Cigarette box tray stacking control system and empty tray taking and conveying control method

Abstract

The invention discloses a cigarette box tray stacking control system and an empty tray taking and conveying control method. The cigarette box tray stacking control system comprises cigarette box conveying equipment, cigarette box grabbing equipment, tray conveying equipment, a tray stacking splitting machine, a robot waiting area and a tray temporary storage area. The cigarette box grabbing equipment comprises a plurality of manipulators and tray placing stations, the cigarette box conveying equipment is arranged on the first sides of the manipulators, and the tray placing stations are arranged on the peripheries of the manipulators; the coded disc splitting machine is positioned on one side of the tray placing station; the tray conveying equipment comprises a latent robot and a robot conveying road section, and the robot conveying road section is located on the second side of the manipulator; the robot waiting area and the tray temporary storage area are arranged on the two sides of the robot conveying road section correspondingly, and the robot waiting area is arranged close to the mechanical arm. The tray group is split into the empty trays, the empty trays do not need to be taken from the tray splitting machine, meanwhile, queuing is not needed when the empty trays are taken and sent, the waiting time of the manipulator is shortened, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic cigarette box pallet encoders, and more specifically, to a cigarette box pallet encoder control system and an empty pallet pick-up and delivery control method. Background Art

[0002] At present, the existing robot pallet encoding system is that after the robot has encoded the pallets, the lurking robot takes away the full pallet and then takes an empty pallet from the pallet splitter to fill it. The empty pallets are grouped into 10. After a group is used up, another group is taken from the empty pallet area to fill the pallet splitter. The number of lurking robots is calculated based on the average flow rate during normal operation, and generally one or two more are added as backup.

[0003] However, due to uncertain factors, the pallets cannot be removed in time after the encoding is completed, or the empty pallets cannot be replenished in time, causing the robot to wait. In many cases, there are multiple pallets with good encoding waiting to be taken away at the same time, or multiple stations are waiting for empty pallets to be replenished, or multiple lurking robots are waiting in line to take empty pallets, causing the robot to stop working and wait, so that a large number of cigarette boxes need to be manually passed and manually encoded for storage, which greatly increases the labor force.

[0004] Therefore, how to provide a box pallet control system and an empty pallet pick-up and delivery control method has become a technical problem that urgently needs to be solved in this field. Summary of the invention

[0005] An object of the present invention is to provide a new technical solution for a box pallet control system and an empty pallet pick-up and delivery control method.

[0006] According to a first aspect of the present invention, there is provided a cigarette box pallet control system, comprising: a cigarette box conveying device, a cigarette box grabbing device, a pallet conveying device, a pallet splitter, a robot waiting area and a pallet temporary storage area;

[0007] The cigarette box grabbing device includes a plurality of manipulators and a pallet placement station, the cigarette box conveying device is arranged on a first side of the plurality of manipulators, the pallet placement station is arranged around the manipulators for storing empty pallets, the manipulators are used to grab cigarette boxes and place the cigarette boxes on the empty pallets to form a solid pallet;

[0008] The pallet splitter is located at one side of the pallet placement station, and is used to split a pallet group formed by stacking multiple empty pallets into individual empty pallets;

[0009] The pallet transport device comprises a lurking robot and a robot transport section, the lurking robot is used to transport empty pallets and full pallets, and the robot transport section is located on the second side of the manipulator;

[0010] The robot waiting area and the pallet temporary storage area are respectively arranged on both sides of the robot transport section, and the robot waiting area is arranged close to the manipulator. The robot waiting area is used to store non-working latent robots, and the pallet temporary storage area is used to store full pallets and empty pallets for a short time.

[0011] Optionally, the pallet temporary storage area includes a real pallet temporary storage area and an empty pallet temporary storage area, and the number of the empty pallet temporary storage areas is greater than the number of the real pallet temporary storage areas, and the real pallet temporary storage areas and the empty pallet temporary storage areas are evenly spaced along the length direction of the robot transport section.

[0012] Optionally, the lurking robot includes an empty pallet transport robot and a real pallet transport robot, both of which are located in the robot waiting area, the empty pallet transport robot is used to transport empty pallets, and the real pallet transport robot is used to transport real pallets.

