Stacking method and stacking equipment

Abstract

The embodiment of the invention provides a stacking method and stacking device.The stacking method comprises the steps that in the process that a conveying device conveys a box body, the length size and the width size of the box body are obtained; based on the length size and the width size of the box body, whether the tray located at the first position can contain the box body or not is determined; if yes, the box body output from the conveying device is transferred to a tray located at the first position; if not, whether the tray located at the second position can contain the box body or not is determined; if yes, the box body output from the conveying device is transferred to the tray located at the second position; if not, the tray located at the first position is moved away, the tray located at the second position is moved to the first position, and the empty tray is supplied to the second position; and the box body is transferred to the tray currently located at the second position.

Description

Technical Field

[0001] The present application relates to the field of logistics warehousing technology, and in particular to a palletizing method and a palletizing device. Background Art

[0002] In a certain factory, it is necessary to produce orders for different customers. For example, production line A produces orders for customer A, and customer A's orders are packaged in boxes of size A; production line B produces orders for customer B, and customer B's orders are packaged in boxes of size B; ...; production line G produces orders for customer G, and customer G's orders are packaged in boxes of size G.

[0003] The boxes of materials and products output by each production line will be transported to the palletizing equipment in a disorderly manner according to the production rhythm, and then the palletizing equipment will stack the boxes one by one on the pallet. For example, after a box of size A is transported to the palletizing equipment, the next box delivered may be a box of size B or size G.

[0004] The palletizing equipment in the related art only has the function of automatically palletizing boxes of a single size. Therefore, in the related art, for boxes of each size, a corresponding pallet and a corresponding transfer device need to be set. After the box is transported to the palletizing equipment, the transfer device transfers the box to the corresponding pallet. For example, a box of size A is transferred to the pallet at position A by the corresponding transfer device, and a box of size B is transferred to the pallet at position B by the corresponding transfer device. Since a pallet and a transfer device need to be set for each production line, the palletizing equipment in the related art has the problem of occupying a large area. Summary of the invention

[0005] The embodiments of the present application provide a palletizing method and a palletizing device to solve the problem of how to reduce the floor space occupied by the palletizing device.

[0006] In order to solve the above technical problems, this application is implemented as follows:

[0007] In a first aspect, an embodiment of the present application provides a palletizing method.

[0008] The palletizing method provided in the embodiment of the present application is applied to a palletizing device, and the palletizing method includes: in the process of conveying a box by a conveying device, obtaining parameter information of the box, wherein the parameter information includes the size parameters of the box, and the size parameters include the length and width of the box; based on the size parameters of the box, determining whether a pallet located at a first position can accommodate the box; if the pallet located at the first position can accommodate the box, transferring the box output from the conveying device to the pallet located at the first position; if the pallet located at the first position cannot accommodate the box, determining whether a pallet located at a second position can accommodate the box based on the size parameters of the box; if the pallet located at the second position can accommodate the box, transferring the box output from the conveying device to the pallet located at the second position; if the pallet located at the second position cannot accommodate the box, removing the pallet located at the first position, moving the pallet located at the second position to the first position, and supplying an empty pallet to the second position; transferring the box to the pallet currently located at the second position.

[0009] In a second aspect, an embodiment of the present application provides a palletizing device.

[0010] The palletizing device provided in the embodiment of the present application includes: a controller; the controller is used to execute the steps of any one of the palletizing methods provided in the embodiment of the present application.

[0011] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0012] In the embodiment of the present application, the length and width of the box can be obtained during the process of the conveying device conveying the box, so as to determine whether the box is suitable for being placed on the pallet at the first position or the pallet at the second position based on the length and width of the box. Then, the box can be placed on the pallet at the first position or the pallet at the second position.

[0013] It can be seen that, by adopting the solution provided in the embodiment of the present application, at least two areas can be occupied, and two pallets can be set up to place each box on the pallet. Compared with the solution in the related art that requires a pallet and a transfer device to be set up for each production line, the number of pallets and transfer devices can be reduced, thereby reducing the floor space occupied by the pallet and the transfer device, thereby achieving the effect of reducing the floor space occupied by the palletizing equipment.

[0014] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 A flowchart of a palletizing method provided in an embodiment of the present application;

[0017] Figure 2 A schematic diagram of a palletizing device provided in an embodiment of the present application;

[0018] Figure 3 A partial schematic diagram of a palletizing device provided in an embodiment of the present application, which mainly shows the area where the first conveyor and the second conveyor are located;

[0019] Figure 4 A partial schematic diagram of a palletizing device provided in an embodiment of the present application, which mainly shows the area where the third conveyor is located;

[0020] Figure 5 A partial schematic diagram of a palletizing device provided in an embodiment of the present application, which mainly shows the area where the first belt conveyor and the second belt conveyor are located;

[0021] Figure 6 A partial schematic diagram of a palletizing device provided in an embodiment of the present application, which mainly shows the area where the fourth conveyor is located;

[0022] Figure 7 A schematic diagram of a transfer device provided in an embodiment of the present application;

[0023] Figure 8 A schematic diagram of an actuator provided in an embodiment of the present application;

