Control Method, Device, Equipment, and Storage Medium of Automatic Palletizer

Abstract

The present invention provides a control method, device, equipment, and storage medium for an automatic palletizer. The method includes: when a start signal is acquired, 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, and alternately controlling a rotating arm to extend or reset to adjust the placement direction of the packaging boxes before palletizing; counting the detection of a second sensor based on a second counter, presetting different triggering times of a pushing arm through a first strategy and a second strategy, and alternately using a preset first material transfer mode and a second material transfer mode to arrange the packaging boxes input by a first conveyor belt into a packaging box array in a palletizing component. The two material transfer modes apply the first strategy and the second strategy in different orders, so that the arrangement modes of each layer of packaging box arrays are staggered with each other, improving the stability after palletizing, simplifying the control logic, and improving the palletizing efficiency.

Description

Technical Field

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

[0002] A palletizer is a commonly used device in the beverage manufacturing field. After the beverage bottles are packed into boxes, they enter the pallet through a conveyor belt. Multiple packing boxes are stacked into a multi-layer structure by automated structures such as robotic arms, and then transported by handling tools. The sizes of the packing boxes in the same batch are the same. If the packing boxes are completely aligned during palletizing, that is, the upper packing box completely overlaps the lower packing box, the support points of the upper packing box are relatively single. In the case of a large number of layers, once there is a bump during transportation, it is very easy to topple over, resulting in production accidents.

[0003] In order to improve the stability of the packing boxes after palletizing, some of the packing boxes in the same layer are rotated 90 degrees horizontally before palletizing, so that the packing box arrays of different layers are staggered. The lower side of the upper packing box abuts at least two packing boxes. Even if the number of palletized layers is high, it will be relatively firm due to more support points. In the related art, mainly the position of the currently palletized packing box is judged by a robotic arm, and after clamping the packing box, it is selectively rotated according to the placement direction, resulting in a relatively complex control logic of the robotic arm, and only one packing box can be palletized one by one, with low production efficiency. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. For this purpose, the present invention provides a control method, device, equipment, and storage medium for an automatic palletizer, which can automatically adjust the direction of the packing box before palletizing and 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 includes 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 above the first conveyor belt and abut against the passing packing box, so that the abutted packing box rotates 90 degrees along the conveying direction. The transverse movement assembly includes a second conveyor belt, a second sensor, and a pushing 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 pushing 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. The first sensor and the second sensor are used to detect the packing box. The control method of the automatic palletizer includes:

[0006] When a start signal is obtained, obtain a preset first value and a second value, determine the sum of the first value and the second value as a third value, and reset a first counter and a second counter, where the second value is less than the first value and both are integers, the first counter is used to count the detection quantity of the first sensor, and the second counter is used to count the detection quantity of the second sensor;

[0007] After detecting that the count value of the first counter is greater than the first value, extend the rotating arm, and alternately control the reset or extension of the rotating arm based on the second value and the first value;

[0008] Alternately run a first material transfer mode and a second material transfer mode of the cross - transfer component. Wherein, when the second counter reaches the third value, reset the second counter and switch the material transfer mode, and control the palletizing component to perform a palletizing operation;

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

[0010] Wherein, the second material transfer mode includes: controlling the cross - transfer component based on the second strategy, and controlling the cross - transfer component based on the first strategy after the second counter reaches the second value;

[0011] Wherein, the first strategy includes: whenever the newly added count value of the second counter reaches a fourth value, move the second conveyor belt forward based on a first distance value, and control the pushing arm to push a plurality of the packing boxes on the second conveyor belt into the palletizing component. The fourth value is half of the first value, and the first distance value is used to characterize the position difference between the entrance of the second conveyor belt and the palletizing component in the transmission direction;

[0012] The second strategy includes: when the newly added count value of the second counter reaches the second value, move the second conveyor belt forward based on the first distance value, and control the pushing arm to push a plurality of the packing boxes on the second conveyor belt into the palletizing component.

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

[0014] Reset the first counter. When the count value of the first counter is greater than twice the second value, reset the rotating arm;

[0015] Reset the first counter. When the count value of the first counter is greater than four times the first value, extend the rotating arm.

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

[0017] Obtain the box length value and box width value of the packing box, and determine a reference length value based on the box length value and the fourth numerical value;

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

[0019] When the count value of the second counter reaches the fifth numerical value, advance the second conveyor belt based on the second distance value, where the fifth numerical value is half of the second numerical value.