[0013] Optionally, the cigarette box conveying equipment includes a conveyor line, a vertical sorting device and multiple lane conveyors, the first ends of the multiple lane conveyors are connected to the conveyor line, the vertical sorting devices are respectively arranged at the connection between the lane conveyors and the conveyor line, the vertical sorting device is used to identify the labels of cigarette boxes of different brands conveyed by the conveyor line, and convey the cigarette boxes of different brands to the corresponding lane conveyors, and the manipulator is located at the second end of the lane conveyor.

[0014] Optionally, the cigarette box pallet control system further comprises a cigarette box storage area, and the cigarette box storage area is used to store solid pallets.

[0015] Optionally, the cigarette box code disk control system further includes a central control system and a dispatching control device, wherein the central control system is connected to the lurking robot and the dispatching control device respectively, the lurking robot is connected to the dispatching control device, and the dispatching control device is used to control the lurking robot to work.

[0016] Optionally, the cigarette box code disc control system further includes a controller;

[0017] The vertical sorting device includes a sorting plate and a sensor. The controller is respectively connected to the sorting plate and the sensor. The sorting plate and the sensor are both arranged at the connection between the lane conveyor and the conveyor line. The sensor is used to identify the label information of the cigarette box and transmit the note information to the controller. The controller is used to control the sorting plate to transport the cigarette box to the corresponding lane conveyor according to the note information.

[0018] According to a second aspect of the present invention, there is provided an empty pallet pick-up and delivery control method, comprising the above-mentioned cigarette box code pallet control system, comprising the following steps:

[0019] Obtaining first quantity information of empty pallets in the pallet temporary storage area;

[0020] Based on the acquired first quantity information of the empty pallets, determine whether the first quantity information of the empty pallets is less than 3, and if so, control the lurking robot to transport the pallet group to the pallet splitter so that the pallet splitter splits the pallet group into individual empty pallets;

[0021] Control the lurking robot to transport a single empty pallet to the pallet temporary storage area or pallet placement station.

[0022] Optionally, after “the pallet splitting machine splits the pallet group into individual empty pallets”, the following steps are also included:

[0023] After a preset time t, the second quantity information of the empty pallets in the pallet temporary storage area is obtained again to determine whether the second quantity information of the empty pallets is equal to 10. If so, the code pallet splitting machine is controlled to stop working.

[0024] Optionally, if the first quantity information of the empty pallets is greater than 3, the lurking robot maintains the original action.

[0025] The beneficial effects of the present invention are:

[0026] The present invention arranges the cigarette box conveying equipment on the first side of multiple manipulators, the pallet placement station is arranged around the manipulators, the code tray splitter is located on one side of the pallet placement station, and the robot transport section is located on the second side of the manipulator; the robot waiting area and the pallet temporary storage area are respectively arranged on both sides of the robot transport section, and the robot waiting area is arranged close to the manipulator. In the process of cigarette box storage, the cigarette box is conveyed to the manipulator by the cigarette box conveying equipment, and the manipulator grabs the cigarette box conveyed by the cigarette box conveying equipment and places it on the empty pallet of the pallet placement station to form a real pallet; at this time, the latent robot transports the real pallet to the pallet temporary storage area; then, the latent robot transports the empty pallet to the pallet placement station. When the number of empty pallets in the pallet temporary storage area is too small, the latent robot transports the pallet group formed by stacking multiple empty pallets to the code tray splitter, and splits it into single empty pallets through the code tray splitter; then, the latent robot transports the single empty pallet to the pallet placement station or the pallet temporary storage area. The present invention splits the empty pallets in advance, so there is no need to take the empty pallets from the pallet splitter, and there is no need to queue when the empty pallets need to be taken and delivered, thereby reducing the waiting time of the robot and improving work efficiency.

[0027] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0029] Figure 1 It is a structural diagram of the cigarette box code disk control system of the present invention;

[0030] Figure 2 It is a flow chart of the empty pallet picking and delivery control method of the present invention;

[0031] Figure 3 It is a specific flow chart of the empty pallet picking and delivery control method of the present invention.

[0032] The markings in the figure are as follows: 1. Cigarette box conveying equipment; 11. Conveyor line; 12. Vertical sorting and loading; 13. Lane conveyor; 2. Robot; 3. Pallet placement station; 4. Pallet splitter; 5. Lurking robot; 6. Robot transport section; 7. Robot waiting area; 8. Pallet temporary storage area; 81. Full pallet temporary storage area; 82. Empty pallet temporary storage area. DETAILED DESCRIPTION

[0033] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0034] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0035] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0036] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0037] like Figure 1 As shown, an embodiment of the present invention provides a cigarette box pallet control system, including: a cigarette box conveying device 1, a cigarette box grabbing device, a pallet transporting device, a pallet splitter 4, a robot waiting area 7 and a pallet temporary storage area 8.