[0024] Fig. 9 A partial schematic diagram of a palletizing device provided in an embodiment of the present application, which mainly shows the area where the transfer device and the pallet supply device are located;

[0025] Fig.10 A schematic diagram of a pallet and box provided for the implementation of this application;

[0026] Fig.11 A schematic diagram of a tray and a box provided for the implementation of this application, which shows Fig.10 On the basis of the above, a box is placed further;

[0027] Fig.12A schematic diagram of a tray and a box provided for the implementation of this application, which shows Fig.11 On the basis of the above, a box is placed further;

[0028] Fig.13 A schematic diagram of a tray and a box provided for the implementation of this application, which shows Fig.12 On the basis of the above, a box is placed further;

[0029] Fig.14 A schematic diagram of a tray and a box provided for the implementation of this application, which shows Fig.13 On the basis of the above, a box is placed further;

[0030] Fig.15 Another schematic diagram of a tray and a box provided for the implementation of this application shows Fig.13 On the basis of the above, a box is placed further;

[0031] Fig.16 Another schematic diagram of a tray and a box provided for the implementation of this application shows Fig.15 On the basis of the above, a box is placed further;

[0032] Fig.17 Another schematic diagram of a tray and a box provided for the implementation of this application shows Fig.14 On this basis, a box is further placed.

[0033] Description of reference numerals:

[0034] 1- Palletizing equipment;

[0035] 100- conveying device; 110- first conveyor; 111- fourth roller conveyor; 112- fifth roller conveyor; 120- second conveyor; 121- translation mechanism; 122- first roller conveyor; 130- third conveyor; 131- second roller conveyor; 132- first belt conveyor; 133- second belt conveyor; 140- fourth conveyor; 140a- discharge port of third roller conveyor; 140b- discharge port of fourth belt conveyor; 141- third roller conveyor; 1411- roller mechanism; 142- fourth belt conveyor;

[0036] 210-first code reader; 220-second code reader;

[0037] 300-sealing device;

[0038] 400-transfer device; 410-manipulator; 420-actuator; 421-mounting frame; 422-third belt conveyor; 423-lifting drive element; 424-pressing plate; 425-feeding port;

[0039] 500-tray supply device;

[0040] 2-Box;

[0041] 3-tray; 31-first side; 32-second side; 33-third side; 34-fourth side; 3a-first position; 3b-second position;

[0042] 4-Transfer device. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0044] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0045] In addition, although the terms used in this application are selected from well-known and commonly used terms, some terms mentioned in the specification of this application may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description of this article.

[0046] Furthermore, it is required that the present application be understood not only by the actual terms used but also by the meanings connoted by each term.

[0047] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0048] The present application embodiment provides a palletizing method, which is applied to a palletizing device. Figures 1 to 17 The palletizing method provided in the embodiment of the present application includes the following steps.

[0049] Step 1010: Acquire parameter information of the box during the process of the box being transported by the transport device, wherein the parameter information includes size parameters of the box, and the size parameters include length and width of the box.

[0050] In the embodiment of the present application, during the process of the conveying device 100 conveying the box 2 , parameter information of the box 2 can be obtained, wherein the parameter information includes size parameters of the box 2 , and the size parameters include the length and width of the box 2 .

[0051] In some embodiments, obtaining the size parameters of the box 2 during the process of the conveying device 100 conveying the box 2 specifically includes: during the process of the conveying device 100 conveying the box 2, reading the material code attached to the outer surface of the box 2, and obtaining parameter information of the box 2 based on the material code, the parameter information including the size parameters of the box 2, the size parameters including the length and width of the box. Exemplarily, the size parameters also include the height of the box.

[0052] It should be noted that the length and width dimensions of the box can be used to determine whether the size of the empty area on the pallet is larger than the length and width dimensions of the box, so as to determine whether the empty area on the pallet can carry the box. The height dimension of the box can be used to determine whether the box will be too high after being stacked on the pallet. It should also be noted that in some embodiments, even if there is a height limit on the stack formed by the box, the stack can be prevented from being too high by limiting the number of stacking layers. For example, the stack can be limited to only 1 layer, 2 layers, 3 layers or 4 layers to avoid being too high. In this way, in the process of conveying the box 2 by the conveying device 100, the height dimension of the box 2 can be omitted, and only the number of layers of the current stack needs to be determined.

[0053] refer to Figure 2 In some embodiments, the palletizing device 1 includes a first code reader 210 and a second code reader 220. For example, when the material code attached to the outer surface of the box body 2 is a two-dimensional code, the first code reader 210 and the second code reader 220 may be two-dimensional code readers. When the material code attached to the outer surface of the box body 2 is a barcode, the first code reader 210 and the second code reader 220 may be barcode readers.

[0054] The conveying device 100 includes a first conveyor 110, a second conveyor 120, and a third conveyor 130. The first conveyor 110 and the third conveyor 130 are respectively located on opposite sides of the second conveyor 120. The first code reader 210 is disposed on a side of the second conveyor 120 that is opposite to the first conveyor 110, and the second code reader 220 is disposed on a side of the second conveyor 120 that is opposite to the third conveyor 130.

