Control method, device and equipment of automatic stacker crane and storage medium

Abstract

The invention provides a control method and device for an automatic stacker crane, equipment and a storage medium, and the method comprises the steps that when a starting signal is obtained, the sum of a preset first numerical value and a preset second numerical value is determined as a third numerical value; the number of the packaging boxes detected by the first sensor is counted based on the first counter, the rotating arm is alternately controlled to stretch out or reset, and the placement direction of the packaging boxes is adjusted before stacking; based on detection counting of a second sensor by a second counter, different triggering opportunities of a pushing arm are preset through a first strategy and a second strategy, a first material moving mode and a second material moving mode which are preset are alternately used, and the packaging boxes input by a first conveying belt are arranged into a packaging box array in a stacking assembly; the first strategy and the second strategy are applied to the two material moving modes in different sequences, so that the arrangement modes of packaging box arrays on all layers are staggered, the stability after stacking is improved, the control logic is simplified, and the stacking efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of automated production technology, and in particular to a control method, device, equipment and storage medium for an automatic palletizer. Background Art

[0002] Palletizers are commonly used in the beverage manufacturing industry. After packing the beverage bottles, they enter the pallet through the conveyor belt, and multiple packaging boxes are stacked into a multi-layer structure through automated structures such as robotic arms, and then transported by handling tools. The sizes of packaging boxes in the same batch are the same. If the packaging boxes are completely aligned during palletizing, that is, the upper packaging boxes completely overlap with the lower packaging boxes, the support points of the upper packaging boxes are relatively single. In the case of a large number of layers, once they encounter bumps during transportation, they are easy to overturn, causing production accidents.

[0003] In order to improve the stability of the palletized boxes, some of the boxes on the same layer will be rotated 90 degrees horizontally before palletizing, so that the arrays of boxes on different layers are staggered, and the lower side of the upper box is at least in contact with two boxes. Even if the number of stacked layers is high, it will be relatively firm due to the large number of support points. In the related technology, the position of the current palletized box is mainly determined by the robot arm, and the box is selectively rotated according to the placement direction after clamping, which makes the control logic of the robot arm more complicated, and it can only palletize boxes one by one, resulting in low production efficiency. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a control method, device, equipment, and storage medium for an automatic palletizer, which can automatically adjust the direction of packaging boxes before palletizing to improve the palletizing efficiency.

[0005] In a first aspect, an embodiment of the present invention provides a control method for an automatic palletizer, the automatic palletizer comprising a first conveyor belt, a transverse movement component and a palletizing component, a first sensor and a rotating arm are arranged on the side of the first conveyor belt, the rotating arm can extend above the first conveyor belt and abut against a passing package box, so that the abutted package box is rotated 90 degrees along the conveying direction, the transverse movement component comprises a second conveyor belt, a second sensor and a push arm, the output end of the first conveyor belt is connected to the input end of the second conveyor belt, the palletizing component and the push arm are respectively located on both sides of the second conveyor belt, the second sensor is located at the input end of the second conveyor belt, and the first sensor and the second sensor are used to detect the package box; the control method of the automatic palletizer comprises:

[0006] When a start signal is obtained, a preset first value and a second value are obtained, the sum of the first value and the second value is determined as a third value, and a first counter and a second counter are reset, wherein the second value is less than the first value and both are integers, the first counter is used to count the number of detections of the first sensor, and the second counter is used to count the number of detections of the second sensor;

[0007] After detecting that the count value of the first counter is greater than the first value, the rotating arm is extended, and the rotating arm is alternately controlled to be reset or extended based on the second value and the first value;

[0008] Alternately running the first material moving mode and the second material moving mode of the transverse moving component, wherein when the second counter reaches the third value, the second counter is reset and the material moving mode is switched to control the palletizing component to perform the palletizing operation;

[0009] Wherein, the first material moving mode includes: controlling the transverse moving component based on a first strategy, and controlling the transverse moving component based on a second strategy after the second counter reaches the first value;

[0010] Wherein, the second material moving mode includes controlling the transverse moving component based on the second strategy, and controlling the transverse moving component based on the first strategy after the second counter reaches the second value;

[0011] The first strategy includes: whenever the newly added count value of the second counter reaches a fourth value, the second conveyor belt is moved forward based on the first distance value, and the push arm is controlled to push the plurality of packaging boxes on the second conveyor belt into the palletizing assembly, the fourth value is half of the first value, and the first distance value is used to represent the position difference between the entrance of the second conveyor belt and the palletizing assembly in the conveying direction;

[0012] The second strategy includes: when the newly added count value of the second counter reaches a second value, moving the second conveyor belt forward based on the first distance value, and controlling the push arm to push the plurality of packaging boxes on the second conveyor belt into the palletizing assembly.

[0013] According to some embodiments of the present invention, the alternately controlling the resetting or extending of the rotating arm based on the second value and the first value includes:

[0014] Resetting the first counter, and when the count value of the first counter is greater than twice the second value, resetting the rotating arm;

[0015] The first counter is reset, and when the count value of the first counter is greater than four times of the first value, the rotating arm is extended.

[0016] According to some embodiments of the present invention, in the second strategy, before the moving the second conveyor belt forward based on the first distance value, the method further includes:

[0017] Acquire a box length value and a box width value of the packaging box, and determine a reference length value based on the box length value and the fourth value;

[0018] The remainder obtained by dividing the reference length value by the box width value is determined as the second distance value;

[0019] When the count value of the second counter reaches a fifth value, the second conveyor belt is moved forward based on the second distance value, wherein the fifth value is half of the second value.

[0020] According to some embodiments of the present invention, before moving the second conveyor belt forward based on the first distance value, the method further includes:

[0021] Obtaining a preset first spacing and a first speed, wherein the first spacing is used to indicate the spacing between two packaging boxes placed in the first conveyor belt, and the first speed is the moving speed of the first conveyor belt;

[0022] Determine a first duration based on the first spacing and the first speed, and determine a second speed based on the first distance value and the first duration, wherein the second speed is a speed at which the second conveyor belt moves forward based on the first distance value;

[0023] The sum of the difference between the box length value and the box width value and the first spacing is determined as the second spacing, the second duration is determined based on the second spacing and the first speed, and the third speed is determined based on the second distance value and the second duration, wherein the third speed is the speed of the second conveyor belt when it moves forward based on the second distance value.