[0038] The cigarette box grabbing equipment includes multiple manipulators 2 and pallet placement stations 3. The cigarette box conveying equipment 1 is arranged on the first side of the multiple manipulators 2. The pallet placement stations 3 are arranged around the manipulators 2. The pallet placement stations 3 are used to store empty pallets. The manipulators 2 are used to grab the cigarette boxes and place the cigarette boxes on the empty pallets to form solid pallets.

[0039] The pallet splitter 4 is located at one side of the pallet placement station 3, and is used to split a pallet group formed by stacking multiple empty pallets into individual empty pallets.

[0040] The pallet transporting equipment includes a lurking robot 5 and a robot transporting section 6 . The lurking robot 5 is used to transport empty pallets and full pallets. The robot transporting section 6 is located on the second side of the manipulator 2 .

[0041] The robot waiting area 7 and the pallet temporary storage area 8 are respectively arranged on both sides of the robot transport section 6, and the robot waiting area 7 is arranged close to the manipulator 2. The robot waiting area 7 is used to store the non-working latent robot 5, and the pallet temporary storage area 8 is used to store full pallets and empty pallets for a short time.

[0042] Specifically, the cigarette box pallet control system further includes a cigarette box storage area, which is used to store real pallets. There may be one or more cigarette box storage areas, which will not be described here.

[0043] Specifically, an empty pallet is placed on the pallet placement station 3. Multiple pallet placement stations 3 can place cigarette boxes of different brands, thereby distinguishing cigarette boxes of different brands and avoiding confusion between cigarette boxes of different brands. Multiple cigarette boxes can be placed on an empty pallet.

[0044] When the latent robot 5 transports full pallets and empty pallets, the latent robot 5 must move on the robot transport section 6, and the movement trajectory of the latent robot 5 is limited to avoid the problem of the latent robot 5 causing injuries to other equipment or operators during the movement.

[0045] The specific operation process is as follows: in the process of cigarette boxes entering the warehouse, first, the cigarette boxes are placed on the cigarette box conveying device 1, and the cigarette box conveying device 1 conveys the cigarette boxes to the vicinity of the manipulator 2. The manipulator 2 grabs the cigarette boxes conveyed by the cigarette box conveying device 1 and places them on the empty pallet of the pallet placement station 3 to form a solid pallet. At this time, the lurking robot 5 transports the solid pallet to the pallet temporary storage area 8 or the cigarette box storage area. It should be noted that when the number of solid pallets is too large, the lurking robot 5 transports the solid pallet to the pallet temporary storage area 8, and when the number of solid pallets is less than or equal to 1, the lurking robot 5 transports the solid pallets in the pallet temporary storage area 8 to the cigarette box storage area.

[0046] Next, the lurking robot 5 transports the empty pallet to the pallet placement station 3. When the number of empty pallets in the pallet temporary storage area 8 is less than 3, the lurking robot 5 transports the pallet group formed by stacking multiple empty pallets to the pallet splitter 4, and splits them into single empty pallets by the pallet splitter 4. Next, the lurking robot 5 transports the single empty pallet to the pallet placement station 3 or the pallet temporary storage area 8. It should be noted that when the pallet placement station 3 lacks empty pallets, the lurking robot 5 preferentially transports the empty pallet to the pallet placement station 3.

[0047] When the number of empty pallets in the pallet temporary storage area 8 is equal to 10, the pallet splitter 4 stops working.