[0055] The second conveyor 120 includes a translation mechanism 121 and a first roller conveyor 122. The translation mechanism 121 is used to drive the first roller conveyor 122 to move. When the first roller conveyor 122 is located at the third position, the first roller conveyor 122 docks with the first conveyor 110 to receive the box 2 output from the first conveyor 110. When the first roller conveyor 122 is located at the fourth position, the first roller conveyor 122 docks with the third conveyor 130 to transport the box 2 carried by the first roller conveyor 122 to the third conveyor 130. The translation mechanism 121 can drive the first roller conveyor 122 to move so that the first roller conveyor 122 is located at the third position or the fourth position.

[0056] For example, reference Figure 3 , the third position is the position on the right side of the first conveyor 110. The fourth position is the position on the left side of the third conveyor 130. The first conveyor 110 may include a plurality of roller conveyors. In this way, the feeding rate can be increased. For example, the first conveyor 110 includes a fourth roller conveyor 111 and a fifth roller conveyor 112.

[0057] In order to facilitate those skilled in the art to understand the solution of reading the material code attached to the outer surface of the box body, the method of reading the material code on the outer surface of the box body is introduced below with reference to the accompanying drawings.

[0058] refer to Figure 3 For example, when it is detected that the fourth roller conveyor 111 has a box 2 input, the translation mechanism 121 drives the first roller conveyor 122 to move to the right side of the fourth roller conveyor 111. When the fourth roller conveyor 111 and the first roller conveyor 122 are in a docking state, the fourth roller conveyor 111 can convey the box 2 to the first roller conveyor 122.

[0059] Furthermore, the translation mechanism 121 can be used to drive the first roller conveyor 122 to move to the left side of the first code reader 210. Then, the first code reader 210 can be used to read the code on the right side of the box body 2. If there is no material code attached to the right side of the box body 2, the translation mechanism 121 drives the first roller conveyor 122 to move to the right side of the second code reader 220. Further, the first roller conveyor 122 drives the box body 2 to move a distance to the right so that the "field of view" of the second code reader 220 can cover the left side of the box body 2. Then, the second code reader 220 is used to read the code on the left side of the box body 2. In this way, the first code reader 210 and the second code reader 220 can be used to obtain the material code information on the left side or right side of the box body 2.

[0060] In some embodiments, the storage module of the controller of the palletizing device 1 stores the material code and parameter information of the box 2. The parameter information includes the size parameters of the box 2. In addition, the parameter information may also include the type information of the box 2. For example, the type information of the box 2 refers to whether the material box of the box 2 is a cover carton or a half-wing carton. For example, the common shoe boxes in life are cover carton; the carton used by express delivery that needs to be sealed with tape in the middle is a half-wing carton.

[0061] In the embodiment of the present application, after reading the material code attached to the outer surface of the box 2, the parameter information of the box 2 corresponding to the material code can be obtained based on the material code and the information stored in the storage module. Since the specific scheme of scanning the code to obtain the material information can refer to the prior art, the specific process of obtaining the parameter information of the box 2 based on the material code is not described in detail here.

[0062] In addition, illustratively, in other embodiments, the size parameters of the box 2 can be determined by using an industrial camera based on image processing. The embodiment of the present application can obtain the size parameters of the box 2 in various ways, and therefore, the embodiment of the present application does not limit the way of obtaining the size parameters of the box 2.

[0063] Step 1020: Determine whether the tray at the first position can accommodate the box based on the size parameters of the box.

[0064] In the embodiment of the present application, whether the tray 3 located at the first position 3 a can accommodate the box body 2 can be determined based on the size parameters of the box body 2 .

[0065] refer to Fig. 9 and Fig.10 In some embodiments, the outer edge of the rectangular bearing surface of each tray 3 includes a first side 31, a second side 32, a third side 33 and a fourth side 34 in sequence along its own circumference.

[0066] In some embodiments, based on the size parameters of the box body 2, determining whether the pallet 3 located at the first position 3a can accommodate the box body 2 specifically includes: determining the empty area of ​​the pallet 3 located at the first position 3a, and based on the size parameters of the box body 2, determining whether the empty area of ​​the pallet 3 located at the first position 3a has a stacking area that can accommodate the box body 2 in the direction from the first side edge 31 of the pallet 3 located at the first position 3a toward the third side edge 33 and from the second side edge 32 toward the fourth side edge 34.

[0067] Exemplarily, the palletizing area is a rectangular area, the length of the palletizing area is equal to the length of the box body 2 , and the width of the palletizing area is equal to the width of the box body 2 .

[0068] Step 1030: When the pallet at the first position is capable of accommodating the boxes, the boxes output from the conveying device are transferred to the pallet at the first position.

[0069] refer to Figures 10 to 14 In the embodiment of the present application, when the tray 3 located at the first position 3 a is capable of accommodating the box 2 , the box 2 output from the conveying device 100 can be transferred to the tray 3 located at the first position 3 a .