[0024] According to some embodiments of the present invention, the palletizing assembly includes a placement platform and a handling device, one side of the placement platform is adjacent to a side of the second conveyor belt, and the other side is adjacent to the handling device; in the first strategy, controlling the push arm to push the plurality of packaging boxes of the second conveyor belt into the palletizing assembly includes:

[0025] Obtaining a third distance value and a fourth distance value, wherein the third distance value is used to represent the distance between the standby position of the push arm and a placement boundary, the placement boundary being the farthest position where the packaging box can be placed on the placement platform, and the fourth distance value is used to represent the distance between the standby position of the push arm and the transport device;

[0026] Determine the difference between the third distance value and the box width value as a first initial value, and determine the difference between the third distance value and the box length value as a second initial value;

[0027] In the first material moving mode, when the count value of the second counter reaches the fourth value for the first time, the push arm is driven based on the first initial value, and when the count value of the second counter reaches the first value, the push arm is driven based on the difference between the first initial value and the box width value;

[0028] In the second material transfer mode, when the newly added count value of the second counter reaches the fourth value, the push arm is driven based on the difference between the second initial value and the box width value; when the count value of the second counter reaches the third value, the push arm is driven based on the fourth distance value.

[0029] According to some embodiments of the present invention, in the second strategy, controlling the push arm to push the plurality of packaging boxes of the second conveyor belt into the palletizing assembly includes:

[0030] In the first material moving mode, when the count value of the second counter reaches the third value, the push arm is driven based on the fourth distance value;

[0031] In the second material moving mode, when the count value of the second counter reaches the second value, the push arm is driven based on the second initial value.

[0032] According to some embodiments of the present invention, the transport device includes a lifting mechanism and a third conveyor belt, the lifting mechanism can move laterally between the third conveyor belt and the placement platform, and after driving the push arm based on the fourth distance value, the method further includes:

[0033] Increasing the count value of the third counter by one, wherein the third counter is reset when the start signal is obtained;

[0034] Acquire a box height value of the packaging box, and determine a target height value based on the product of the count value of the third counter and the box height value;

[0035] After the lifting mechanism is raised based on the target height value, the plurality of packaging boxes are stacked onto the third conveyor belt by transversely moving the lifting mechanism, and the lifting mechanism is reset to the side of the placement platform.

[0036] In a second aspect, an embodiment of the present invention provides a control device for an automatic palletizer, comprising at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions executable by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute the control method for the automatic palletizer as described in the first aspect above.

[0037] In a third aspect, an embodiment of the present invention provides an electronic device, comprising the control device of the automatic palletizer as described in the second aspect above.

[0038] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the control method of the automatic palletizer as described in the first aspect above.

[0039] According to the control method of the automatic palletizer according to the embodiment of the present invention, there are at least the following beneficial effects: when a start signal is obtained, the sum of the preset first value and the second value is determined as the third value; based on the first counter, the number of packaging boxes detected by the first sensor is counted, and the rotating arm is alternately controlled to extend or reset, so as to adjust the placement direction of the packaging boxes before palletizing; based on the detection count of the second sensor by the second counter, different triggering times of the push arm are preset by the first strategy and the second strategy, and the pre-set first material transfer mode and the second material transfer mode are alternately used to arrange the packaging boxes input by the first conveyor belt into a packaging box array in the palletizing component, and the two material transfer modes apply the first strategy and the second strategy in different orders, so that the arrangement of each layer of the packaging box array is staggered, thereby improving the stability after palletizing, simplifying the control logic, and improving the palletizing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a three-dimensional diagram of an automatic palletizer provided by one embodiment of the present invention;

[0041] Figure 2 is a flow chart of a control method for an automatic palletizer provided by another embodiment of the present invention;

[0042] Figure 3 is a working schematic diagram of a rotating arm provided by another embodiment of the present invention;

[0043] Figure 4 is a schematic diagram of placing two layers of palletized packaging boxes provided by another embodiment of the present invention;

[0044] Figure 5 It is a structural diagram of a control device for an automatic palletizer provided by another embodiment of the present invention.

[0045] Description of reference numerals:

[0046] 10 first conveyor belt; 11 first sensor; 12 rotating arm; 13 cylinder; 20 packaging box; 30 second conveyor belt; 31 second sensor; 32 push arm; 41 placement platform; 42 lifting mechanism; 43 third conveyor belt. DETAILED DESCRIPTION

[0047] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0048] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0049] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0050] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0051] The embodiment of the present invention provides a control method, device, equipment, and storage medium for an automatic palletizer, wherein the control method for the automatic palletizer includes: when a start signal is obtained, determining the sum of a preset first value and a second value as a third value; counting the number of packaging boxes detected by a first sensor based on a first counter, alternately controlling a rotating arm to extend or reset, and adjusting the placement direction of the packaging boxes before palletizing; based on the detection count of a second sensor by a second counter, using different triggering timings of a push arm preset by a first strategy and a second strategy, alternately using a pre-set first material shifting mode and a second material shifting mode, arranging the packaging boxes input by a first conveyor belt into a packaging box array in a palletizing component, and applying the first strategy and the second strategy in different orders in the two material shifting modes, so that the arrangement of each layer of the packaging box array is staggered with each other, thereby improving stability after palletizing, simplifying control logic, and improving palletizing efficiency.

[0052] First, refer to Figure 1 , Figure 1 A three-dimensional diagram of an automatic palletizer provided in an embodiment of the present invention.