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

[0021] Obtain a preset first spacing and first speed, where the first spacing is used to indicate the spacing between two packing boxes placed on 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, where the second speed is the speed when the second conveyor belt advances based on the first distance value;

[0023] 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 a second duration based on the second spacing and the first speed, and determine a third speed based on the second distance value and the second duration, where the third speed is the speed when the second conveyor belt advances 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 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 multiple packing boxes on the second conveyor belt into the palletizing assembly includes:

[0025] Obtain a third distance value and a fourth distance value, where the third distance value is used to characterize the distance between the standby position of the push arm and the placement boundary, the placement boundary is the farthest position on the placement platform where the packing box can be placed, and the fourth distance value is used to characterize the distance between the standby position of the push arm and the handling device;

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

[0027] In the first material transfer mode, when the count value of the second counter first reaches the fourth value, drive the push arm based on the first initial value, and when the count value of the second counter reaches the first value, drive the push arm 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, drive the push arm based on the difference between the second initial value and the box width value, and when the count value of the second counter reaches the third value, drive the push arm 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 on the second conveyor belt into the palletizing assembly includes:

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

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

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

[0033] Increment the count value of a third counter, where the third counter is reset when the start signal is obtained;

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

[0035] After raising the lifting mechanism based on the target height value, stack the plurality of packaging boxes onto the third conveyor belt by horizontally moving the lifting mechanism, and reset the lifting mechanism 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, including at least one control processor and a memory communicatively connected to 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 to enable the at least one control processor to 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, including the control device for 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 for executing the control method for the automatic palletizer as described in the first aspect above.

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

[0040] Figure 1 is a perspective view of an automatic palletizer provided by an embodiment of the present invention;

[0041] Figure 2 is a flowchart 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 placement schematic diagram of two layers of palletized packaging boxes provided by another embodiment of the present invention;

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

[0045] Description of the reference numerals:

[0046] 10 First conveyor belt; 11 First sensor; 12 Rotary arm; 13 Cylinder; 20 Packaging box; 30 Second conveyor belt; 31 Second sensor; 32 Pushing arm; 41 Placing platform; 42 Lifting mechanism; 43 Third conveyor belt. Detailed implementation manners

[0047] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0048] In the description of the present invention, it should be understood that for orientation descriptions, such as up, down, front, back, left, right, etc., the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0049] In the description of the present invention, the meaning of "a number of" is one or more, the meaning of "a plurality of" is two or more, and understandings such as "greater than", "less than", "exceeding", etc. do not include the present number, and understandings such as "above", "below", "within", etc. include the present number. If there is a description of "first" and "second", it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0050] In the description of the present invention, unless otherwise clearly defined, words such as "set", "installed", "connected", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0051] An embodiment of the present invention provides a control method, device, equipment, and storage medium for an automatic palletizer. The control method of 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, and alternately controlling a rotating arm to extend or reset to adjust the placement direction of the packaging boxes before palletizing; counting the detection of a second sensor based on a second counter, presetting different triggering times of a pushing arm through a first strategy and a second strategy, and alternately using a preset first material transfer mode and a second material transfer mode to arrange the packaging boxes input by a first conveyor belt into a packaging box array in a palletizing component. The two material transfer modes apply the first strategy and the second strategy in different orders, so that the arrangement modes of each layer of packaging box arrays are staggered with each other, improving the stability after palletizing, simplifying the control logic, and improving the palletizing efficiency.

[0052] First, refer to Figure 1 , Figure 1 which is a three-dimensional view of the automatic palletizer provided by the embodiment of the present invention.

[0053] As Figure 1 shown, the automatic palletizer of this embodiment includes a first conveyor belt 10, a transverse movement component, and a palletizing component. 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 above the first conveyor belt 10 and abut against the passing packaging box 20, so that the abutted packaging box 20 rotates 90 degrees along the transmission direction. The transverse movement component includes a second conveyor belt 30, a second sensor 31, and a pushing 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 component and the pushing 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 sealing device of the packaging box 20, so that the packaging box 20 sealed by the sealing device enters the automatic palletizer through the first conveyor belt 10, realizing the integrated production of bottled beverages. As Figure 1 shown, a section of the first conveyor belt 10 connecting the second conveyor belt 30 is a straight section, which is convenient for the rotating arm 12 to act 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 reach the output end of the first output end, the packaging box 20 located at the rear pushes the packaging box 20 located at the front into the second conveyor belt 30. The first conveyor belt 10 and the second conveyor belt 30 are arranged in a straight section form and are connected end to end, 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 outside the first conveyor belt 10. The first sensor 11 and the second sensor 31 can be common infrared grating sensors, as long as they can generate sensing signals after the packing box 20 passes by. The first counter in this embodiment is used to count the sensing signals of the first sensor 11, and the second counter is used to count the sensing signals of the second sensor 31.

