the packaging plan controls the sorting robot 14 of the sorting channel 11 to sort the boards of package A1 onto the conveyor chain 100 and transport them to the board stacking channel 21, and the board stacking robot 24 stacks the boards of package A1; controls the sorting robot 14 of the sorting channel 12 to sort the boards of package A2 onto the conveyor chain 100 and transport them to the board stacking channel 22, and the board stacking robot 24 stacks the boards of package A2; controls the sorting robot 14 of the sorting channel 13 to sort the boards of package A1 onto the conveyor chain 100 and transport them to the board stacking channel 22, and the board stacking robot 24 stacks the boards of package A2; The sorting robot 14 sorts the panels of package A3 onto the conveyor chain 100 and conveys them to the stacking channel 23, and the stacking robot 24 stacks the panels of package A3; the sorting robot 14 controlling the sorting channel 11 sorts the panels of package A4 onto the conveyor chain 100 and conveys them to the stacking channel 21, and the stacking robot 24 stacks the panels of package A4; the sorting robot 14 controlling the sorting channel 12 sorts the panels of package B1 onto the conveyor chain 100 and conveys them to the stacking channel 21, and the stacking robot 24 stacks the panels of package A4; 0 is transported to the stacking channel 22, and the stacking robot 24 stacks the panels of package B1; the sorting robot 14 controls the sorting channel 13 to sort the panels of package B2 to the conveyor chain 100 and transport them to the stacking channel 23, and the stacking robot 24 stacks the panels of package B2; and so on, until all the panels of the packages are sorted and transported to the conveyor chain 100 to the corresponding stacking channels 21, 22, and 23 and stacked by the stacking robot 24. Figure 2As shown, the plate outbound section includes an outbound channel 25 shared by three plate stacking channels 21, 22, and 23. The chain segment of the conveyor chain 100 at the outbound channel 25 is not directly connected to the chain segments at the plate stacking channels 21, 22, and 23. The plate stacking robot 24 stacks the plates on the chain segments at the plate stacking channels 21, 22, and 23 in units of packages in sequence at the corresponding positions of the chain segments at the outbound channel 25. The stacking process is, for example, as follows: package A1 has four panels, and the stacking robot 24 of the stacking channel 21 takes one panel as a layer, and stacks the panels one by one from the stacking channel 21 to the corresponding position of the chain segment of the conveyor chain 100 at the outbound channel 25, and performs a total of four panel stacking operations, stacking them up layer by layer to obtain the stacked four layers of panels of package A1; package A2 has only one panel, and the stacking robot 24 of the stacking channel 22 takes one panel as a layer, and stacks the panels one by one from the stacking channel 22 to the corresponding position of the chain segment of the conveyor chain 100 at the outbound channel 25. Since package A2 has only one panel, only one panel stacking operation is required to obtain the stacked panels of package A2; the stacking process of the remaining packages is the same and will not be repeated.

[0044] The panels stacked by each stacking robot 24 are transported to the manual packaging section 3 by the conveyor chain 100 in the stacking order. Specifically, after the three stacking robots 24 have stacked the panels A1, A2, and A3 of the first package of this stacking channel, the conveyor chain 100 will send the three packages A1, A2, and A3 to the manual packaging section 3 together. After the three stacking robots 24 have stacked the panels A4, B1, and B2 of the second package of this stacking channel, the conveyor chain 100 will send the three packages A4, B1, and B2 to the manual packaging section 3 together. In packaging section 3, after the three stacking robots 24 have stacked the panels B3, B4, and B5 of the second package of this stacking channel, the conveyor chain 100 will send the three packages B3, B4, and B5 to the manual packaging section 3 together, and so on, until all the packages are sent to the manual packaging section 3 in the stacking order (A1, A2, A3, A4→B1, B2, B3, B4, B5→C1, C2, C3, C4, C5, C6, there is no particular order for the packages in the layer, the package on the starting side of the arrow is ahead of the package on the end side of the arrow).