[0048] The present invention arranges the cigarette box conveying equipment 1 on the first side of multiple manipulators 2, the pallet placement station 3 is arranged around the manipulator 2, the code pallet splitter 4 is located on one side of the pallet placement station 3, and the robot transport section 6 is located on the second side of the manipulator 2; the robot waiting area 7 and the pallet temporary storage area 8 are respectively arranged on both sides of the robot transport section 6, and the robot waiting area 7 is arranged close to the manipulator 2. During the process of cigarette boxes entering the warehouse, the cigarette boxes are transported to the manipulator 2 through the cigarette box conveying equipment 1. The manipulator 2 grabs the cigarette boxes conveyed by the cigarette box conveying equipment 1 and places them on the empty pallet of the pallet placement station 3 to form a real pallet; at this time, the latent robot 5 transports the real pallet to the pallet temporary storage area 8 or the cigarette box storage area; then, the latent robot 5 transports the empty pallet to the pallet placement station 3. When the number of empty pallets in the pallet temporary storage area 8 is too small, the latent robot 5 transports the pallet group formed by stacking multiple empty pallets to the code pallet splitter 4, and splits them into single empty pallets through the code pallet splitter 4; then, the latent robot 5 transports the single empty pallet to the pallet placement station 3 or the pallet temporary storage area 8. The present invention splits the pallet group into empty pallets, and there is no need to take the empty pallet from the pallet splitter. At the same time, the latent robot 5 does not need to queue up when it needs to take and deliver the empty pallet, which reduces the waiting time of the manipulator 2 and improves work efficiency.

[0049] In one embodiment of the cigarette box code pallet control system of the present invention, the pallet temporary storage area 8 includes a real pallet temporary storage area 81 and an empty pallet temporary storage area 82, and the number of empty pallet temporary storage areas 82 is greater than the number of real pallet temporary storage areas 81, and the real pallet temporary storage areas 81 and the empty pallet temporary storage areas 82 are evenly spaced along the length direction of the robot transport section 6.

[0050] In this embodiment, the number of the real pallet temporary storage areas 81 is four, and the number of the empty pallet temporary storage areas 82 is ten. The number of the empty pallet temporary storage areas 82 is the number of empty pallets that a group of pallets is split into.

[0051] The present invention makes the number of empty pallet temporary storage areas 82 greater than the number of real pallet temporary storage areas 81, and the real pallet temporary storage areas 81 and the empty pallet temporary storage areas 82 are evenly spaced along the length direction of the robot transport section 6, so as to achieve caching of real pallets and empty pallets through the real pallet temporary storage areas 81 and the empty pallet temporary storage areas 82, thereby avoiding the problem that the lurking robot 5 cannot transport the real pallets in time when there are too many real pallets, and avoiding the problem of shortage of empty pallets due to the slow splitting rate of the pallet splitter.

[0052] In one embodiment of the cigarette box code pallet control system of the present invention, the lurking robot 5 includes an empty pallet transport robot and a real pallet transport robot, both of which are located in the robot waiting area 7. The empty pallet transport robot is used to transport empty pallets, and the real pallet transport robot is used to transport real pallets.

[0053] The present invention places both the empty pallet transport robot and the full pallet transport robot in the robot waiting area 7, and then uses the empty pallet transport robot and the full pallet transport robot to transport the empty pallets and the full pallets respectively, thereby avoiding the problem of confusion between the empty pallets and the full pallets, and also improving the transportation efficiency of the empty pallets and the full pallets.

[0054] In one embodiment of the cigarette box code control system of the present invention, the cigarette box conveying equipment 1 includes a conveyor line 11, a vertical sorting device 12 and a plurality of lane conveyors 13. The first ends of the plurality of lane conveyors 13 are connected to the conveyor line 11. The vertical sorting device 12 is respectively arranged at the connection between the lane conveyor 13 and the conveyor line 11. The vertical sorting device 12 is used to identify the labels of cigarette boxes of different brands conveyed by the conveyor line 11, and convey the cigarette boxes of different brands to the corresponding lane conveyors 13. The manipulator 2 is located at the second end of the lane conveyor 13.

[0055] Specifically, the conveying line 11 is used to convey cigarette boxes.

[0056] During the storage of cigarette boxes, the cigarette boxes are first placed on the conveyor line 11 and transported to the next process by the conveyor line 11. When cigarette boxes of different brands are transported to the vertical sorting device 12, the vertical sorting device 12 identifies the labels of cigarette boxes of different brands and transports the cigarette boxes of different brands to the corresponding lane conveyors 13; then, the lane conveyors 13 transport the cigarette boxes to the robot 2, which grabs the cigarette boxes and places them on the empty code tray to form a full code tray.

[0057] In one embodiment of the cigarette box code disk control system of the present invention, the cigarette box code disk control system also includes a central control system and a scheduling control device. The central control system is connected to the lurking robot 5 and the scheduling control device respectively. The lurking robot 5 is connected to the scheduling control device. The scheduling control device is used to control the lurking robot 5 to work.