[0056] It should be noted that, as Figure 1 shown, the rotating arm 12 is located outside the first conveyor belt 10 and on the front side of the first sensor 11 along the conveying direction. One end of the rotating arm 12 is connected to the cylinder, and under the driving action of the cylinder, it extends to the upper side of the first conveyor belt 10. The height of the rotating arm 12 is set according to the packing box 20. As Figure 3 shown, after the rotating arm 12 extends to the first conveyor belt 10, it can abut against one side of the packing box 20, and the abutting position does not exceed the midline of the packing box 20, so that the other side of the packing box 20 continues to move under the driving action of the first conveyor belt 10, and thus makes 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 rotated packing box 20 to pass through (that is, the width of the first conveyor belt 10 is at least greater than the box body length value), and the rotating arm 12 is an arc surface. The distal end of the rotating arm 12 is tangent to the conveying direction of the first conveyor belt 10, so that after the packing box 20 rotates 90 degrees, it is tangent to the distal end of the rotating arm 12, and then leaves the rotating arm 12 and continues to be conveyed to the second conveyor belt 30.

[0057] It should be noted that, as Figure 1 shown, a pushing arm 32 is provided on one side of the second conveyor belt 30, and a palletizing assembly is provided on the other side. Multiple packing boxes 20 entering the second conveyor belt 30 can be pushed by the pushing arm 32 to the palletizing assembly, so as to form a row of packing boxes 20. After performing multiple operations, a packing box array composed of multiple rows of packing boxes 20 is obtained. The pushing arm 32 can be in any driving form. The pushing process of the pushing arm 32 can sequentially include lateral movement, rising, resetting, and descending, so as to avoid the packing boxes 20 entering the second conveyor belt 30 during the lateral movement. In this embodiment, the specific driving method and movement method of the pushing arm 32 are not limited, as long as it can push multiple packing boxes 20 at one time.

[0058] It should be noted that the second sensor 31 is provided at the input end of the second conveyor belt 30. After the packing box 20 completely enters the second conveyor belt 30, it triggers the sensing signal of the second sensor 31, and the second counter is used for counting. The specific position is not limited in this embodiment.

[0059] In addition, with reference to Figure 1, the palletizing assembly includes a placement platform 41 and a handling device. 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 traverse 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 pushing arm 32 can push the packaging box 20 from the second conveyor belt 30 into 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. The handling device includes a lifting mechanism 42 and a third conveyor belt 43. The arranged packaging box array can be lifted by the lifting device and palletized on the third conveyor belt 43, and after palletizing is completed, it is transported out through the third conveyor belt 43. Of course, other transportation devices can also be provided on one side of the lifting mechanism 42, and this embodiment does not make more limitations in this regard.

[0062] Next, based on Figure 1 the shown automatic palletizer, the technical solutions of the embodiments of the present invention will be further elaborated.

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

[0064] S11, when a start signal is obtained, obtain a preset first value and a second value, determine the sum of the first value and the second value as a third value, and reset the first counter and the second counter, where the second value is less than the first value and both are integers. The first counter is used to count the detection quantity of the first sensor, and the second counter is used to count the detection quantity of the second sensor;

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

[0066] S13, alternately operate the first material transfer mode and the second material transfer mode of the traversing assembly. Wherein, when the second counter reaches the third value, reset the second counter and switch the material transfer mode, and control the palletizing assembly to perform a palletizing operation;

[0067] Among them, the first material transfer mode includes: controlling the traversing assembly based on the first strategy, and controlling the traversing assembly based on the second strategy after the second counter reaches the first value;

[0068] Among them, the second material transfer mode includes controlling the lateral movement component based on a second strategy, and controlling the lateral movement component based on a first strategy after the second counter reaches a second value;

[0069] Among them, the first strategy includes: whenever the newly added count value of the second counter reaches a fourth value, moving the second conveyor belt forward based on a first distance value, and controlling the pusher arm to push multiple packaging boxes on the second conveyor belt into the palletizing component. 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 component in the transmission direction;

[0070] 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 a first distance value, and controlling the pusher arm to push multiple packaging boxes on the second conveyor belt into the palletizing component.

[0071] It should be noted that, for better description of the technical solution of this embodiment, hereinafter, Figure 1 the shown transmission direction is the column direction, the direction perpendicular to the column direction is the row direction, the initial input direction of the packaging box into the first conveyor belt is vertically placed, and after being rotated by the rotating arm, it is horizontally placed. Without special instructions, the subsequent directions will not be elaborated.