[0045] The manual packaging section 3 is provided with a plate loading channel 30 and two manual packaging channels 31, 32, and the conveyor chain 100 passes through each manual packaging channel 31, 32 through the plate loading channel 30. A paper cutter (not shown) is provided at the plate loading channel 30, and the paper cutter cuts out the cardboard required for the package packing in sequence according to the plate information of each package that is moved into the plate loading channel 30 in sequence. The conveyor chain 100 is provided with a packing position (not shown) at the corresponding plate loading channel 30, and the operator of the plate loading channel 30 lays the cardboard corresponding to the current package that is moved into the plate loading channel 30 on the packing position with the inner side facing up, and the control system controls the conveyor chain 100 to drive the stacked plates of the package to move to the cardboard that has been laid on the packing position, and the operator arranges the plates on the cardboard into a package and affixes an identification code on the box surface, and then the conveyor chain 100 sends the package to the manual packaging channel. This embodiment has two manual packaging channels 31 and 32. The operator at each manual packaging channel 31 and 32 puts foam blocks into the packages moving through the channel to achieve anti-collision filling.The work efficiency of operators of each manual packaging channel 31, 32 is usually different. Therefore, the control system allocates packages to the two manual packaging channels 31, 32 based on the package conveying sequence and the number of packages in the two manual packaging channels 31, 32. The allocation process is as follows: The current conveying sequence of each package on the conveyor chain 100 is A1, A2, A3, A4, B1, B2, B3, B4, B5, C1, C2, C3, C4, C5, C6. The control system first allocates packages to the two manual packaging channels 31, 32 based on the package conveying sequence and the number of packages in the two manual packaging channels 31, 32. The allocation process is as follows: According to the upper limit of the number of packages in the manual packaging channel, the conveyor chain 100 is controlled to sequentially send the corresponding packages to the two manual packaging channels 31 and 32 in accordance with the package conveying sequence. For example, if the upper limit of the number of packages in the manual packaging channel is 3, the six packages A1, A2, A3, A4, B1, and B2 are allocated to the two manual packaging channels 31 and 32 in turn. That is, the first manual packaging channel 31 is allocated with the three packages A1, A3, and B1 in turn, and the second manual packaging channel 32 is allocated with the three packages A2, A4, and B1 in turn. , B2, and then, on this basis, whenever a manual packaging channel 31, 32 completes the anti-collision filling of a package, the next package is sent to the manual packaging channel 31, 32 according to the package conveying order. For example: the second manual packaging channel 32 completes the anti-collision filling of package A2 first, that is, the number of packages queued in the second manual packaging channel 32 changes from 3 to 2, and the control system controls the conveyor chain 100 to send package B3 to the second manual packaging channel 32; after a while, the second manual packaging channel 32 The packaging channel 32 has completed the anti-collision filling of package A4, that is, the number of packages queued in the second manual packaging channel 32 has changed from 3 to 2, and the control system controls the conveyor chain 100 to send package B4 to the second manual packaging channel 32; after a while, the first manual packaging channel 31 has completed the anti-collision filling of package A1, that is, the number of packages queued in the first manual packaging channel 31 has changed from 3 to 2, and the control system controls the conveyor chain 100 to send package B5 to the first manual packaging channel 31, and so on.

[0046] S6. The packages outputted from the manual packaging section are transported to the automatic box sealing section, and the packages are automatically sealed and packaged using a box sealing machine to obtain packaged packages.

[0047] The manual packaging section 3 further includes a convergence channel 33, through which the conveyor chain 100 converges from the manual packaging channels 31 and 32 to the automatic box sealing section 4, and the packages filled in the two manual packaging channels 31 and 32 are conveyed to the automatic box sealing section 4 through the convergence channel 33. The automatic box sealing section 4 is provided with a box sealing machine (not shown), which seals the packages passing through the automatic box sealing section 4, and the sealed packages are further conveyed to the chain buffer sequence adjustment section 5 by the conveyor chain 100.

[0048] S7, convey the packaged packages to the palletizing robot in sequence, wherein each package is obtained by packaging each panel according to the panel subpackaging plan, and each package includes at least one panel. S7 executes S70 during the conveying process: for each package, determine whether its sorting position in the current package conveying sequence meets the preset palletizing sequence. If not, execute S71: temporarily suspend the conveying of the package, and resume conveying the package when its sorting position in the package conveying sequence meets the palletizing sequence. S8, instruct the palletizing robot to palletize the packages that have been conveyed successively layer by layer according to the palletizing plan, wherein the palletizing plan includes the number of palletizing layers, the palletizing positions of the packages in each layer, and the palletizing sequence.