[0070] refer to Figures 10 to 14 In some embodiments, when the pallet 3 located at the first position 3a is capable of accommodating the box 2, the box 2 output from the conveying device 100 is transferred to the pallet 3 located at the first position 3a, specifically including: when there is a stacking area capable of accommodating the box 2 in the vacant area of ​​the pallet 3 located at the first position 3a, the box 2 is transferred to the stacking area of ​​the pallet 3 located at the first position 3a.

[0071] Step 1040: When the pallet at the first position cannot accommodate the box, determine whether the pallet at the second position can accommodate the box based on the size parameters of the box.

[0072] In the embodiment of the present application, when the tray 3 at the first position 3 a cannot accommodate the box 2 , it can be determined based on the size parameters of the box 2 whether the tray 3 at the second position 3 b can accommodate the box 2 .

[0073] In some embodiments, when the pallet 3 at the first position 3a cannot accommodate the box body 2, based on the size parameters of the box body 2, determining whether the pallet 3 at the second position 3b can accommodate the box body 2, specifically including: when the vacant area of ​​the pallet 3 at the first position 3a does not have a stacking area that can accommodate the box body 2, determining the vacant area of ​​the pallet 3 at the second position 3b, and based on the size parameters of the box body 2, determining whether the vacant area of ​​the pallet 3 at the second position 3b has a stacking area that can accommodate the box body 2 in a direction from the first side edge 31 of the pallet 3 at the second position 3b toward the third side edge 33 and from the second side edge 32 toward the fourth side edge 34.

[0074] Step 1050: When the pallet at the second position is capable of accommodating the boxes, the boxes output from the conveying device are transferred to the pallet at the second position.

[0075] In the embodiment of the present application, when the tray 3 located at the second position 3 b is capable of accommodating the box 2 , the box 2 output from the conveying device 100 can be transferred to the tray 3 located at the second position 3 b .

[0076] refer to Fig.15 and Fig.16In some embodiments, when the pallet 3 located at the second position 3b is capable of accommodating the box 2, the box 2 output from the conveying device 100 is transferred to the pallet 3 located at the second position 3b, specifically including: when there is a stacking area capable of accommodating the box 2 in the vacant area of ​​the pallet 3 located at the second position 3b, the box 2 is transferred to the stacking area of ​​the pallet 3 located at the second position 3b.

[0077] Step 1060: When the pallet at the second position cannot accommodate the box, the pallet at the first position is removed, the pallet at the second position is moved to the first position, and an empty pallet is supplied to the second position.

[0078] In an embodiment of the present application, when the pallet 3 located at the second position 3b cannot accommodate the box 2, the pallet 3 located at the first position 3a is removed, the pallet 3 located at the second position 3b is moved to the first position 3a, and an empty pallet 3 is supplied to the second position 3b.

[0079] In some embodiments, when the pallet 3 located at the second position 3b cannot accommodate the box body 2, the pallet 3 located at the first position 3a is removed, the pallet 3 located at the second position 3b is moved to the first position 3a, and an empty pallet 3 is supplied to the second position 3b, specifically including: when the vacant area of ​​the pallet 3 located at the second position 3b does not have a stacking area that can accommodate the box body 2, the pallet 3 located at the first position 3a is removed, the pallet 3 located at the second position 3b is moved to the first position 3a, and an empty pallet 3 is supplied to the second position 3b.

[0080] Step 1070, transfer the box to the pallet currently located at the second position.

[0081] In the embodiment of the present application, after the empty pallet 3 is arranged at the second position, the box 2 can be transferred to the pallet 3 currently located at the second position 3b.

[0082] In some embodiments, transferring the box body 2 to the pallet 3 currently located at the second position 3b specifically includes: determining the stacking area of ​​the box body 2 on the pallet 3 currently located at the second position 3b, wherein one side of the stacking area is aligned with the first side 31 of the pallet 3 currently located at the second position 3b, and the other side is aligned with the second side 32 of the pallet 3 currently located at the second position 3b; transferring the box body 2 to the stacking area of ​​the pallet 3 currently located at the second position 3b.

[0083] In this way, in the embodiment of the present application, the length and width of the box 2 can be obtained during the process of the conveying device 100 conveying the box 2, so as to determine whether the box 2 is suitable for being placed on the pallet 3 located at the first position 3a or the pallet 3 located at the second position 3b based on the length and width of the box 2. Then, the box 2 can be placed on the pallet 3 located at the first position 3a or the pallet 3 located at the second position 3b.

[0084] It can be seen that, by adopting the solution provided in the embodiment of the present application, at least two areas can be occupied, and two pallets 3 can be set up, and each box 2 can be placed on the pallet 3. Compared with the solution in the related art that requires a pallet and a transfer device to be set up for each production line, the number of pallets and transfer devices can be reduced, so the floor space occupied by the pallet and the transfer device can be reduced, thereby achieving the effect of reducing the floor space occupied by the palletizing equipment.

[0085] It should be noted that the solution provided in the embodiment of the present application can be used to palletize boxes that are transported in an unordered manner. Here, "unordered transport" means that boxes of various sizes are randomly transported to the palletizing device 1. For example, at the current moment, a batch of boxes of size A are transported to the palletizing device 1, and at the next moment, a batch of boxes of size B are transported to the palletizing device 1, or at the next moment, a batch of boxes of size C are transported to the palletizing device 1.