[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 arrays. 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 in this embodiment are integers and even numbers greater than 2.

[0073] Exemplarily, as Figure 4 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 applying the first strategy, the pusher arm 32 is triggered every time 3 packaging boxes 20 are detected, so as to obtain two columns of packaging box columns composed of 3 vertically placed packaging boxes 20. When applying the second strategy, the pusher arm 32 is triggered after detecting 4 packaging boxes 20, so as to obtain a column of packaging box columns composed of 4 horizontally placed packaging boxes 20. The specific values can be adjusted according to the packaging box size and palletizing requirements, and will not be limited here.

[0074] It should be noted that based on the alternating operation of the first material transfer mode and the second material transfer mode in this embodiment, the rotating arm can be controlled according to the application of the first strategy or the second strategy in each material transfer mode. When applying the first strategy based on the first value, the rotating arm is reset so that the packaging box enters the second conveyor belt vertically. When applying the second strategy based on the second value, the rotating arm is extended so that the packaging 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 of each other. 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. Their triggering times are different. Counting is performed according to the preset first value and second value, and the uniformity of the quantity is used to ensure that the direction of the packing boxes input from the first conveyor belt to the second conveyor belt meets the palletizing requirements.

[0076] For example, the first sensor is arranged on the front side of the rotating arm. The packing box passes through the first sensor, the rotating arm, the second sensor, and the pushing arm in sequence. Taking the first value as 6 and the second value as 4 as an example, under the first strategy of the first palletizing mode, when the count value of the first counter reaches 6, the rotating arm is in the reset state and does not extend, so that the first 6 packing boxes can enter the second conveyor belt vertically. When the count value of the first counter reaches 7, exceeding the first value, the rotating arm extends, and the 7th packing box rotates to be horizontal. At this time, the second counter does not count to 7. After pushing the first 6 packing boxes into the palletizing component, it is detected that the 7th packing box enters the second conveyor belt, triggering the second strategy to perform subsequent judgments.

[0077] It should be noted that in this embodiment, the packing boxes are input in a vertical manner, and the rotating arm is in the reset state at startup, that is, the packing boxes will enter the second conveyor belt in a vertical direction. Since the packing boxes of bottled beverages are usually cuboids, that is, the box length value and the box width value are not equal. In order to achieve staggered horizontal and vertical placement, the count values for triggering the pushing arm in the first strategy and the second strategy are different in this embodiment, and the number of packing boxes in a column 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 pushing arm can be triggered twice, thus obtaining two columns of vertically placed packing boxes. For example, when the first value is 6, the pushing arm is activated once after detecting 3 packing boxes, and the pushing arm is activated once after detecting 6 packing boxes, obtaining two columns of packing box columns composed of 3 packing boxes each. In the second strategy, the packing boxes are placed horizontally under the action of the rotating arm, and the number of horizontally placed packing boxes in a column is greater than the number of vertically placed packing boxes in a column. The pushing arm is activated once after the newly added count value of the second counter reaches the second value, obtaining a column of horizontally placed packing boxes. The newly added count value in this embodiment is the increase after re-counting when reaching a certain condition. For example, starting from 0 and counting to 3, the newly added count value is 3, meeting the fourth value. From 3 increasing to 6, the newly added count value was 3 after meeting the fourth value last time, and meeting the fourth value again. The same applies to the second strategy and will not be elaborated further.

[0078] It should be noted that this embodiment uses the first material transfer mode or the second material transfer mode to complete the placement of a layer of packing box array. The first material transfer mode first applies the first strategy and then the second strategy, that is, after a complete execution of the first material transfer mode, Figure 4The first array 51 shown; In the second material transfer mode, the second strategy is applied first, and then the first strategy is applied. After a complete execution of the second material transfer mode, Figure 4 the second array 52 shown. The first strategy and the second strategy are used in different orders in the first material transfer mode and the second material transfer mode, so that a Figure 4 symmetrical relationship shown can be formed across the first array 51 and the second array 52, thereby realizing the staggered distribution of packaging boxes on different layers.