[0049] The chain cache sequence adjustment section 5 is provided with a chain cache mechanism 501. Figure 3 As shown, the chain buffer mechanism 501 includes a frame 51 mounted on the conveyor chain 100, a multi-layer rack 52 that can be raised and lowered in the frame 51, and a lifting device 53 for driving the rack 52 to rise and fall. Figure 3 or Figure 4 As shown, each layer of the rack 52 is connected via a chain 522. Figure 5 As shown, in the initial state, the remaining layers of the rack 52 except the highest layer are folded together, the highest layer 521-1 of the rack 52 is flush with the conveyor chain 100, and the remaining layers are located below the conveyor chain 100. Figure 3 As shown, the chain buffer mechanism section of the conveyor chain 100 includes a plurality of rolling shafts 110 arranged side by side in the conveying direction, and each layer of the rack 52 includes a plurality of placing rods 521 arranged side by side in the conveying direction. The placing rods 521 of the rack 52 and the rolling shafts 110 of the conveyor chain 100 are arranged alternately in the conveying direction. When a certain layer of the rack 52 is flush with the conveyor chain 100, the placing rods 521 of the layer are flush with the rolling shafts 110 of the conveyor chain 100. Figure 3As shown, this embodiment is provided with four groups of lifting devices 53, which are respectively located at the four corners of the rack 52. The lifting device 53 includes a driving wheel 531, a driven wheel 532 and a transmission chain 533. The driving wheel 531 is fixed at the bottom of the frame 51, and the driven wheel 532 is fixed at the top of the frame 51. The driving wheel 531 and the driven wheel 532 are connected to each other via the transmission chain 533, and the top 523 of the rack 52 is fixed on the transmission chain 533 to move with the transmission chain 533. A barcode scanning gun connected to the control system is provided at the exit of the automatic box sealing section 4, which automatically scans the identification code on the package moved from the automatic box sealing section 4 to the chain buffer sequence adjustment section 5, and sends the identification code information to the control system. The control system determines the stacking layer to which the package belongs according to the package identification code. The automatic stacking section 6 is provided with a stacking robot 61, which stacks each package successively delivered by the conveyor chain 100 layer by layer according to the stacking scheme. The control system determines whether the current stacking layer of the stacking robot 61 of the automatic stacking section 6 is equal to the stacking layer to which the package belongs, and accordingly determines whether the sorting position of the package in the current package conveying sequence conforms to the preset stacking sequence. If the current stacking layer of the stacking robot 61 is equal to the stacking layer to which the package belongs, it is determined that the sorting position of the package in the package conveying sequence conforms to the preset stacking sequence, otherwise it is determined that it does not conform. The package A2 is now moved from the automatic box sealing section 4 to the chain buffer resequencing section 5. The barcode scanner scans the identification code of package A2 and sends it to the control system. The control system determines that package A2 belongs to the first layer based on the identification code. The current stacking layer of the palletizing robot 61 of the automatic palletizing section 6 is the first layer. The current stacking layer of the palletizing robot 61 is equal to the palletizing layer to which package A2 belongs. The control system determines that the sorting position of package A2 in the current package conveying sequence conforms to the preset palletizing sequence, and there is no need to resequence package A2. Therefore, the control system controls the chain buffer mechanism 501 not to move, and the conveyor chain 100 drives package A2 to pass through the chain buffer resequencing section 5 and move to the automatic palletizing section 6. The palletizing robot 61 palletizes the package A2 and places the package A2 at the corresponding position according to the palletizing position of the package A2 in the palletizing scheme. After a while, the package B2 is moved from the automatic sealing section 4 to the chain buffer reordering section 5. The barcode scanner scans the identification code of package B2 and sends it to the control system. The control system determines that package B2 belongs to the second layer based on the identification code, while the current stacking layer of the palletizing robot 61 of the automatic palletizing section 6 is the first layer. The current stacking layer of the palletizing robot 61 is not equal to the palletizing layer to which package B2 belongs. The control system determines that the sorting position of package B2 in the current package conveying sequence does not conform to the preset stacking sequence, and