[0053] like Figure 1 As shown, the automatic palletizer of this embodiment includes a first conveyor belt 10, a transverse movement assembly and a palletizing assembly. A first sensor 11 and a rotating arm 12 are arranged on the side of the first conveyor belt 10. The rotating arm 12 can extend to the top of the first conveyor belt 10 and abut against the passing packaging box 20 so that the abutted packaging box 20 is rotated 90 degrees along the conveying direction. The transverse movement assembly includes a second conveyor belt 30, a second sensor 31 and a push arm 32. The output end of the first conveyor belt 10 is connected to the input end of the second conveyor belt 30. The palletizing assembly and the push arm 32 are respectively located on both sides of the second conveyor belt 30. The second sensor 31 is located at the input end of the second conveyor belt 30. The first sensor 11 and the second sensor 31 are used to detect the packaging box 20.

[0054] It should be noted that the input end of the first conveyor belt 10 can be connected to the box sealing device of the packaging box 20, so that the packaging box 20 sealed by the box sealing device enters the automatic palletizer through the first conveyor belt 10, realizing the integrated production of bottled beverages. Figure 1 As shown, a section where the first conveyor belt 10 connects to the second conveyor belt 30 is a straight section, which facilitates the action of the rotating arm 12 on the packaging box 20. At the same time, the packaging box 20 of this embodiment enters the second conveyor belt 30 under the driving action of the first conveyor belt 10. Since the second conveyor belt 30 is not always in operation, after multiple packaging boxes 20 arrive at the output end of the first output end, the packaging box 20 located at the rear side pushes the packaging box 20 located at the front side into the second conveyor belt 30. The first conveyor belt 10 and the second conveyor belt 30 are arranged to be connected end to end in the form of a straight section, so that the packaging box 20 can better enter the second conveyor belt 30 from the first conveyor belt 10.

[0055] It should be noted that the first sensor 11 is located on the outside of the first conveyor belt 10. The first sensor 11 and the second sensor 31 can be common infrared grating sensors, which can generate sensor signals after the packaging box 20 passes by. The first counter of this embodiment is used to count the sensor signal of the first sensor 11, and the second counter is used to count the sensor signal of the second sensor 31.

[0056] It should be noted that if Figure 1 As shown, the rotating arm 12 is located outside the first conveyor belt 10 and in front of the first sensor 11 along the conveying direction. One end of the rotating arm 12 is connected to the cylinder and extends to the upper side of the first conveyor belt 10 under the driving action of the cylinder. The height of the rotating arm 12 is set according to the packaging box 20, as shown in FIG. Figure 3 As shown, after the rotating arm 12 extends to the first conveyor belt 10, it can abut against one side of the packaging box 20, and the abutting position does not exceed the center line of the packaging box 20, so that the other side of the packaging box 20 continues to move under the driving action of the first conveyor belt 10, thereby performing a circular motion with the abutting point as the center. The distance between the rotating arm 12 and the other end of the first conveyor belt 10 can accommodate the rotation of the packaging box 20 (that is, the width of the first conveyor belt 10 is at least greater than the length of the box body), and the rotating arm 12 is an arc surface, and the far end of the rotating arm 12 is tangent to the transmission direction of the first conveyor belt 10, so that the packaging box 20 is tangent to the far end of the rotating arm 12 after rotating 90 degrees, thereby leaving the rotating arm 12 and continuing to be transmitted to the second conveyor belt 30.

[0057] It should be noted that if Figure 1 As shown, a push arm 32 is provided on one side of the second conveyor 30, and a stacking assembly is provided on the other side. Multiple packaging boxes 20 entering the second conveyor 30 can be pushed to the stacking assembly by the push arm 32, thereby forming a row of packaging boxes 20. After performing multiple operations, a packaging box array consisting of multiple rows of packaging boxes 20 is obtained. The push arm 32 can be driven in any form, and the pushing process of the push arm 32 can include lateral movement, lifting, resetting, and lowering in sequence, so as to avoid the packaging boxes 20 entering the second conveyor 30 during the lateral movement. This embodiment does not limit the specific driving mode and moving mode of the push arm 32, and it is sufficient to be able to push multiple packaging boxes 20 at a time.

[0058] It should be noted that the second sensor 31 is arranged at the input end of the second conveyor belt 30. After the packaging box 20 completely enters the second conveyor belt 30, the sensing signal of the second sensor 31 is triggered and counted by the second counter. This embodiment does not limit the specific position.

[0059] In addition, refer to Figure 1The palletizing assembly includes a placement platform 41 and a handling device, wherein one side of the placement platform 41 is adjacent to the side of the second conveyor belt 30 and the other side is adjacent to the handling device. The handling device includes a lifting mechanism 42 and a third conveyor belt 43, and the lifting mechanism 42 can move transversely between the third conveyor belt 43 and the placement platform 41.

[0060] It should be noted that the height of the placement platform 41 is aligned with the second conveyor belt 30 , so that the push arm 32 can push the packaging box 20 from the second conveyor belt 30 to the placement platform 41 .

[0061] It should be noted that a handling device is provided on the side of the placement platform 41 away from the second conveyor belt 30, and the handling device includes a lifting mechanism 42 and a third conveyor belt 43. The lifting device can lift the arranged packaging box array and stack it on the third conveyor belt 43. After stacking, it is transported out through the third conveyor belt 43. Of course, other transportation devices can also be arranged on one side of the lifting mechanism 42, and this embodiment does not limit this.

[0062] The following is based on Figure 1 The automatic palletizer shown is used to further illustrate the technical solution of the embodiment of the present invention.

[0063] Reference Figure 2 , Figure 2 This is a flow chart of a control method for an automatic palletizer provided by an embodiment of the present invention. The control method for the automatic palletizer includes but is not limited to the following steps:

[0064] S11, when a start signal is obtained, a preset first value and a second value are obtained, the sum of the first value and the second value is determined as a third value, and a first counter and a second counter are reset, wherein the second value is less than the first value and both are integers, the first counter is used to count the number of detections of the first sensor, and the second counter is used to count the number of detections of the second sensor;

[0065] S12, extending the rotating arm after the count value of the first counter is greater than the first value, and alternately controlling the rotating arm to reset or extend based on the second value and the first value;

[0066] S13, alternately running the first material moving mode and the second material moving mode of the transverse moving component, wherein when the second counter reaches a third value, the second counter is reset and the material moving mode is switched to control the palletizing component to perform the palletizing operation;

[0067] The first material moving mode includes: controlling the transverse moving component based on the first strategy, and controlling the transverse moving component based on the second strategy after the second counter reaches the first value;

[0068] The second material moving mode includes controlling the transverse moving component based on the second strategy, and controlling the transverse moving component based on the first strategy after the second counter reaches the second value;

[0069] The first strategy includes: whenever the newly added count value of the second counter reaches a fourth value, the second conveyor belt is moved forward based on the first distance value, and the push arm is controlled to push multiple packaging boxes on the second conveyor belt into the palletizing assembly, the fourth value is half of the first value, and the first distance value is used to represent the position difference between the entrance of the second conveyor belt and the palletizing assembly in the conveying direction;

[0070] The second strategy includes: when the newly added count value of the second counter reaches a second value, the second conveyor belt is moved forward based on the first distance value, and the push arm is controlled to push the multiple packaging boxes on the second conveyor belt into the palletizing assembly.