[0079] Taking the first value as 6 and the second value as 4 as an example below, combined with Figure 1 and Figure 4 an exemplary description is given of the first material transfer mode, the first strategy, the second material transfer mode, and the second strategy of this embodiment:

[0080] After starting and entering the first material transfer mode, the rotating arm 12 is in the reset state. The first 6 packaging boxes 20 enter the second conveyor belt 30 in the vertical direction. Among them, 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 palletizing component, and the first 3 packaging boxes 20 are pushed into the palletizing component by the pushing arm to obtain the first column of packaging box columns. Similarly, the 4th to 6th packaging boxes trigger the count value of the second counter to reach 6, and the traversing component pushes the 4th to 6th packaging boxes into the palletizing component with the same operation to obtain the second column of packaging box columns. 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. The count value of the second counter increases from 6 to 10, and the new count value of 4 satisfies the second value. The pushing 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 cumulative count value of the second counter reaches 10, satisfying the third value, it switches to the second material transfer 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 its current state. The 11th to 14th packaging boxes enter the second conveyor belt 30 horizontally. Under the second strategy, the new count value of 4 satisfies the second value. The pushing arm is started to push a row of horizontally placed packaging boxes into the palletizing component, and then switches to the first strategy. After detecting the 15th packaging box, the count value of the first counter reaches 4, and the rotating arm is reset, so that the 15th to 20th packaging boxes enter the second conveyor belt 30 vertically. Referring to the principle in the above first palletizing mode, two columns of vertically placed packaging boxes 20 are pushed into the palletizing component to obtain Figure 4The second array 52 shown, and since the cumulative count value of the second counter reaches 10, satisfying the third value, it switches to the first material transfer mode, and so on to execute the loop.

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

[0083] In addition, in an embodiment, in step S12, based on the second value and the first value, alternately controlling the reset or extension of the rotating arm includes but is not limited to the following steps:

[0084] S21, reset the first counter. When the count value of the first counter is greater than twice the second value, reset the rotating arm;

[0085] S22, reset the first counter. When the count value of the first counter is greater than four times the first value, extend the rotating arm.

[0086] It should be noted that when switching modes, the first strategy or the second strategy will be continuously executed twice. For example, from the first material transfer mode to the second material transfer mode, the second strategy is finally executed in the first material transfer model, and the second strategy is also executed first in the second material transfer mode. Similarly, when switching from the second material transfer mode to the first material transfer mode, the first strategy is continuously executed four times. 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 rotating arm is reset after the count value of the first counter reaches twice the second value, and extends after the count value of the reset first counter reaches four times the first value, and so on.

[0087] In addition, in an embodiment, in the second strategy, 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:

[0088] S31, obtain the box length value and box width value of the packaging box, and determine the reference length value based on the box length value and the fourth value;

[0089] S32, determine the remainder obtained by dividing the reference length value by the box width value as the second distance value;

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

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

[0092] It should be noted that according to the description of the above embodiments, after the packaging box is rotated to the horizontal direction, the space occupied in the transmission direction is small. If the number of columns of packaging boxes placed vertically is different from the number of columns of packaging boxes placed horizontally, such as Figure 4 shown in the first array 51 and the second array 52, the vertically placed column of packaging boxes includes 3 packaging boxes 20, and the horizontally placed column of packaging boxes includes 4 packaging boxes 20. This makes it difficult to ensure that the upper and lower sides are flush. As Figure 4 shown, if the 4 horizontally placed packaging boxes 20 in the second array 52 are connected end to end and placed in the middle, then in the vertically placed column of packaging boxes in the first array 51, the ends of the first and third packaging boxes will be suspended, 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 a reference length value to represent 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. Every time 2 (the fifth value) packaging boxes enter, a forward movement is performed based on the second distance value, so that the heads and tails of the horizontally placed and vertically placed columns of packaging boxes are aligned. Since the second distance value is the remainder, it is usually small and less 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 ends of the packaging boxes will not lose support, and the 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, where the first spacing is used to indicate the spacing between two packaging boxes placed on 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, where the second speed is the speed when the second conveyor belt moves forward based on the first distance value;

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

[0097] It should be noted that the first spacing between 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. According to Figure 3Description of the illustrated embodiment. When rotating the packing box based on the rotating arm, the first speed provided by the first conveyor belt is the fastest speed at which the packing box can move. The second conveyor belt does not keep running. It is necessary to ensure that the number of packing boxes when the second conveyor belt moves based on the first distance value meets the fourth value. If more packing boxes enter, it will cause the packing box column to be misaligned with the palletizing component, and when the pusher arm pushes the packing box column towards the palletizing component, too many packing boxes will be damaged. Therefore, in this embodiment, the first duration is calculated based on the first spacing and the first speed, and the first duration represents the duration for the next packing box to move to the position of the previous packing box driven by the first conveyor belt. The movement of the second conveyor belt is completed within the first duration, effectively avoiding the above-mentioned problem of packing box damage.