package B2 needs to be reordered.Therefore, the control system controls the chain buffer mechanism 501 to perform a buffer adjustment action. Specifically, after the conveyor chain 100 drives the package to move to the position of the rack 52, the control system controls the driving wheels 531 of each lifting device 53 to rotate counterclockwise for one stroke (one stroke corresponds to the rack rising one level), driving the transmission chain 533 to rotate counterclockwise. Since the top 523 of the rack 52 is fixed on the transmission chain 533, the counterclockwise rotation of the transmission chain 533 pulls the rack 52 to rise one level, causing the package B2 to rise and separate from the conveyor chain 100 (i.e., temporarily move away from the conveyor line) and the next level to rise to be flush with the conveyor chain 100 (i.e., rise from the highest level 521-1 to be flush with the conveyor chain 100 to the next highest level to be flush with the conveyor chain 100), thereby temporarily suspending the conveyance of the package B2 (i.e., caching the package B2). During this process, the next upper layer of the rack 52 rises to be flush with the conveyor chain 100, and the rack 52 vertically unfolds the next upper layer, and the layers below the next upper layer are still folded together. Each time the rack 52 rises one layer, it vertically unfolds one layer. Since the next layer of the rack 52 is flush with the conveyor chain 100, it does not prevent the subsequent packages that meet the current stacking layer of the palletizing robot 61 from being driven by the conveyor chain 100 through the rack 52 and moving to the automatic palletizing section 6 for palletizing. For example, the package A1 is subsequently moved from the automatic carton sealing section 4 to the chain buffer reordering section 5. The barcode scanner scans the identification code of package A1 and sends it to the control system. The control system determines that package A1 belongs to the first layer based on the identification code. The current stacking layer of the stacking robot 61 in the automatic stacking section 6 is the first layer (the packages in the same layer are stacked in no particular order). The current stacking layer of the stacking robot 61 is equal to the stacking layer to which package A1 belongs. The control system determines that the sorting position of package A1 in the current package conveying sequence meets the preset stacking sequence, and there is no need to reorder package A1. Therefore, the control system controls the chain buffer mechanism 501 not to move, and the conveyor chain 100 drives package A1 to pass through the chain buffer reordering section 5, that is, through the rack 52 of the chain buffer mechanism 501 and move to the automatic stacking section 6. The stacking robot 61 stacks the package A1 and places the package A1 at the corresponding position according to the stacking position of the package A1 in the stacking scheme.After the palletizing robot 61 has finished palletizing all the packages A1, A2, A3, and A4 on the first layer, it will immediately palletize the second layer, that is, the current palletizing layer of the palletizing robot 61 is the second layer. The control system determines that the current palletizing layer of the palletizing robot 61 is equal to the palletizing layer to which the package B2 cached on the chain buffer mechanism 501 belongs, and controls the driving wheels 531 of each lifting device 53 of the chain buffer mechanism 501 to rotate clockwise for one stroke, driving the transmission chain 533 to rotate clockwise, thereby driving the rack 52 to descend one layer so that the layer where the package B2 is located descends to be flush with the conveyor chain, so that the package B2 returns to the conveyor chain 100, and the conveyor chain 100 drives the package B2 to pass through the rack 52 of the chain buffer mechanism 501 and move to the automatic palletizing section 6, and the palletizing robot 61 palletizes the package B2, and specifically places the package B2 at the corresponding position according to the palletizing position of the package B2 in the palletizing scheme. The automatic package palletizing production line of this embodiment is provided with a chain buffer sequence adjustment section 5 between the automatic box sealing section 4 and the automatic palletizing section 6. The chain buffer sequence adjustment section 5 is provided with a chain buffer mechanism 501, which temporarily suspends the conveyance of packages whose sorting positions in the current package conveying sequence do not conform to the palletizing sequence, and resumes conveying the packages to the automatic palletizing section for layer-by-layer palletizing when their sorting positions in the package conveying sequence conform to the palletizing sequence. In this way, it can be ensured that the order in which the packages arrive at the palletizing station conforms to the package palletizing sequence, and that the automatic palletizing section can normally palletize each package layer by layer.