[0071] It should be noted that in order to better describe the technical solution of this embodiment, Figure 1 The transmission direction shown is the column direction, and the direction perpendicular to the column direction is the row direction. The packaging box is initially input into the first conveyor belt in a vertical direction, and is rotated by the rotating arm to be horizontally placed. Unless otherwise specified, the directions will not be described in detail later.

[0072] It should be noted that the first value and the second value can be set according to the placement requirements of a layer of packaging box array. Since half of the first value will be used as the fourth value and half of the second value will be used as the fifth value later, the first value and the second value of this embodiment are integers and are even numbers greater than 2.

[0073] For example, Figure 4 As shown, the first value is set to 6, the second value is set to 4, the third value is 10, and the fourth value is 3. When the first strategy is applied, the push arm 32 is triggered once every 3 packing boxes 20 are detected, thereby obtaining two packing box columns consisting of 3 vertically placed packing boxes 20. When the second strategy is applied, the push arm 32 is triggered once after 4 packing boxes 20 are detected, thereby obtaining a packing box column consisting of 4 horizontally placed packing boxes 20. The specific values ​​can be adjusted according to the size of the packing boxes and the stacking requirements, and are not limited here.

[0074] It should be noted that based on the present embodiment, the first material transfer mode and the second material transfer mode are operated alternately, so the rotating arm can be controlled according to the application of the first strategy or the second strategy in each material transfer mode. When the first strategy is applied based on the first numerical value, the rotating arm is reset so that the package box enters the second conveyor belt vertically. When the second strategy is applied based on the second numerical value, the rotating arm is extended so that the package box enters the second conveyor belt horizontally.

[0075] It should be noted that the control triggers of the rotating arm and the pushing arm are independent. The rotating arm is triggered based on the count value of the first counter, and the pushing arm is triggered based on the count value of the second counter. The triggering timings of the two are different. They count according to the preset first and second values, and use the unified quantity to ensure that the direction of the packaging boxes input from the first conveyor belt to the second conveyor belt meets the palletizing requirements.

[0076] For example, the first sensor is set on the front side of the rotating arm, and the package box passes through the first sensor, the rotating arm, the second sensor, and the pushing arm. Taking the first value as 6 and the second value as 4 as an example, under the first strategy of the first stacking mode, when the count value of the first counter reaches 6, the rotating arm is in a reset state and does not extend, so that the first 6 packages can enter the second conveyor belt vertically. When the count value of the first counter reaches 7, it exceeds the first value, the rotating arm extends, and the 7th package box rotates to the horizontal direction. At this time, the second counter does not count 7. After the first 6 packages are pushed into the palletizing assembly, it is detected that the 7th package box enters the second conveyor belt, triggering the second strategy to execute subsequent judgments.

[0077] It is worth noting that in this embodiment, the packaging boxes are input in a vertical manner, and the rotating arm is in a reset state when starting, that is, the packaging boxes will be input into the second conveyor belt in a vertical direction. Since the packaging boxes of bottled beverages are usually rectangular parallelepiped, that is, the box length value and the box width value are not equal, in order to achieve horizontal and vertical staggered placement, the count values ​​for triggering the push arm in the first strategy and the second strategy of this embodiment are different, and the number of packaging boxes in a row obtained under different strategies is different. In the first strategy, when the newly added count value of the second counter reaches the fourth value, since the fourth value is half of the first value, the push arm can be triggered twice, thereby obtaining two rows of packaging boxes placed vertically. For example, when the first value is 6, the push arm is activated once after 3 packaging boxes are detected, and the push arm is activated once after 6 packaging boxes are detected, and two rows of packaging boxes consisting of 3 packaging boxes are obtained. In the second strategy, the packaging boxes are placed horizontally under the action of the rotating arm, and the number of packaging boxes placed horizontally in a row is greater than the number of packaging boxes placed vertically in a row. After the newly added count value of the second counter reaches the second value, the push arm is activated once, and a row of packaging boxes placed horizontally is obtained. The newly added count value in this embodiment is the increase after the recounting reaches a certain condition. For example, the count starts from 0 to 3, the newly added count value is 3, and the fourth value is satisfied. It increases from 3 to 6. After the fourth value is satisfied last time, the newly added count value is 3, and the fourth value is satisfied again. The second strategy is the same and will not be elaborated on again.

[0078] It should be noted that, in this embodiment, the first material transfer mode or the second material transfer mode is used to complete the placement of a layer of packaging box arrays. The first material transfer mode first applies the first strategy and then applies the second strategy. That is, after the first material transfer mode is fully executed once, the first strategy is obtained. Figure 4The first array 51 shown in the figure; the second material shifting mode first applies the second strategy, and then applies the first strategy, and after the second material shifting mode is fully executed once, the second material shifting mode is obtained. Figure 4 The second array 52 shown in the figure uses the first strategy and the second strategy in different orders in the first material transfer mode and the second material transfer mode, so that a first array 51 and a second array 52 can be formed. Figure 4 The symmetrical relationship shown in the figure realizes the staggered distribution of packaging boxes in different layers.

