Palletizing methods and equipment

Abstract

An embodiment of the present application provides a palletizing method and a palletizing device, wherein the palletizing method includes: obtaining the length and width dimensions of a box during the process of the conveying device conveying the box; determining whether a pallet located at a first position can accommodate the box based on the length and width dimensions of the box; if so, transferring the box output from the conveying device to the pallet located at the first position; if not, determining whether a pallet located at a second position can accommodate the box; if so, transferring the box output from the conveying device to the pallet located at the second position; if not, 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; and transferring the box to the pallet currently located at the second position.

Description

Technical Field

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

[0002] In a certain factory, orders for different customers need to be produced. 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; and so on; 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 delivered by each production line are transported to the palletizing equipment in a random order according to the production rhythm. The palletizing equipment then stacks the boxes one by one onto pallets. For example, after a box of size A is delivered 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 each size of box, a corresponding pallet and a corresponding transfer device need to be set up. 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 up 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 footprint of 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] A palletizing method provided in an embodiment of the present application is applied to palletizing equipment, the palletizing method comprising: obtaining parameter information of a box during conveying of the box by a conveying device, wherein the parameter information includes dimensional parameters of the box, and the dimensional parameters include length and width of the box; determining whether a pallet located at a first position can accommodate the box based on the dimensional parameters of 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 dimensional 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, supplying an empty pallet to the second position; and 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 equipment provided in the embodiments 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 embodiments 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 while the conveyor is conveying the box, and based on the length and width of the box, it can be determined whether the box is suitable for placement on the pallet at the first position or the pallet at the second position. The box can then be placed on the pallet at the first position or the pallet at the second position.

[0013] As can be seen, the solution provided by the embodiments of this application only requires two areas at a minimum, requiring two pallets to be installed, upon which each box can be placed. Compared to the related art solution that requires a separate pallet and transfer device for each production line, this solution can reduce the number of pallets and transfer devices, thereby reducing the floor space occupied by the pallets and transfer devices, and thus achieving the effect of reducing the floor space occupied by the palletizing equipment.

[0014] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by 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 related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any 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] Figure 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] Figure 10 A schematic diagram of a pallet and box provided for the implementation of this application;

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

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

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

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

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

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

[0032] Figure 17 Another schematic diagram of a tray and a box provided for the implementation of this application shows Figure 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 - pressure plate; 425 - feed 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] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0044] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections, indirect connections through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the 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 application be understood not only by the actual terms used but also by the meanings connoted by each term.

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

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

[0049] Step 1010 , while the conveying device is conveying the box, parameter information of the box is obtained, wherein the parameter information includes dimensional parameters of the box, and the dimensional parameters include length and width of the box.

[0050] In an 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 dimensional parameters of the box 2 , and the dimensional parameters include the length and width of the box 2 .

[0051] In some embodiments, obtaining the dimensional parameters of the box 2 during the process of the conveying device 100 conveying the box 2 specifically includes: 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 parameter information of the box 2 based on the material code, the parameter information including the dimensional parameters of the box 2, the dimensional parameters including the length and width of the box. Exemplarily, the dimensional 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 vacant area on the pallet is larger than the length and width dimensions of the box, so as to determine whether the vacant 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 the conveying device 100 conveying the box 2, it is also possible not to obtain the height dimension of the box 2, and it is only necessary to determine the number of layers of the current stack.

[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, if the material code affixed to the outer surface of the box 2 is a QR code, the first code reader 210 and the second code reader 220 may be QR code readers. If the material code affixed to the outer surface of the box 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. A first barcode reader 210 is provided on the side of the second conveyor 120 opposite to the first conveyor 110, and a second barcode reader 220 is provided on the side of the second conveyor 120 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 in 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 in 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 in the third position or the fourth position.

[0056] For example, refer to Figure 3 The third position is to the right of the first conveyor 110. The fourth position is to the left of the third conveyor 130. The first conveyor 110 may include multiple roller conveyors. This can increase the feeding rate. For example, the first conveyor 110 includes a fourth roller conveyor 111 and a fifth roller conveyor 112.

[0057] 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 following describes a method of reading the material code on the outer surface of the box body with reference to the accompanying drawings.