[0058] Specifically, when the central control system receives real-time information from the pallet placement station 3 and the lurking robot 5, for example, when the empty code tray on the pallet placement station 3 is converted into a real code tray, the pallet placement station 3 lacks empty code trays, or the number of empty pallet temporary storage areas 82 is too small, the central control system transmits control information to the scheduling control device, and the scheduling control device controls the empty pallet transport robot and the real pallet transport robot to work, thereby enabling the empty pallet transport robot to transport the pallet group to the code tray splitter 4, or the empty pallet transport robot to transport the empty pallet to the pallet placement station 3; the real pallet transport robot transports the real code tray on the placement station to the cigarette box storage area, which effectively improves work efficiency.

[0059] In one embodiment of the cigarette box code disk control system of the present invention, the cigarette box code disk control system further includes a controller.

[0060] The vertical sorting device 12 includes a sorting plate and a sensor. The controller is respectively connected to the sorting plate and the sensor. The sorting plate and the sensor are both arranged at the connection between the lane conveyor 13 and the conveyor line 11. The sensor is used to identify the label information of the cigarette box and transmit the note information to the controller. The controller is used to control the sorting plate to transport the cigarette box to the corresponding lane conveyor 13 according to the note information.

[0061] Specifically, the controller is connected to the central control system. When the conveyor line 11 conveys the cigarette box to the vertical sorting device 12, the sensor identifies the label information of the cigarette box and transmits the note information to the controller. The controller receives the label information and controls the sorting plate to work according to the note information, and the sorting plate conveys the cigarette box to the corresponding lane conveyor 13.

[0062] The present invention connects the controller to the sorting plate and the sensor respectively, and the sorting plate and the sensor are arranged at the connection between the lane conveyor 13 and the conveyor line 11, so as to achieve fast and accurate sorting of logistics packages through the sorting plate and the sensor, realize automated operation, and save manpower and space.

[0063] According to a second aspect of the present invention, Figures 2 to 3 As shown, a method for controlling the picking and delivering of an empty pallet is provided, including the above-mentioned cigarette box code tray control system, comprising the following steps:

[0064] Step S1, obtaining first quantity information of empty pallets in the pallet temporary storage area 8;

[0065] Step S2: based on the first quantity information of the empty pallets obtained, determine whether the first quantity information of the empty pallets is less than 3, and if so, control the lurking robot 5 to transport the pallet group to the pallet splitter 4, so that the pallet splitter 4 splits the pallet group into individual empty pallets;

[0066] Step S3, controlling the lurking robot 5 to transport a single empty pallet to the pallet temporary storage area 8 or the pallet placement station 3.

[0067] The present invention first obtains the first quantity information of the empty pallets in the pallet temporary storage area 8, and then determines whether the first quantity information of the empty pallets is less than 3 based on the obtained first quantity information of the empty pallets. If the first quantity information of the empty pallets is less than 3, the latent robot 5 is controlled to transport the pallet group to the pallet splitter 4, so that the pallet group of the pallet splitter 4 is split into a single empty pallet, and the latent robot 5 is controlled to transport the single empty pallet to the pallet temporary storage area 8 or the pallet placement station 3, so that the empty pallets can be split in advance, and there is no need to take the empty pallets from the pallet splitter. At the same time, there is no need to queue when the empty pallets need to be taken and delivered, which reduces the waiting time of the manipulator 2 and improves work efficiency.

[0068] In one embodiment of the empty pallet pick-up and delivery control method of the present invention, Figures 2 to 3 As shown, after "the pallet splitting machine 4 splits the pallet group into individual empty pallets", the following steps are also included:

[0069] Step S4, after the preset time t has passed, re-acquire the second quantity information of the empty pallets in the pallet temporary storage area 8, and determine whether the second quantity information of the empty pallets is equal to 10. If so, control the code pallet splitter 4 to stop working.

[0070] Specifically, if the second quantity information of the empty pallets is less than 10, the lurking robot is controlled to transport a single empty pallet to the pallet temporary storage area or the pallet placement station.

[0071] The present invention re-obtains the second quantity information of the empty pallets in the pallet temporary storage area 8 after a preset time t, and controls the code pallet splitter 4 to stop working when the second quantity information of the empty pallets is equal to 10, thereby avoiding the problem of the code pallet splitter 4 splitting too many empty pallets.

[0072] In one implementation of the empty pallet picking and delivery control method of the present invention, if the first quantity information of the empty pallets is greater than 3, the lurking robot 5 maintains the original action.