[0079] The following example takes the first value as 6 and the second value as 4. Figure 1 and Figure 4 The first material transfer mode, the first strategy, the second material transfer mode and the second strategy of this embodiment are exemplarily described as follows:

[0080] In the first material moving mode after startup, the rotating arm 12 is in a reset state, and the first 6 packaging boxes 20 enter the second conveyor belt 30 in a vertical direction. When the first 3 packaging boxes 20 enter, the second conveyor belt 30 is in a stationary state, and the 3 packaging boxes 20 are connected end to end. When the count value of the second counter is 3 (the fourth value), the second conveyor belt is moved forward based on the first distance value, so that the first 3 packaging boxes 20 are aligned with the stacking assembly, and the first 3 packaging boxes 20 are pushed into the stacking assembly by the push arm to obtain the first row of packaging boxes. Similarly, the 4th to 6th packaging boxes trigger the second conveyor belt 30. When the count value of the second counter reaches 6, the transverse moving component pushes the 4th to 6th packaging boxes into the palletizing component in the same operation to obtain the second row of packaging boxes, and because the count value of the second counter reaches 6, the second strategy is switched; at this time, after the 7th packaging box 20 passes through the first sensor 11, the first count value is 7, and the rotating arm is controlled to extend so that the 7th to 10th packaging boxes 20 enter the second conveyor belt 30 horizontally, and the count value of the second counter increases from 6 to 10. The newly added count value is 4, which satisfies the second value, and the push arm is started to push a row of horizontally placed packaging boxes into the palletizing component to obtain Figure 4 The first array 51 shown, and because the accumulated count value of the second counter reaches 10, the third value is met and switched to the first material moving mode.

[0081] After entering the second palletizing mode, the second counter and the first counter are reset. Due to the application of the second strategy, the rotating arm 12 maintains the current state. The 11th to 14th packaging boxes enter the second conveyor belt 30 in a horizontal direction. Under the second strategy, the newly added count value is 4 to meet the second value. The push arm is started to push a row of horizontally placed packaging boxes into the palletizing assembly. Switch to the first strategy. After detecting the 15th packaging box, the count value of the first counter reaches 4. The rotating arm is reset so that the 15th to 20th packaging boxes enter the second conveyor belt 30 in a vertical direction. Referring to the principle in the first palletizing mode mentioned above, two rows of vertically placed packaging boxes 20 are pushed into the palletizing assembly to obtain Figure 4The second array 52 is shown, and because the accumulated count value of the second counter reaches 10, the third value is satisfied, and the mode is switched to the first material moving mode, and the cycle is executed in this way.

[0082] It should be noted that after the second counter reaches the third value, it can be determined that the arrangement of a layer of packaging boxes is completed, and the palletizing operation is performed by the palletizing component, for example, by Figure 1 The lifting mechanism 42 shown transports the packaging box array and stacks it, and the specific process of the stacking operation is not limited here.

[0083] In addition, in one embodiment, in step S12, the rotating arm is alternately controlled to be reset or extended based on the second value and the first value, including but not limited to the following steps:

[0084] S21, resetting the first counter, when the count value of the first counter is greater than twice the second value, resetting the rotating arm;

[0085] S22, resetting the first counter, and extending the rotating arm when the count value of the first counter is greater than four times the first value.

[0086] It should be noted that the first strategy or the second strategy will be executed twice in succession when the mode is switched. For example, from the first material moving mode to the second material moving mode, the first material moving mode finally executes the second strategy, and the second material moving mode also executes the second strategy first. Similarly, the first strategy is executed four times in succession from the second material moving mode to the first material moving mode. The count value corresponding to the first strategy is the first setting, and the count value corresponding to the second strategy is the second value. Therefore, the rotating arm can be controlled according to twice the second value or four times the first value. For example, the count value of the first counter reaches twice the second value and is reset. After the reset, the count value of the first counter reaches four times the first value and then extends out, and so on.

[0087] In addition, in one embodiment, in the second strategy, before the second conveyor belt is moved forward based on the first distance value, the method further includes but is not limited to the following steps:

[0088] S31, obtaining a box length value and a box width value of the packaging box, and determining a reference length value based on the box length value and a fourth value;

[0089] S32, dividing the reference length value by the box width value to obtain a remainder as a second distance value;

[0090] S33, when the count value of the second counter reaches a fifth value, the second conveyor belt is moved forward based on the second distance value, wherein the fifth value is half of the second value.

[0091] It should be noted that the box length and box width values ​​of the packaging box are fixed and known in advance, and therefore can be saved as preset values.

[0092] It should be noted that, according to the description of the above embodiment, after the packaging box is rotated to the horizontal direction, the space occupied in the transmission direction is smaller, and the number of the packaging box rows placed vertically is different from the number of the packaging box rows placed horizontally, such as Figure 4 In the first array 51 and the second array 52 shown, the vertically arranged packing box array includes 3 packing boxes 20, and the horizontally arranged packing box array includes 4 packing boxes 20, which makes it difficult to ensure that the upper and lower sides of the two packing box arrays are flush. Figure 4 As shown, if the four horizontally placed packaging boxes 20 of the second array 52 are connected end to end and placed in the center, then in the vertically placed packaging box column of the first array 51, the ends of the first and third packaging boxes will be suspended in the air, which will also affect the stability. Based on this, in the second strategy of this embodiment, the product of the box length value and the fourth value is used as the reference length value to characterize the length of a column of packaging boxes, and the remainder of the reference length value and the box width value is used as the second distance value. Whenever 2 (fifth value) packaging boxes are entered, a forward movement is performed based on the second distance value, so that the ends of the horizontally placed and vertically placed packaging box columns are aligned. The second distance value is therefore a remainder that is usually small and smaller than the box length value, so that the gap corresponding to the second distance value is located in the middle of the upper packaging box, and the end of the packaging box does not lose support, and stability can still be ensured.

[0093] In addition, in one embodiment, before moving the second conveyor belt forward based on the first distance value, the method further includes but is not limited to the following steps:

[0094] S41, obtaining a preset first spacing and a first speed, wherein the first spacing is used to indicate the spacing between two packaging boxes placed in the first conveyor belt, and the first speed is the moving speed of the first conveyor belt;

[0095] S42, determining a first duration based on the first spacing and the first speed, and determining a second speed based on the first distance value and the first duration, wherein the second speed is a speed at which the second conveyor belt moves forward based on the first distance value;

[0096] S43, determine the sum of the difference between the box length value and the box width value and the first spacing as the second spacing, determine the second duration based on the second spacing and the first speed, and determine the third speed based on the second distance value and the second duration, wherein the third speed is the speed of the second conveyor belt when it moves forward based on the second distance value.