[0058] refer to Figure 3 For example, when it is detected that a box 2 is input to the fourth roller conveyor 111, 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 the left of the first code reader 210. The first code reader 210 can then be used to read the code on the right side of the box 2. If the right side of the box 2 does not have a material code attached, the translation mechanism 121 drives the first roller conveyor 122 to the right of the second code reader 220. Furthermore, the first roller conveyor 122 drives the box 2 to the right a certain distance so that the "field of view" of the second code reader 220 covers the left side of the box 2. The second code reader 220 can then be used to read the code on the left side of the box 2. In this way, the first code reader 210 and the second code reader 220 can be used to obtain material code information on the left or right side of the box 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 dimensional parameters of the box 2. Furthermore, the parameter information may include the type of the box 2. For example, the type of the box 2 may indicate whether the box 2 is a lidded carton or a half-wing carton. For example, common shoe boxes are lidded cartons; and the cartons used in express delivery, which require sealing tape in the middle, are half-wing cartons.

[0061] In the embodiment of the present application, after reading the material code affixed 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 method of scanning the code to obtain material information can refer to the existing technology, the specific process of obtaining the parameter information of the box 2 based on the material code will not be described in detail here.

[0062] In addition, for example, in other embodiments, an industrial camera can be used to determine the size parameters of the box 2 based on image processing. The embodiment of the present application can use various methods to obtain the size parameters of the box 2. Therefore, the embodiment of the present application does not limit the method of obtaining the size parameters of the box 2.

[0063] Step 1020: Determine whether the pallet 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 may be determined based on the size parameters of the box body 2 .

[0065] refer to Figure 9 and Figure 10 In some embodiments, the outer edge of the rectangular supporting 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, it is determined whether the pallet 3 located at the first position 3a can accommodate the box body 2, specifically including: 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, in the direction from the first side 31 of the pallet 3 located at the first position 3a toward the third side 33, and from the second side 32 toward the fourth side 34, 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.

[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: If 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 an embodiment of the present application, when the pallet 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 pallet 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 : If 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 an 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 located at the first position 3a cannot accommodate the box body 2, based on the size parameters of the box body 2, determine whether the pallet 3 located at the second position 3b can accommodate the box body 2, specifically including: when the empty area of ​​the pallet 3 located at the first position 3a does not have a stacking area that can accommodate the box body 2, determine the empty area of ​​the pallet 3 located at the second position 3b, based on the size parameters of the box body 2, and in the direction from the first side 31 of the pallet 3 located at the second position 3b toward the third side 33 and from the second side 32 toward the fourth side 34, determine whether the empty area of ​​the pallet 3 located at the second position 3b has a stacking area that can accommodate the box body 2.

[0074] Step 1050: If 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 pallet 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 pallet 3 located at the second position 3 b .

[0076] refer to Figure 15 and Figure 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: If 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 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.

[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, the process includes: 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 set 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] Thus, it can be seen that the solution provided in the embodiment of the present application only requires two areas at a minimum, and two pallets 3 are provided, upon which each box 2 can be placed. Compared with the solution in the related art, which requires a pallet and transfer device for each production line, the number of pallets and transfer devices can be reduced, thereby reducing the floor space occupied by the pallets and transfer devices, 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 embodiments of the present application can be used to palletize boxes that are transported in a random manner. "Random transport" here means that boxes of various sizes are randomly transported to the palletizing device 1. For example, at one moment, a batch of size A boxes may be transported to the palletizing device 1, and at the next moment, a batch of size B boxes may be transported to the palletizing device 1, or at the next moment, a batch of size C boxes may be 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 subsequent production.

[0087] Furthermore, for example, a transfer device can be used to transport the boxes stacked on pallets to a storage area along with the pallets. The storage area can be equipped with sorting equipment that can sort the boxes according to demand based on the material code on the outer surface of the boxes.

[0088] The embodiment of the present application 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 located on the side of the second conveyor 120 opposite to the first conveyor 110, and the second code reader 220 is located on the side of the second conveyor 120 opposite to the third conveyor 130.

[0090] Second conveyor 120 includes a translation mechanism 121 and a first roller conveyor 122. Translation mechanism 121 is used to drive first roller conveyor 122. When first roller conveyor 122 is in the third position, first roller conveyor 122 docks with first conveyor 110 to receive boxes 2 output from first conveyor 110. When first roller conveyor 122 is in the fourth position, first roller conveyor 122 docks with third conveyor 130 to transport boxes 2 carried by first roller conveyor 122 to third conveyor 130.