[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 accordingly as the forward movement 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 by the second distance value, there are only the fifth number of packing boxes (such as 2 in the above example). If a third packing box enters, it will also cause the arrangement of the packing box column to be incorrect. Therefore, it is necessary to complete the movement of the second distance value before the third packing box enters the second conveyor belt. The first spacing in this embodiment is the spacing when the packing boxes are vertically transported. In the second strategy, the packing boxes are turned horizontal under the action of the rotating arm, so the first spacing is no longer applicable. In this embodiment, the difference between the box length value and the box width value is first calculated, and the sum of this difference and the first spacing is determined as the second spacing, which approximately represents the spacing between two packing boxes horizontally transported on the first conveyor belt. Referring to the principle of the above first duration, the second duration and the third speed are calculated to ensure that after the second conveyor belt moves the second distance value at the third speed, the third packing box then enters the second conveyor belt, ensuring the accuracy of the packing box arrangement.

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

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

[0102] S511, obtain the third distance value and the fourth distance value. Among them, the third distance value is used to represent the distance between the standby position of the pusher arm and the placement boundary, and the placement boundary is the farthest position on the placement platform where the packing box can be placed. The fourth distance value is used to represent the distance between the standby position of the pusher arm and the handling device;

[0103] S512. Determine the difference between the third distance value and the width value of the box body as the first initial value, and determine the difference between the third distance value and the length value of the box body as the second initial value;

[0104] S513. In the first material transfer mode, when the count value of the second counter first reaches the fourth value, drive the push arm based on the first initial value. When the count value of the second counter reaches the first value, drive the push arm based on the difference between the first initial value and the width value of the box body;

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

[0106] It should be noted that as Figure 1 shown, the placement platform 41 is a square platform for temporarily placing the arranged rows of packing boxes. After 3 rows of packing boxes are placed, the push arm 32 pushes the packing box array from the placement platform 41 to the lifting mechanism 42, thereby completing palletizing and transporting out. Therefore, the distance pushed by the push arm 32 each time needs to be dynamically adjusted to avoid pushing the packing boxes into the wrong position.

[0107] It should be noted that the placement boundary of the placement platform is preset. For example, according to requirements, the side of the placement platform far from the push arm is set as the placement boundary. Therefore, the third distance value between the placement boundary and the standby position of the push arm 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 after the push arm moves the fourth distance value, it is located at the edge of the lifting mechanism 42, and at this time the packing box array is exactly 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 in this embodiment can also be adjusted for the purpose of redundant design to ensure that the push arm can push the packing boxes into the correct position.

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

[0109] It should be noted that when the first material transfer mode applies the first strategy, the packing box first enters the second conveyor belt in the vertical direction. When the fourth value is first reached, the first material transfer is triggered. Driving the push arm based on the first initial value can make the first column of packing boxes flush with the placement boundary. When the first value is reached, the push arm is triggered to perform the second material transfer. The packing boxes in the second conveyor belt are still placed vertically. Therefore, the decreasing value of the moving distance is the width value of the box body. Driving the push arm with the difference between the first initial value and the width value of the box body enables the second column of packing boxes to just abut against the first column of packing boxes, improving the control accuracy.

[0110] It should be noted that when the second material transfer mode applies the first strategy, there is already a row of horizontally placed packing box rows on the placement platform, and it is obtained by driving the cross arm based on the second initial value. The space occupied by the vertically placed packing boxes for the moving direction of the push arm is always the width value of the box body. Therefore, the moving distance of the first column of vertically placed packing boxes is the difference between the second initial value and the width value of the box body. When the count value of the second counter reaches the third value, all the packing boxes in the packing box array on this layer are located on the placement platform or the second conveyor belt. Instead of first pushing the third column of packing boxes on the second conveyor belt to the placement platform, the push arm can be directly driven based on the fourth distance value. After pushing the third column of packing boxes to the placement platform, the first two columns of packing boxes on the placement platform are jointly pushed into the lifting mechanism, improving the material transfer efficiency.

[0111] In addition, in an embodiment, in the second strategy, controlling the push arm to push multiple packing boxes on the second conveyor belt into the palletizing component includes:

[0112] S521, in the first material transfer mode, when the count value of the second counter reaches the third value, driving the push arm 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, driving the push arm based on the second initial value.

[0114] It should be noted that when the first material transfer mode applies the second strategy, there are already two columns of vertically placed packing boxes 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 packing boxes on the second conveyor belt is the second value, and all the packing boxes in the packing box array on this layer have been fully loaded. Referring to the principle of the above first strategy, the push arm can be directly driven based on the fourth distance value to push the packing boxes on the second conveyor belt and the placement platform into the lifting mechanism for subsequent handling.