[0050] Preferably, in order to improve the cache reordering capability, the present embodiment Figure 2 As shown, in the chain buffer sequencing section 5, two chain buffer mechanisms 501 and 502 are arranged one after the other along the conveying direction of the conveyor chain 100. If each layer of the rack 52 of the first chain buffer sequencing mechanism 501 has been buffered with packages, the second chain buffer sequencing mechanism 502 is activated to buffer the packages, or the first chain buffer sequencing mechanism 501 is used to buffer and sequence the packages of the next layer (N+1 layer) of the current palletizing layer (for example, N layer) of the palletizing robot 61, and the second chain buffer mechanism 502 is used to buffer and sequence the packages of the second layer (N+2 layer) behind the current palletizing layer. In other variant embodiments, such as Figure 8 As shown, the two chain buffer mechanisms 501 and 502 of the chain buffer sequence adjustment section 5 are not arranged front and back along the conveying direction of the conveyor chain 100, but are arranged in two parallel buffer channels 510 and 511. The conveyor chain 100 passes through the two buffer channels 510 and 511 to the automatic palletizing section 6. In this way, packages from different layers that need to be buffered can be diverted to the chain buffer mechanisms 501 and 502 of the two buffer channels 510 and 511 for buffering.

[0051] S60 executed between S5 and S6, for each manual packaging channel, if the stacking layer to which the currently output package belongs is higher than the lowest stacking layer among the stacking layers to which the current packages on other manual packaging channels belong by a preset number of layers, the conveyance of the package is suspended, and the conveyance of the package is resumed after all the packages on the lowest stacking layer on other manual packaging channels enter the automatic box sealing section, wherein the preset number of layers is at least 2.

[0052] The sequencing capacity of the chain buffer sequencing segment 5 is limited. In this embodiment, the chain buffer sequencing segment 5 can only realize the cache sequencing of the two layers behind the current stacking layer. If the stacking layers to which the packages output from different manual packaging channels belong differ by more than the number of sequencing layers of the chain buffer sequencing segment 5, that is, more than 2 layers, the sequencing capacity of the chain buffer sequencing segment 5 is exceeded. To this end, the conveyor chain 100 of this embodiment is provided with a cache section at the exit of the manual packaging channels 31 and 32 of the manual packaging section 3 and a layer of sequence control logic is added accordingly. Specifically, the exits of the manual packaging channels 31 and 32 are respectively provided with barcode scanners (not shown) that are communicated and connected to the control system. The barcode scanners scan the identification codes of the packages to be output from the channels 31 and 32 and send them to the control system. The control system determines the stacking layer to which it belongs according to the identification code of the package. If it is determined that the stacking layer to which the package output from the current manual packaging channel belongs is 3 layers higher than the lowest stacking layer among the stacking layers to which the current packages on the other manual packaging channel belong (the number of sequencing layers of the chain cache sequencing section 5 + 1 is used as the preset number of layers, and the number of sequencing layers of the chain cache sequencing section 5 in this embodiment is 2, Therefore, the preset number of layers in this embodiment is 2+1=3. If the number of layers of the chain buffer reordering section 5 is 1, the preset number of layers is 1+1=2). For example, the lowest stacking layer among the stacking layers to which each package belongs in another manual packaging channel is N layers, and the stacking layer to which the package output by the current manual packaging channel belongs is N+3 layers, N+3 layers-N layers=3 layers, that is, the stacking layer to which the package output by the current manual packaging channel belongs is 3 layers higher than the lowest stacking layer among the stacking layers to which each package belongs in another manual packaging channel. Then, the conveyor chain 100 is controlled to pause in the buffer section at the exit of the manual packaging channel, thereby suspending the conveying of the package. After all the packages in the lowest stacking layer on the other manual packaging channel enter the automatic box sealing section 4, the conveying of the package is resumed.

[0053] The above is only an implementation method of the invention, and does not limit the scope of patent protection. Those skilled in the art can make non-substantial changes or substitutions based on the invention, which still fall within the scope of patent protection.

Claims

1. A method for automatically stacking packages using a computer program, comprising the following steps: S7, conveying the packaged packages to the palletizing robot in sequence, wherein each package is obtained by packaging each panel according to the panel subpackaging plan, and each package includes at least one panel; S8, instructing the palletizing robot to palletize the packages that have been delivered successively layer by layer according to the palletizing plan, wherein the palletizing plan includes the number of palletizing layers, the palletizing position of the packages in each layer, and the palletizing sequence; Its characteristic is that S7 executes S70 during the conveying process: for each package, determine whether its sorting position in the current package conveying sequence conforms to the preset stacking sequence; if not, execute S71: temporarily suspend the conveying of the package, and resume conveying the package until its sorting position in the package conveying sequence conforms to the stacking sequence.