[0086] It should also be noted that, by adopting the solution provided in the embodiment of the present application, the products produced in the production area can be stacked on the pallets at the palletizing equipment, so that the products produced in the production area will not be piled up at the production line and affect the subsequent production.

[0087] Further, illustratively, the boxes stacked on the pallet can be transported to the storage area with the pallet by using a transfer device. The storage area can be provided with a sorting device, which can sort the boxes according to demand based on the material code on the outer surface of the box.

[0088] The present application embodiment provides a palletizing device. Figures 2 to 9 The palletizing device 1 provided in the embodiment of the present application includes: a controller. The controller is used to execute the steps of any one of the palletizing methods provided in the embodiment of the present application.

[0089] refer to Figure 2In some embodiments, the palletizing device 1 further includes a first code reader 210 and a second code reader 220. The conveying device 100 includes a first conveyor 110, a second conveyor 120, and a third conveyor 130. The first conveyor 110 and the third conveyor 130 are respectively located on opposite sides of the second conveyor 120, the first code reader 210 is disposed on a side of the second conveyor 120 that is opposite to the first conveyor 110, and the second code reader 220 is disposed on a side of the second conveyor 120 that is opposite to the third conveyor 130.

[0090] The second conveyor 120 includes a translation mechanism 121 and a first roller conveyor 122. The translation mechanism 121 is used to drive the first roller conveyor 122 to move. When the first roller conveyor 122 is located at the third position, the first roller conveyor 122 docks with the first conveyor 110 to receive the box 2 output from the first conveyor 110. When the first roller conveyor 122 is located at the fourth position, the first roller conveyor 122 docks with the third conveyor 130 to transport the box 2 carried by the first roller conveyor 122 to the third conveyor 130.

[0091] refer to Figure 4 and Figure 5 In some embodiments, the palletizing device 1 further includes a box sealing device 300. The third conveyor 130 includes a second roller conveyor 131, a first belt conveyor 132, and a second belt conveyor 133. The second roller conveyor 131 is used to dock with the first roller conveyor 122. In this way, when the first roller conveyor 122 moves to a position docking with the second roller conveyor 131, the second roller conveyor 131 can convey the box 2 located thereon to the second roller conveyor 131.

[0092] In some embodiments, the first belt conveyor 132 and the second belt conveyor 133 are arranged above the second roller conveyor 131. The first belt conveyor 132 and the second belt conveyor 133 can be close to each other to clamp the box body 2 and drive the box body 2 to move along the conveying direction of the second roller conveyor 131. The sealing device 300 is arranged above the first belt conveyor 132 and the second belt conveyor 133, and the sealing device 300 is used to stick an adhesive tape on the surface of the box body 2 to be sealed. Since the sealing device 300 can be purchased directly from the corresponding supplier, the structure and working principle of the sealing device 300 are not described in detail here.

[0093] In an embodiment of the present application, the storage module of the controller of the palletizing device 1 stores the material code and parameter information of the box 2. In the case where the parameter information includes the size parameters of the box 2, the parameter information may also include the type information of the box 2. For example, in the case where the type of the box 2 is determined to be a half-wing carton based on the material code, when it is detected that the box 2 moves between the first belt conveyor 132 and the second belt conveyor 133, the first belt conveyor 132 and the second belt conveyor 133 can be driven to move closer to each other, so that the first belt of the first belt conveyor 132 abuts against the rear side of the box 2, and the second belt of the second belt conveyor 133 abuts against the front side of the box 2, so that the first belt and the second belt that move synchronously can be used to drive the box 2 to move from left to right.

[0094] In addition, the box sealing device 300 first sticks the tape to the right side of the box body 2, and then moves upward. Further, in the process of the box body 2 moving from left to right, the tape is bonded to the seam at the top of the box body 2. Further, after the top is bonded, the tape moves downward, and then the tape is bonded to the left side of the box body 2. Further, after the bonding is completed, the tape is cut off.

[0095] When the type of the box 2 is determined to be a cover carton based on the material code, since the cover carton does not need to be affixed with tape, the first belt conveyor 132 and the second belt conveyor 133 can be moved away from each other. Then the box 2 can be driven by the second roller conveyor 131 to move from left to right.

[0096] refer to Figure 7 and Figure 8 In some embodiments, the palletizing device 1 further includes a transfer device 400. The transfer device 400 includes a manipulator 410 and an actuator 420. The actuator 420 includes a mounting frame 421, a third belt conveyor 422, a lifting drive element 423, and a pressing plate 424. The manipulator 410 is connected to the mounting frame 421, the third belt conveyor 422 is connected to the mounting frame 421, the pressing plate 424 is arranged above the third belt conveyor 422, and the lifting drive element 423 is used to drive the pressing plate 424 to move toward or away from the third belt conveyor 422.

[0097] refer to Figure 6 In some embodiments, the conveying device 100 includes a fourth conveyor 140. When the conveying device 100 includes a third conveyor 130, the fourth conveyor 140 docks with the third conveyor 130 to receive the box 2 conveyed by the third conveyor 130.