[0073] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A cigarette box code disk control system, characterized in that: include: Cigarette box conveying equipment, cigarette box grabbing equipment, pallet transport equipment, pallet splitter, robot waiting area and pallet temporary storage area; The cigarette box grabbing device includes a plurality of manipulators and a pallet placement station, the cigarette box conveying device is arranged on a first side of the plurality of manipulators, the pallet placement station is arranged around the manipulators for storing empty pallets, the manipulators are used to grab cigarette boxes and place the cigarette boxes on the empty pallets to form a solid pallet; The pallet splitter is located at one side of the pallet placement station, and is used to split a pallet group formed by stacking multiple empty pallets into individual empty pallets; The pallet transport device comprises a lurking robot and a robot transport section, the lurking robot is used to transport empty pallets and full pallets, and the robot transport section is located on the second side of the manipulator; The robot waiting area and the pallet temporary storage area are respectively arranged on both sides of the robot transport section, and the robot waiting area is arranged close to the manipulator. The robot waiting area is used to store non-working latent robots, and the pallet temporary storage area is used to store full pallets and empty pallets for a short time.

2. The cigarette box code disk control system according to claim 1, characterized in that: The pallet temporary storage area includes a real pallet temporary storage area and an empty pallet temporary storage area, and the number of the empty pallet temporary storage areas is greater than the number of the real pallet temporary storage areas. The real pallet temporary storage areas and the empty pallet temporary storage areas are evenly spaced along the length direction of the robot transport section.

3. The cigarette box code disk control system according to claim 1, characterized in that: The latent robots include an empty pallet transport robot and a real pallet transport robot, both of which are located in the robot waiting area, the empty pallet transport robot is used to transport empty pallets, and the real pallet transport robot is used to transport real pallets.

4. The cigarette box code disk control system according to claim 1, characterized in that: The cigarette box conveying equipment includes a conveyor line, a vertical sorting device and multiple lane conveyors. The first ends of the multiple lane conveyors are connected to the conveyor line. The vertical sorting devices are respectively arranged at the connection between the lane conveyors and the conveyor line. The vertical sorting device is used to identify the labels of cigarette boxes of different brands conveyed by the conveyor line and convey the cigarette boxes of different brands to the corresponding lane conveyors. The manipulator is located at the second end of the lane conveyor.

5. The cigarette box code disk control system according to claim 1, characterized in that: The cigarette box code tray control system also includes a cigarette box storage area, and the cigarette box storage area is used to store solid pallets.

6. The cigarette box code disk control system according to claim 1, characterized in that: The cigarette box code disk control system also includes a central control system and a dispatching control device. The central control system is connected to the lurking robot and the dispatching control device respectively. The lurking robot is connected to the dispatching control device. The dispatching control device is used to control the operation of the lurking robot.

7. The cigarette box code disk control system according to claim 4, characterized in that: The cigarette box code disc control system also includes a controller; The vertical sorting device includes a sorting plate and a sensor. The controller is respectively connected to the sorting plate and the sensor. The sorting plate and the sensor are both arranged at the connection between the lane conveyor and the conveyor line. The sensor is used to identify the label information of the cigarette box and transmit the note information to the controller. The controller is used to control the sorting plate to transport the cigarette box to the corresponding lane conveyor according to the note information.

8. A method for controlling the picking and delivery of empty pallets, comprising the cigarette box code pallet control system according to any one of claims 1 to 7, characterized in that: The following steps are involved: Obtaining first quantity information of empty pallets in the pallet temporary storage area; Based on the acquired first quantity information of the empty pallets, determine whether the first quantity information of the empty pallets is less than 3, and if so, control the lurking robot to transport the pallet group to the pallet splitter so that the pallet splitter splits the pallet group into individual empty pallets; Control the lurking robot to transport a single empty pallet to the pallet temporary storage area or pallet placement station.

9. The empty pallet pick-up and delivery control method according to claim 8, characterized in that: After "the pallet splitter splits the pallet group into individual empty pallets", the following steps are also included: After a preset time t, the second quantity information of the empty pallets in the pallet temporary storage area is obtained again to determine whether the second quantity information of the empty pallets is equal to 10. If so, the code pallet splitting machine is controlled to stop working.

10. The empty pallet pick-up and delivery control method according to claim 8, characterized in that: If the first quantity information of the empty pallets is greater than 3, the lurking robot maintains the original action.

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