2. The automatic palletizing method of packages as claimed in claim 1, characterized in that: This includes the following steps performed before S7: S1. Determine the panels of various sizes and quantities required for the order according to the order information; S2. According to the panels of various sizes and their quantities required by the order, a panel subpackaging plan for the order is obtained according to the preset subpackaging rules. The panel subpackaging plan contains panel information of each package. The panel information includes at least one size of panel and its quantity. S3. According to the panel subpackaging plan of the order, the palletizing plan is automatically calculated according to a preset palletizing algorithm.

3. The automatic palletizing method for packages according to claim 1 or 2, characterized in that: S70 is specifically implemented as follows: determine whether the current stacking layer of the palletizing robot is equal to the stacking layer to which the package belongs, and based on this determine whether the sorting position of the package in the current package conveying sequence conforms to the preset stacking sequence; if the current stacking layer of the palletizing robot is equal to the stacking layer to which the package belongs, then determine that the sorting position of the package in the current package conveying sequence conforms to the preset stacking sequence; otherwise, determine that it does not conform.

4. The automatic palletizing method of packages as claimed in claim 3, characterized in that: Each packaged package is affixed with a corresponding identification code; in S70, the identification code on each package is scanned to obtain the stacking layer to which the package belongs.

5. The automatic palletizing method of packages as claimed in claim 2, characterized in that: The method is applied to an automatic palletizing production line for packages, the production line includes a conveyor chain and a panel outbound section, a manual packaging section, an automatic box sealing section and an automatic palletizing section which are sequentially passed by the conveyor chain. The panel outbound section includes a sorting channel provided with a sorting robot and a panel stacking channel provided with a panel stacking robot. The method includes the following steps performed between S3 and S7: S4, controlling the sorting robot to sort and output the panels of each package in sequence according to the panel information of each package; S5, control the stacking robot to stack the panels in units of packages according to the panel information of each package, and then transport the stacked panels in units of packages to the manual packaging section, pack them into packages for the operator, affix identification codes on the box surfaces, and then output them; S6. The packages outputted from the manual packaging section are transported to the automatic box sealing section, and the packages are automatically sealed and packaged using a box sealing machine to obtain packaged packages.

6. The automatic palletizing method of packages as claimed in claim 5, characterized in that: There are multiple sorting robots and multiple stacking robots, and the multiple sorting robots are respectively arranged in multiple sorting channels, and the multiple stacking robots are respectively arranged in multiple stacking channels, and each sorting channel corresponds to each stacking channel one by one; in S4, the panels are sorted in units of packages by each sorting robot in turn according to the stacking layer from low to high, and each stacking robot takes turns to stack them.

7. The automatic palletizing method of packages as claimed in claim 5, characterized in that: The manual packaging section is equipped with multiple manual packaging channels, and the exits of each manual packaging channel converge into the automatic box sealing section; S5 conveys the stacked panels to the manual packaging section in packages. Specifically, after allocating the first batch of packages to all manual packaging channels in the package conveying order, if any manual packaging channel has a package output, the next package is added to the manual packaging channel accordingly. Including S60 executed between S5 and S6, for each manual packaging channel, if the stacking layer to which the currently output package belongs is higher than the lowest stacking layer among the stacking layers to which the current packages on other manual packaging channels belong by a preset number of layers, the conveyance of the package is suspended, and the conveyance of the package is resumed after all the packages on the lowest stacking layer on other manual packaging channels enter the automatic box sealing section, wherein the preset number of layers is at least 2.

8. The automatic palletizing method for packages as claimed in any one of claims 1 to 4, characterized in that: S71 specifically: temporarily remove the package from the conveyor line, and allow the subsequent packages to continue to be conveyed for the palletizing robot to palletize layer by layer. When the current palletizing layer of the palletizing robot reaches the palletizing layer to which the package belongs, the package is put back on the conveyor line for conveyance for the palletizing robot to palletize the package.

9. A computer program product comprising a computer program, characterized in that The computer program is executed by a processor to implement the automatic palletizing method for packages as claimed in any one of claims 1 to 8.

Images