[0098] The fourth conveyor 140 includes a third roller conveyor 141 and a fourth belt conveyor 142. The third roller conveyor 141 includes a plurality of roller mechanisms 1411, and the fourth belt conveyor 142 is disposed between two adjacent roller mechanisms 1411. Exemplarily, the fourth belt conveyor 142 includes a plurality of sub-belt conveyors, each of which is disposed between two adjacent roller mechanisms 1411 in a one-to-one correspondence.

[0099] The conveying direction of the third roller conveyor 141 is perpendicular to the conveying direction of the fourth belt conveyor 142. The manipulator 410 is used to drive the actuator 420 to receive the box 2 outputted by the fourth conveyor 140 from the discharge port 140a of the third roller conveyor 141 or the discharge port 140b of the fourth belt conveyor 142.

[0100] refer to Figure 2 , Figures 6 to 10 , when it is necessary to place the box 2 of size A horizontally on the pallet 3, the fourth belt conveyor 142 can be raised to receive the box 2 at the discharge port 140b of the fourth belt conveyor 142. Specifically, the manipulator 410 can carry the actuator 420 to move, so that the actuator 420 moves to a position opposite to the discharge port 140b of the fourth belt conveyor 142, and the feed port 425 of the actuator 420 is opposite to the box 2 of size A. When the actuator 420 is in the docking position, the fourth belt conveyor 142 can transport the box 2 of size A to the third belt conveyor 422 of the actuator 420. Then, the lifting drive element 423 drives the pressing plate 424 to descend to clamp the box 2 of size A, so as to prevent the box 2 of size A from being offset or separated from the actuator 420 during the movement of the actuator 420 under the drive of the manipulator 410.

[0101] Furthermore, combined with Fig.10 The manipulator 410 can drive the box 2 of size A to move to a position corresponding to the stacking area. Then, the pressing plate 424 can be driven to rise, and the box 2 of size A carried on the third belt conveyor 422 can be placed in the stacking area by the third belt conveyor 422.

[0102] Further, refer to Figure 2 , Figures 6 to 11When it is necessary to place the B-size box 2 longitudinally on the tray 3, the actuator 420 can be driven to move to a position opposite to the discharge port 140a of the third roller conveyor 141, and the feed port 425 of the actuator 420 is opposite to the B-size box 2. When the actuator 420 is in the docking position, the third roller conveyor 141 can convey the B-size box 2 to the third belt conveyor 422 of the actuator 420. Then, the lifting drive element 423 drives the pressing plate 424 to descend to clamp the B-size box 2.

[0103] Furthermore, combined with Fig.10 The robot 410 can drive the B-size box 2 to move to a position corresponding to the stacking area. Then, the pressing plate 424 can be driven to rise, and the third belt conveyor 422 can place the B-size box 2 carried on the third belt conveyor 422 to the stacking area.

[0104] In combination with the above content, it can be known that by adopting the solution in which the fourth conveyor 140 includes the third roller conveyor 141 and the fourth belt conveyor 142, the box 2 can be placed horizontally on the pallet 3 or vertically on the pallet 3 as required.

[0105] To facilitate understanding of the solution provided in the embodiment of the present application, the placement of each box is briefly introduced below in conjunction with the accompanying drawings.

[0106] refer to Fig.10 In the case where the pallet 3 located at the first position 3a is an empty pallet, if a box 2 of size A is delivered, the box 2 of size A can be moved to the lower right corner of the pallet 3 located at the first position 3a.

[0107] Furthermore, it is possible to determine whether the empty area of ​​the pallet 3 at the first position 3a has a stacking area capable of accommodating the box 2 according to the direction from the first side 31 of the pallet 3 at the first position 3a toward the third side 33 and the direction from the second side 32 toward the fourth side 34. Fig.10 For example, from back to front and from right to left, it is determined whether the empty area of ​​the pallet 3 located at the first position 3a has a stacking area capable of accommodating the box body 2.

[0108] It should be noted that, since there is an empty area at the lower left corner of the tray 3 at the first position 3a, it is possible to first determine whether the next box 2 can be placed at the lower left corner of the tray 3. If the empty area at the lower left corner is not considered first, and a larger box is placed in front of the box 2 of size A, the empty area at the lower left corner may not be suitable for placing a box, resulting in a waste of the empty area at the lower left corner. Therefore, it is possible to first determine whether the surrounding area of ​​the boxes on the tray 3 can accommodate the boxes in a manner from back to front and from right to left.

[0109] Further, refer to Fig.10 and Fig.11 , if the next box is a box 2 of size B, and the space in the lower left corner of the box 2 of size A is enough to place the box 2 of size B, then the box 2 of size B can be placed in the lower left corner of the tray 3. Figure 12 to Figure 14 According to this method, each box 2 that is randomly delivered can be placed on the tray 3.

[0110] It should be noted that the reference Fig.11 and Fig.12 In order to prevent the second A-size box 2 from colliding with the first A-size box 2 and causing the first A-size box 2 to shift, during the process of placing the second A-size box 2, the second A-size box 2 will be spaced apart from the first A-size box 2 by a preset distance in the longitudinal direction. Therefore, after placing the second A-size box 2 on the pallet 3, the second A-size box 2 can be pushed to move toward the first A-size box 2 by a preset distance to eliminate or reduce the gap between the two.