[0097] It should be noted that the first distance between the two packaging boxes on the first conveyor belt is fixed, and the first speed of the first conveyor belt is also known, so it can be saved as a preset value. Figure 3In the description of the embodiment shown, when the packaging box is rotated based on the rotating arm, the first speed provided by the first conveyor belt is the fastest speed at which the packaging box can move. The second conveyor belt does not keep running. It is necessary to ensure that the number of packaging boxes when the second conveyor belt moves based on the first distance value satisfies the fourth value. If more packaging boxes enter, the packaging box column will not be aligned with the palletizing assembly, and the push arm will push the packaging box column to the palletizing assembly, causing too many packaging boxes to be damaged. Therefore, this embodiment calculates the first duration based on the first spacing and the first speed, and uses the first duration to represent the duration of time for the next packaging box to move to the position of the previous packaging box under the drive of the first conveyor belt. The movement of the second conveyor belt is completed within the first duration, effectively avoiding the above-mentioned packaging box damage problem.

[0098] It should be noted that after determining the first duration, the first distance value is used as the target moving distance, and the second speed is determined as the forward speed of the second conveyor belt to ensure that the movement is completed within the first duration.

[0099] It should be noted that, according to the above obstacle avoidance principle, in the second strategy, it is also necessary to ensure that when the second conveyor belt moves horizontally at the second distance value, there are only boxes with the fifth value (for example, the two in the above example). If a third box enters, it will also cause errors in the arrangement of the box column. Therefore, it is necessary to complete the movement of the second distance value before the third box enters the second conveyor belt. The first spacing of this embodiment is the spacing when the boxes are transported vertically. In the second strategy, the boxes are turned horizontally under the action of the rotating arm, so the first spacing is no longer applicable. This embodiment first calculates the difference between the box length value and the box width value, and determines the second spacing as the sum of the difference and the first spacing. The second spacing is used to approximate the spacing between the two boxes transported horizontally in the first conveyor belt. The second duration and the third speed are calculated with reference to the principle of the first duration mentioned above. It is ensured that after the second conveyor belt performs the movement of the second distance value at the third speed, the third box enters the second conveyor belt to ensure the accuracy of the arrangement of the boxes.

[0100] It is worth noting that the second speed and the third speed of this embodiment are calculated and saved when used for the first time, and the relevant data can be called in subsequent use to reduce repeated calculations.

[0101] In addition, in one embodiment, in the first strategy, controlling the push arm to push multiple packaging boxes of the second conveyor belt into the palletizing assembly includes but is not limited to the following steps:

[0102] S511, obtaining a third distance value and a fourth distance value, wherein the third distance value is used to represent the distance between the standby position of the push arm and the placement boundary, the placement boundary being the farthest position where the packaging box can be placed on the placement platform, and the fourth distance value is used to represent the distance between the standby position of the push arm and the handling device;

[0103] S512, determining the difference between the third distance value and the box width value as the first initial value, and determining the difference between the third distance value and the box length value as the second initial value;

[0104] S513, in the first material moving mode, when the count value of the second counter reaches the fourth value for the first time, the push arm is driven based on the first initial value, and when the count value of the second counter reaches the first value, the push arm is driven based on the difference between the first initial value and the box width value;

[0105] S514, in the second material transfer mode, when the newly added count value of the second counter reaches the fourth value, the push arm is driven based on the difference between the second initial value and the box width value; when the count value of the second counter reaches the third value, the push arm is driven based on the fourth distance value.

[0106] It should be noted that if Figure 1 As shown, the placement platform 41 is a square platform for temporarily placing the arranged packaging boxes. After the three packaging boxes are placed, the push arm 32 pushes the packaging box array from the placement platform 41 to the lifting mechanism 42 to complete the palletizing and transportation. Therefore, the pushing distance of the push arm 32 needs to be dynamically adjusted each time to avoid pushing the packaging box into the wrong position.

[0107] It should be noted that the placement boundary of the placement platform is preset. For example, the side of the placement platform away from the push arm is set as the placement boundary according to the needs. Therefore, the third distance value between the placement boundary and the push arm standby position can be measured in advance and saved as a preset value. The fourth distance value is the distance from the push arm to the side of the lifting mechanism 42 close to the push arm, so that the push arm is located at the edge of the lifting mechanism 42 after moving the fourth distance value. At this time, the packaging box array is just located in the lifting mechanism 42, which is convenient for the lifting mechanism 42 to carry. Of course, the third distance value and the fourth distance value of this embodiment can also be adjusted for the purpose of redundant design to ensure that the push arm can push the packaging box into the correct position.

[0108] It should be noted that, based on the definition of the third distance value, in both the first strategy and the second strategy, the packaging boxes have two forms of vertical placement and horizontal placement. Since the length and width of the packaging boxes are different, when pushing packaging boxes placed in different ways, the dynamically calculated moving distance needs to be dynamically adjusted. In the first strategy of this embodiment, the difference between the third distance value and the box width value is determined as the first initial value, so that the distance between the push arm and the placement boundary after moving based on the first initial value is the box width value, and the vertically placed packaging box located in front of the push arm can be flush with the placement boundary; the second initial value is similar, so that the horizontally placed packaging box can be flush with the placement boundary.

[0109] It should be noted that when the first strategy is applied in the first material shifting mode, the packaging box first enters the second conveyor belt in the vertical direction. The first time the fourth value is reached, the first material shifting is triggered. Based on the first initial value, the push arm is driven to make the first row of packaging boxes flush with the placement boundary. When the first value is reached, the push arm is triggered to perform the second material shifting. The packaging boxes in the second conveyor belt are still placed vertically. Therefore, the decreasing value of the moving distance is the box width value. The push arm is driven by the difference between the first initial value and the box width value, so that the second row of packaging boxes can just abut against the first row of packaging boxes, thereby improving the control accuracy.