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

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

[0117] S61, increment the count value of the third counter, where the third counter is reset when a start signal is acquired;

[0118] S62, acquire the height value of the box body of the packing box, and determine the target height value based on the product of the count value of the third counter and the height value of the box body;

[0119] S63, after raising the lifting mechanism based on the target height value, stack multiple packing boxes onto the third conveyor belt by horizontally moving the lifting mechanism, and reset the lifting mechanism to the side of the placement platform.

[0120] It should be noted that during the palletizing process, not only is it necessary to form a multi-row and multi-column packing box array according to the method of the above embodiment, but it is also necessary to stack the packing box array through the lifting mechanism. As Figure 1 shown, the lifting mechanism 42 can move back and forth along the material transfer direction and can be lifted. After the first application of the first material transfer mode, the Figure 4 lowermost first array 51 as shown is obtained. After the pushing arm 32 pushes the first array 51 into the lifting mechanism 42 based on the fourth distance value, the lifting mechanism 42 translates and places the first array 51 onto the third conveyor belt 43. After switching to the second material transfer mode, the Figure 4 second array 52 as shown is obtained. After the pushing arm 32 pushes the second array 52 into the lifting mechanism 42 based on the fourth distance value, the lifting mechanism 42 needs to rise first and then move horizontally, so as to place the second array 52 on the upper side of the first array 51 on the third conveyor belt 43.

[0121] It should be noted that in this embodiment, a third counter is further set. The application times of the fourth distance value are counted through the third counter, and the lifting height of the lifting mechanism 42 is dynamically calculated through the count value of the third counter, ensuring that the lifting mechanism 42 can rise to the correct height and avoiding collisions.

[0122] It should be noted that the height value of the box body of the packing box is known in advance. In this embodiment, the rotating arm adjusts the horizontal placement direction of the packing box and does not adjust it in the vertical direction. Therefore, the packing boxes placed horizontally and vertically are unified in height. The height of each layer of the packing box array is the height value of the box body. Based on the product of the height value of the box body and the third counter to obtain the target height value, it can ensure that each handling can send the packing box array to the accurate height.

[0123] As Figure 5 shown, Figure 5It 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, including:

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

[0125] A memory 502, which 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), etc. The memory 502 can store an operating system and other application programs. When implementing the technical solutions provided by the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 502 and are called by the processor 501 to execute the control method of the automatic palletizer in the embodiments of the present application;

[0126] An input / output interface 503, which is used to implement information input and output;

[0127] A communication interface 504, which is used to implement communication interaction between this device and other devices, and can achieve communication through a wired method (such as USB, network cable, etc.) or through a wireless method (such as a mobile network, WI FI, Bluetooth, etc.);

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

[0129] Among them, the processor 501, the memory 502, the input / output interface 503, and the communication interface 504 achieve communication connections with each other inside the device through the bus 505.

[0130] The embodiments of the present application also provide an electronic device, including the control device of the automatic palletizer as described above.

[0131] The embodiments of the present application also provide a storage medium, the storage medium is a computer-readable storage medium, and the storage medium stores a computer program, and when the computer program is executed by a processor, it implements the above-mentioned control method of the automatic palletizer.

[0132] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely located relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and may be located in one place, or may 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 solution of this embodiment.

[0133] Those of ordinary skill in the art will understand that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or can be implemented as hardware, or can be implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include a computer storage medium (or non-transitory medium) and a communication medium (or transitory medium). As is well known to those of ordinary skill 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 disk (DVD), or other optical disk storage, magnetic cassettes, tapes, magnetic disk storage, or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, as is well known to those of ordinary skill in the art, a communication medium generally includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and may include any information delivery medium.