[0111] refer to Figures 13 to 15 , if after placing the B-size box 2 at the upper left corner of the pallet 3, the next box is not the A-size box 2, but the C-size box 2, refer to Fig.13 , the empty area in the upper right corner of the pallet 3 can be used to place the C-sized box 2, so the C-sized box 2 can be placed in the upper right corner of the pallet 3.

[0112] Further, in the case where the next box is box 2 of size A, refer to Fig.15 , the empty area on the tray 3 is smaller than the space required to place the box 2 of size A, then it can be considered that the tray 3 at the first position cannot accommodate the box 2 of size A. Fig.16 When it is determined that the pallet 3 located at the second position can accommodate the box body 2 of size A, the box body 2 of size A can be placed on the pallet 3 located at the second position.

[0113] In addition, in some embodiments, if the empty area of ​​the tray 3 at the second position is also smaller than the space required for placing the box 2 of size A, the tray supply device 500 can remove the tray 3 at the first position. Figure 2For example, the transfer device 4 can transfer the pallet 3 located at the first position to the storage area. For example, the transfer device 4 can be an automated guided vehicle (AGV). After the pallet 3 located at the first position is moved away, the pallet 3 located at the second position can be moved to the first position by the pallet supply device 500. Furthermore, the pallet supply device 500 can supply another pallet 3 to the current second position. Since the pallet 3 currently located at the second position is an empty pallet, the pallet 3 currently located at the second position can accommodate the next box 2, and the next box 2 can be placed on the pallet 3 currently located at the second position.

[0114] In some embodiments, multiple layers of boxes can be placed on the tray 3. Before placing the second layer, the shape of the load-bearing surface can be determined based on the boxes of the first layer, and then the placement of the boxes on top of the first layer can be determined based on the shape of the load-bearing surface. Fig.17 For example, if the first layer of boxes is relatively full, the load-bearing surface above the first layer of boxes can be directly regarded as a rectangle, so that the second layer of boxes can be placed in a similar manner to the first layer of boxes.

[0115] In some embodiments, if the heights of the boxes 2 are inconsistent, for example, when the height difference of the boxes 2 is less than 2 cm, the height difference of the boxes 2 can be ignored. In the case where the local protrusion of the first layer of boxes is large, the bottom size of the boxes stacked on the protrusion can be made no larger than the top size of the protrusion.

[0116] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0117] Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the embodiments of the present application, and the scope of the embodiments of the present application is defined by the appended claims and their equivalents.

Claims

1. A palletizing method, applied to a palletizing device, characterized in that: The palletizing method comprises: In the process of conveying the box (2) by the conveying device (100), parameter information of the box (2) is obtained, wherein the parameter information includes size parameters of the box (2), and the size parameters include the length and width of the box (2); Based on the size parameters of the box (2), determining whether the tray (3) located at the first position (3a) can accommodate the box (2); When the tray (3) located at the first position (3a) is capable of accommodating the box (2), the box (2) output from the conveying device (100) is transferred to the tray (3) located at the first position (3a); In the case where the tray (3) located at the first position (3a) cannot accommodate the box (2), determining whether the tray (3) located at the second position (3b) can accommodate the box (2) based on the size parameters of the box (2); When the tray (3) located at the second position (3b) is capable of accommodating the box (2), the box (2) output from the conveying device (100) is transferred to the tray (3) located at the second position (3b); When the tray (3) located at the second position (3b) cannot accommodate the box (2), the tray (3) located at the first position (3a) is removed, the tray (3) located at the second position (3b) is moved to the first position (3a), and an empty tray (3) is supplied to the second position (3b); The box (2) is transferred to the tray (3) currently located at the second position (3b).

2. The palletizing method according to claim 1, characterized in that: The step of obtaining parameter information of the box (2) during the process of the conveying device (100) conveying the box (2) specifically comprises: reading a material code attached to the outer surface of the box (2) during the process of the conveying device (100) conveying the box (2), and obtaining the parameter information of the box (2) based on the material code; The size parameters also include the height dimension of the box (2).

3. The palletizing method according to claim 1, characterized in that: The outer edge of the rectangular bearing surface of each tray (3) comprises a first side edge (31), a second side edge (32), a third side edge (33) and a fourth side edge (34) in sequence along its own circumference; The determining, based on the size parameters of the box body (2), whether the tray (3) located at the first position (3a) can accommodate the box body (2) specifically comprises: Determine the vacant area of ​​the pallet (3) located at the first position (3a), and determine, based on the size parameters of the box (2), whether the vacant area of ​​the pallet (3) located at the first position (3a) has a stacking area capable of accommodating the box (2) in a direction from the first side edge (31) toward the third side edge (33) and in a direction from the second side edge (32) toward the fourth side edge (34); When the tray (3) located at the first position (3a) is capable of accommodating the box (2), transferring the box (2) output from the conveying device (100) to the tray (3) located at the first position (3a) specifically comprises: When there is a palletizing area capable of accommodating the box (2) in the vacant area of ​​the pallet (3) located at the first position (3a), the box (2) is transferred to the palletizing area of ​​the pallet (3) located at the first position (3a).