[0110] It should be noted that when the first strategy is applied in the second material transfer mode, the placement platform already has a row of horizontally placed packaging boxes, and it is obtained by driving the cross arm based on the second initial value. The space occupied by the vertically placed packaging boxes in the moving direction of the push arm is always the box width value, so the moving distance of the first row of vertically placed packaging boxes is the difference between the second initial value and the box width value. When the count value of the second counter reaches the third value, all packaging boxes in the current layer of the packaging box array are located on the placement platform or the second conveyor belt. There is no need to push the third row of packaging boxes on the second conveyor belt to the placement platform first. Instead, the push arm can be driven directly based on the fourth distance value. After pushing the third row of packaging boxes to the placement platform, they are pushed into the lifting mechanism together with the first two rows of packaging boxes on the placement platform to improve the material transfer efficiency.

[0111] In addition, in one embodiment, in the second strategy, controlling the push arm to push a plurality of packaging boxes of the second conveyor belt into the palletizing assembly includes:

[0112] S521, in the first material transfer mode, when the count value of the second counter reaches the third value, the push arm is driven based on the fourth distance value;

[0113] S522, in the second material transfer mode, when the count value of the second counter reaches the second value, the push arm is driven based on the second initial value.

[0114] It should be noted that when the second strategy is applied in the first material moving mode, there are already two rows of vertically placed cartons on the placement platform, and the count value of the second counter is the first value. When the count value of the second counter reaches the third value, the number of horizontally placed cartons in the second conveyor belt is the second value, and the cartons array on this layer has been completely loaded. Referring to the principle of the first strategy mentioned above, the push arm is directly driven based on the fourth distance value to push the cartons on the second conveyor belt and the placement platform into the lifting mechanism for subsequent transportation.

[0115] It should be noted that when the second strategy is applied in the second material transfer mode, there are no cartons on the placement platform, and the cartons on the second conveyor belt are the first row of cartons. Therefore, referring to the principle of the above-mentioned first strategy, the push arm is driven based on the second initial value so that the horizontally placed row of cartons can be flush with the placement boundary, which will not be repeated here.

[0116] In addition, in one embodiment, after driving the push arm based on the fourth distance value, the method further includes but is not limited to the following steps:

[0117] S61, adding one to the count value of the third counter, wherein the third counter is reset when the start signal is obtained;

[0118] S62, obtaining a box height value of the packaging box, and determining a target height value based on the product of the count value of the third counter and the box height value;

[0119] S63, after raising the lifting mechanism based on the target height value, stacking multiple packaging boxes onto the third conveyor belt by transversely moving the lifting mechanism, and resetting the lifting mechanism to the side of the placement platform.

[0120] It should be noted that, during the palletizing process, it is not only necessary to form a multi-row and multi-column packaging box array according to the method of the above embodiment, but also necessary to stack the packaging box array by a lifting mechanism, such as Figure 1 As shown, the lifting mechanism 42 can move back and forth along the material moving direction and can be lifted and lowered. After the first material moving mode is applied for the first time, Figure 4 The first array 51 at the bottom shown in the figure, after the push arm 32 pushes the first array 51 into the lifting mechanism 42 based on the fourth distance value, the lifting mechanism 42 translates the first array 51 into the third conveyor belt 43, and after switching to the second material transfer mode, the Figure 4 As shown in the second array 52 , after the push arm 32 pushes the second array 52 into the lifting mechanism 42 based on the fourth distance value, the lifting mechanism 42 needs to first rise and then move horizontally, so as to place the second array 52 on the upper side of the first array 51 of the third conveyor belt 43 .

[0121] It should be noted that the present embodiment further provides a third counter, which counts the number of times the fourth distance value is applied, and dynamically calculates the lifting height of the lifting mechanism 42 by the third count value, to ensure that the lifting mechanism 42 can rise to the correct height and avoid collision.

[0122] It should be noted that the box height value of the packaging box is known in advance. In this embodiment, what is adjusted by the rotating arm is the horizontal placement direction of the packaging box, and no adjustment is made in the vertical direction. Therefore, the heights of the packaging boxes placed horizontally and vertically are uniform. The height of each layer of the packaging box array is the box height value. The target height value is obtained by multiplying the box height value by the third counter, which can ensure that the packaging box array can be delivered to the accurate height each time it is transported.

[0123] like Figure 5 As shown, Figure 5: is a structural diagram of a control device for an automatic palletizer provided by an embodiment of the present invention. The present invention also provides a control device for an automatic palletizer, comprising:

[0124] The processor 501 may be implemented by a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0125] The memory 502 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 502 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 502, and the processor 501 calls and executes the control method of the automatic palletizer in the embodiment of this application;

[0126] Input / output interface 503, used to implement information input and output;

[0127] Communication interface 504, used to realize communication interaction between the device and other devices, which can be realized through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WI FI, Bluetooth, etc.);

[0128] A bus 505 that transmits information between the various components of the device (e.g., the processor 501, the memory 502, the input / output interface 503, and the communication interface 504);

[0129] The processor 501 , the memory 502 , the input / output interface 503 and the communication interface 504 are connected to each other in communication within the device via the bus 505 .

[0130] An embodiment of the present application further provides an electronic device, comprising the control device of the automatic palletizer as described above.

[0131] The embodiment of the present application further provides a storage medium, which is a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the automatic palletizer is implemented.