[0134] The above is a specific description of the preferred embodiments of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art can also make various equivalent deformations or substitutions without departing from the spirit of the present invention, and these equivalent deformations or substitutions are all included within 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 includes a first conveyor belt, a transverse movement assembly, and a palletizing assembly. A first sensor and a rotating arm are provided on the side of the first conveyor belt. The rotating arm can extend above the first conveyor belt and abut against the passing packaging box, so that the abutting packaging box rotates 90 degrees along the conveying direction. The transverse movement assembly includes a second conveyor belt, a second sensor, and a pushing 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 pushing 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. The first sensor and the second sensor are used to detect the packaging box; The control method of the automatic palletizer includes: When a start signal is obtained, a preset first value and a second value are obtained, and the sum of the first value and the second value is determined as a third value. The first counter and the second counter are reset, where the second value is less than the first value and both are integers. The first counter is used to count the detection quantity of the first sensor, and the second counter is used to count the detection quantity 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 reset or extension of the rotating arm is alternately controlled based on the second value and the first value; The first material transfer mode and the second material transfer mode of the transverse movement assembly are alternately operated. Wherein, when the second counter reaches the third value, the second counter is reset and the material transfer mode is switched, and the palletizing assembly is controlled to perform a palletizing operation; Wherein, the first material transfer mode includes: controlling the transverse movement assembly based on a first strategy, and controlling the transverse movement assembly based on a second strategy after the second counter reaches the first value; Wherein, the second material transfer mode includes controlling the transverse movement assembly based on the second strategy, and controlling the transverse movement assembly based on the first strategy after the second counter reaches the second value; Wherein, the first strategy includes: whenever the newly added count value of the second counter reaches a fourth value, the second conveyor belt is advanced based on a first distance value, and the pushing 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; The second strategy includes: when the newly added count value of the second counter reaches the second value, the second conveyor belt is advanced based on the first distance value, and the pushing arm is controlled to push multiple packaging boxes on the second conveyor belt into the palletizing assembly.

2. The control method of the automatic palletizing machine according to claim 1, characterized in that The alternately controlling the reset or extension of the rotating arm based on the second value and the first value includes: Resetting the first counter, and resetting the rotating arm when the count value of the first counter is greater than twice the second value; 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.

3. The control method of the automatic palletizing machine according to claim 1, characterized in that, In the second strategy, before advancing the second conveyor belt based on the first distance value, the method further includes: Obtaining the box length value and the box width value of the packing box, and determining a reference length value based on the box length value and the fourth numerical value; Determining the remainder obtained by dividing the reference length value by the box width value as the second distance value; When the count value of the second counter reaches the fifth numerical value, advancing the second conveyor belt based on the second distance value, where the fifth numerical value is half of the second numerical value.

4. The control method of the automatic palletizing machine according to claim 3, wherein Before advancing the second conveyor belt based on the first distance value, the method further includes: Obtaining a preset first spacing and a first speed, where the first spacing is used to indicate the spacing between two packing boxes placed on the first conveyor belt, and the first speed is the moving speed of the first conveyor belt; 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, where the second speed is the speed when the second conveyor belt advances based on the first distance value; Determining the sum of the difference between the box length value and the box width value and the first spacing as the second spacing, determining a second duration based on the second spacing and the first speed, and determining a third speed based on the second distance value and the second duration, where the third speed is the speed when the second conveyor belt advances based on the second distance value.

5. The control method of the automatic palletizing machine according to claim 3, characterized in that The palletizing assembly includes a placement platform and a handling device, one side of the placement platform is adjacent to the side surface 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 multiple packing boxes on the second conveyor belt into the palletizing assembly includes: Obtaining a third distance value and a fourth distance value, where 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 is the farthest position on the placement platform where the packing box can be placed, and the fourth distance value is used to represent the distance between the standby position of the push arm and the handling device; 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; In the first material transfer mode, when the count value of the second counter first reaches the fourth numerical value, driving the push arm based on the first initial value, and when the count value of the second counter reaches the first numerical value, driving the push arm 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 numerical value, driving the push arm based on the difference between the second initial value and the box width value, and when the count value of the second counter reaches the third numerical value, driving the push arm based on the fourth distance value.

6. The control method of the automatic palletizing machine according to claim 5, characterized in that, In the second strategy, controlling the push arm to push multiple packing boxes on the second conveyor belt into the palletizing assembly includes: 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; 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.

7. The control method of the automatic palletizer according to claim 6, characterized in that, The handling device includes a lifting mechanism and a third conveyor belt. The lifting mechanism can traverse between the third conveyor belt and the placement platform. After the push arm is driven based on the fourth distance value, the method further includes: Incrementing the count value of a third counter, where the third counter is reset when the start signal is obtained; Obtaining the box height value of the packing box, and determining a target height value based on the product of the count value of the third counter and the box height value; After raising the lifting mechanism based on the target height value, palletizing a plurality of the packing boxes onto the third conveyor belt by traversing the lifting mechanism, and resetting the lifting mechanism to the side of the placement platform.

8. A control device for an automatic palletizer, characterized in that, Comprising at least one control processor and a memory for communicatively connecting 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 to enable the at least one control processor to execute the control method of the automatic palletizer according to any one of claims 1 to 7.

9. An electronic device, characterized in that, Comprising the control device of 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 for causing a computer to execute the control method of the automatic palletizer according to any one of claims 1 to 7.

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