4. The palletizing method according to claim 3, characterized in that: The method of determining whether the tray (3) located at the second position (3b) can accommodate the box (2) based on the size parameters of the box (2) when the tray (3) located at the first position (3a) cannot accommodate the box (2) specifically comprises: In the case where the vacant area of ​​the pallet (3) located at the first position (3a) does not have a stacking area capable of accommodating the box body (2), determining the vacant area of ​​the pallet (3) located at the second position (3b), and based on the size parameters of the box body (2), determining whether the vacant area of ​​the pallet (3) located at the second position (3b) has a stacking area capable of accommodating the box body (2) in a direction from the first side edge (31) of the pallet (3) located at the second position (3b) toward the third side edge (33) and in a direction from the second side edge (32) toward the fourth side edge (34); When the tray (3) located at the second position (3b) is capable of accommodating the box (2), transferring the box (2) output from the conveying device (100) to the tray (3) located at the second position (3b) specifically comprises: When the vacant area of ​​the pallet (3) located at the second position (3b) has a palletizing area capable of accommodating the box (2), the box (2) is transferred to the palletizing area of ​​the pallet (3) located at the second position (3b).

5. The palletizing method according to claim 3, characterized in that: The step of transferring the box (2) to the tray (3) currently located at the second position (3b) specifically comprises: Determining a stacking area of ​​the box (2) on the pallet (3) currently located at the second position (3b), wherein one side of the stacking area is aligned with a first side (31) of the pallet (3) currently located at the second position (3b), and the other side of the stacking area is aligned with a second side (32) of the pallet (3) currently located at the second position (3b); The box (2) is transferred to the palletizing area of ​​the pallet (3) currently located at the second position (3b).

6. A palletizing device, characterized in that: include: Controller; The controller is used to execute the steps of the palletizing method according to any one of claims 1 to 5.

7. The palletizing device according to claim 6, characterized in that: The palletizing equipment further comprises a first code reader (210) and a second code reader (220); the conveying device (100) comprises a first conveyor (110), a second conveyor (120) and a third conveyor (130); The first conveyor (110) and the third conveyor (130) are respectively located on two opposite sides of the second conveyor (120), the first code reader (210) is arranged on a side of the second conveyor (120) opposite to the first conveyor (110), and the second code reader (220) is arranged on a side of the second conveyor (120) opposite to the third conveyor (130); The second conveyor (120) includes a translation mechanism (121) and a first roller conveyor (122), wherein the translation mechanism (121) is used to drive the first roller conveyor (122) to move. When the first roller conveyor (122) is located at the third position, the first roller conveyor (122) docks with the first conveyor (110) to receive the box (2) output from the first conveyor (110). When the first roller conveyor (122) is located at the fourth position, the first roller conveyor (122) docks with the third conveyor (130) to transport the box (2) carried by the first roller conveyor (122) to the third conveyor (130).

8. The palletizing device according to claim 7, characterized in that: The palletizing equipment further comprises a box sealing device (300), and the third conveyor (130) comprises a second roller conveyor (131), a first belt conveyor (132) and a second belt conveyor (133); The second roller conveyor (131) is used to dock with the first roller conveyor (122); the first belt conveyor (132) and the second belt conveyor (133) are arranged above the second roller conveyor (131) at intervals; the first belt conveyor (132) and the second belt conveyor (133) can approach each other to clamp the box body (2) and drive the box body (2) to move along the conveying direction of the second roller conveyor (131); The box sealing device (300) is arranged above the first belt conveyor (132) and the second belt conveyor (133), and the box sealing device (300) is used to stick adhesive tape on the surface of the box body (2) to be sealed.

9. The palletizing device according to claim 6, characterized in that: The palletizing device further comprises a transfer device (400), wherein the transfer device (400) comprises a manipulator (410) and an actuator (420), wherein the actuator (420) comprises a mounting frame (421), a third belt conveyor (422), a lifting drive element (423) and a pressing plate (424); The robot (410) is connected to the mounting frame (421), the third belt conveyor (422) is connected to the mounting frame (421), the pressing plate (424) is arranged above the third belt conveyor (422), and the lifting drive element (423) is used to drive the pressing plate (424) to move in a direction close to or away from the third belt conveyor (422).

10. The palletizing device according to claim 9, characterized in that: The conveying device (100) comprises a fourth conveyor (140); the fourth conveyor (140) comprises a third roller conveyor (141) and a fourth belt conveyor (142); the third roller conveyor (141) comprises a plurality of roller mechanisms (1411); the fourth belt conveyor (142) is arranged between two adjacent roller mechanisms (1411); and the conveying direction of the third roller conveyor (141) is perpendicular to the conveying direction of the fourth belt conveyor (142); The robot (410) is used to drive the actuator (420) to receive the box (2) output by the fourth conveyor (140) from the discharge port (140a) of the third roller conveyor (141) or the discharge port (140b) of the fourth belt conveyor (142).

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