[0132] As a non-transient computer-readable storage medium, the memory can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and are implemented to be located in one place, or may also be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0133] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed method above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that may be used to store desired information and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically include computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0134] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions under the shared conditions without violating the spirit of the present invention. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A control method for an automatic palletizer, characterized in that: The automatic palletizer comprises a first conveyor belt, a transverse movement assembly and a palletizing assembly, a first sensor and a rotating arm are arranged on the side of the first conveyor belt, the rotating arm can extend to the top of the first conveyor belt and abut against the passing packaging box, so that the abutted packaging box is rotated 90 degrees along the conveying direction, the transverse movement assembly comprises a second conveyor belt, a second sensor and a push arm, the output end of the first conveyor belt is connected to the input end of the second conveyor belt, the palletizing assembly and the push arm are respectively located on both sides of the second conveyor belt, the second sensor is located at the input end of the second conveyor belt, and the first sensor and the second sensor are used to detect the packaging box; The control method of the automatic palletizer comprises: When a start signal is obtained, a preset first value and a second value are obtained, the sum of the first value and the second value is determined as a third value, and a first counter and a second counter are reset, wherein the second value is less than the first value and both are integers, the first counter is used to count the number of detections of the first sensor, and the second counter is used to count the number of detections of the second sensor; After detecting that the count value of the first counter is greater than the first value, the rotating arm is extended, and the rotating arm is alternately controlled to be reset or extended based on the second value and the first value; Alternately running the first material moving mode and the second material moving mode of the transverse moving component, wherein when the second counter reaches the third value, the second counter is reset and the material moving mode is switched to control the palletizing component to perform the palletizing operation; Wherein, the first material moving mode includes: controlling the transverse moving component based on a first strategy, and controlling the transverse moving component based on a second strategy after the second counter reaches the first value; Wherein, the second material moving mode includes controlling the transverse moving component based on the second strategy, and controlling the transverse moving component based on the first strategy after the second counter reaches the second value; The first strategy includes: whenever the newly added count value of the second counter reaches a fourth value, the second conveyor belt is moved forward based on the first distance value, and the push arm is controlled to push the plurality of packaging boxes on the second conveyor belt into the palletizing assembly, the fourth value is half of the first value, and the first distance value is used to represent the position difference between the entrance of the second conveyor belt and the palletizing assembly in the conveying direction; The second strategy includes: when the newly added count value of the second counter reaches a second value, moving the second conveyor belt forward based on the first distance value, and controlling the push arm to push the plurality of packaging boxes on the second conveyor belt into the palletizing assembly.

2. The control method of the automatic palletizer according to claim 1, characterized in that: The step of alternately controlling the swivel arm to reset or extend based on the second value and the first value comprises: Resetting the first counter, and when the count value of the first counter is greater than twice the second value, resetting the rotating arm; The first counter is reset, and when the count value of the first counter is greater than four times of the first value, the rotating arm is extended.

3. The control method of the automatic palletizer according to claim 1, characterized in that: In the second strategy, before the second conveyor belt is moved forward based on the first distance value, the method further includes: Acquire a box length value and a box width value of the packaging box, and determine a reference length value based on the box length value and the fourth value; The remainder obtained by dividing the reference length value by the box width value is determined as the second distance value; When the count value of the second counter reaches a fifth value, the second conveyor belt is moved forward based on the second distance value, wherein the fifth value is half of the second value.

4. The control method of the automatic palletizer according to claim 3, characterized in that: Before the step of moving the second conveyor belt forward based on the first distance value, the method further comprises: Obtaining a preset first spacing and a first speed, wherein the first spacing is used to indicate the spacing between two packaging boxes placed in the first conveyor belt, and the first speed is the moving speed of the first conveyor belt; Determine a first duration based on the first spacing and the first speed, and determine a second speed based on the first distance value and the first duration, wherein the second speed is a speed at which the second conveyor belt moves forward based on the first distance value; The sum of the difference between the box length value and the box width value and the first spacing is determined as the second spacing, the second duration is determined based on the second spacing and the first speed, and the third speed is determined based on the second distance value and the second duration, wherein the third speed is the speed of the second conveyor belt when it moves forward based on the second distance value.

5. The control method of the automatic palletizer according to claim 3, characterized in that: The palletizing assembly comprises a placement platform and a handling device, wherein one side of the placement platform is adjacent to the side of the second conveyor belt, and the other side is adjacent to the handling device; In the first strategy, controlling the push arm to push the plurality of packaging boxes on the second conveyor belt into the palletizing assembly includes: Obtaining a third distance value and a fourth distance value, wherein the third distance value is used to represent the distance between the standby position of the push arm and a placement boundary, the placement boundary being the farthest position where the packaging box can be placed on the placement platform, and the fourth distance value is used to represent the distance between the standby position of the push arm and the transport device; Determine the difference between the third distance value and the box width value as a first initial value, and determine the difference between the third distance value and the box length value as a second initial value; In the first material moving mode, when the count value of the second counter reaches the fourth value for the first time, the push arm is driven based on the first initial value, and when the count value of the second counter reaches the first value, the push arm is driven based on the difference between the first initial value and the box width value; In the second material transfer mode, when the newly added count value of the second counter reaches the fourth value, the push arm is driven based on the difference between the second initial value and the box width value; when the count value of the second counter reaches the third value, the push arm is driven based on the fourth distance value.

6. The control method of the automatic palletizer according to claim 5, characterized in that: In the second strategy, controlling the push arm to push the plurality of packaging boxes on the second conveyor belt into the palletizing assembly includes: In the first material moving mode, when the count value of the second counter reaches the third value, the push arm is driven based on the fourth distance value; In the second material moving mode, when the count value of the second counter reaches the second value, the push arm is driven based on the second initial value.

7. The control method of the automatic palletizer according to claim 6, characterized in that: The transport device includes a lifting mechanism and a third conveyor belt, the lifting mechanism can move laterally between the third conveyor belt and the placement platform, and after driving the push arm based on the fourth distance value, the method further includes: Increasing the count value of the third counter by one, wherein the third counter is reset when the start signal is obtained; Acquire a box height value of the packaging box, and determine a target height value based on the product of the count value of the third counter and the box height value; After the lifting mechanism is raised based on the target height value, the plurality of packaging boxes are stacked onto the third conveyor belt by transversely moving the lifting mechanism, and the lifting mechanism is reset to the side of the placement platform.

8. A control device for an automatic palletizer, characterized in that: It comprises at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions that can be executed by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute the control method of the automatic palletizer according to any one of claims 1 to 7.

9. An electronic device, characterized in that: A control device comprising the automatic palletizer according to claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the control method of the automatic palletizer according to any one of claims 1 to 7.

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