[0091] refer to Figure 4 and Figure 5 In some embodiments, the palletizing apparatus 1 further includes a case 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 configured to dock with the first roller conveyor 122. Thus, when the first roller conveyor 122 moves to a docking position 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 spaced apart and positioned above the second roller conveyor 131. The first belt conveyor 132 and the second belt conveyor 133 can approach each other to clamp the box 2 and drive the box 2 along the conveying direction of the second roller conveyor 131. The sealing device 300 is positioned above the first belt conveyor 132 and the second belt conveyor 133. The sealing device 300 is used to apply adhesive tape to the surface of the box 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, a material code and parameter information of the box 2 are stored in a storage module of the controller of the palletizing device 1. In the case where the parameter information includes the size parameters of the box 2, the parameter information may also include 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 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] Furthermore, the box sealing device 300 first applies the tape to the right side of the box 2 and then moves upward. Furthermore, as the box 2 moves from left to right, the tape adheres to the top seam of the box 2. Furthermore, after the top seam is adhered, the tape moves downward and adheres to the left side of the box 2. Furthermore, after the tape is adhered, it is cut.

[0095] When the type of box 2 is determined to be a lid carton based on the material code, since lid carton does not require adhesive 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 moved from left to right under the drive of the second roller conveyor 131.

[0096] refer to Figure 7 and Figure 8 In some embodiments, the palletizing apparatus 1 further comprises a transfer device 400. The transfer device 400 comprises a manipulator 410 and an actuator 420. The actuator 420 comprises 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 disposed 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 , thereby receiving 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. For example, the fourth belt conveyor 142 includes a plurality of sub-belt conveyors, each of which is disposed in a one-to-one correspondence between two adjacent roller mechanisms 1411.

[0099] The conveying direction of the third roller conveyor 141 is perpendicular to that of the fourth belt conveyor 142. The manipulator 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.

[0100] refer to Figure 2 、 Figures 6 to 10 To place A-sized boxes 2 horizontally on the pallet 3, the fourth belt conveyor 142 can be raised to receive the boxes 2 at the discharge port 140b of the fourth belt conveyor 142. Specifically, the robot 410 can move the actuator 420 with the actuator 420, causing the actuator 420 to move to a position opposite the discharge port 140b of the fourth belt conveyor 142, with the feed port 425 of the actuator 420 facing the A-sized boxes 2. When the actuator 420 is in the docking position, the fourth belt conveyor 142 can convey the A-sized boxes 2 to the third belt conveyor 422 of the actuator 420. Furthermore, the lifting drive element 423 drives the pressure plate 424 downward to clamp the A-sized boxes 2, preventing the A-sized boxes 2 from shifting or separating from the actuator 420 during the movement of the actuator 420 driven by the robot 410.

[0101] Further, combined with Figure 10 The robot 410 can drive the A-size box 2 to move to the 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 A-size box 2 carried on the third belt conveyor 422 to the stacking area.

[0102] Further, refer to Figure 2 、 Figures 6 to 11To place B-sized boxes 2 longitudinally on pallet 3, actuator 420 can be driven to a position opposite discharge port 140a of third roller conveyor 141, with feed port 425 of actuator 420 aligned with the B-sized boxes 2. With actuator 420 in the docking position, third roller conveyor 141 can convey B-sized boxes 2 to third belt conveyor 422 of actuator 420. Furthermore, lift drive element 423 drives press plate 424 downward to clamp B-sized boxes 2.

[0103] Further, combined with Figure 10 The robot 410 can drive the B-size box 2 to move to the 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 seen 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 or vertically on the pallet 3 as required.

[0105] To facilitate understanding of the solution provided in the embodiment of the present application, the following briefly introduces the placement of each box with reference to the accompanying drawings.

[0106] refer to Figure 10 When the pallet 3 at the first position 3a is an empty pallet, if the 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 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 from the second side 32 toward the fourth side 34. Figure 10 For example, it is determined from back to front and from right to left whether the empty area of ​​the pallet 3 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 in 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 in the lower left corner of the tray 3. If this empty area is not considered first, and a larger box is placed in front of the A-sized box 2, the empty area in the lower left corner may not be suitable for placing the next box, resulting in a waste of the empty area in the lower left corner. Therefore, it is possible to first determine whether the area surrounding the boxes on the tray 3 can accommodate the boxes, starting from back to front and from right to left.

[0109] Further, refer to Figure 10 and Figure 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. Figures 12 to 14 According to this method, the boxes 2 that are randomly delivered can be placed on the pallet 3.

[0110] It should be noted that the reference Figure 11 and Figure 12 To prevent the second A-sized box 2 from colliding with the first A-sized box 2 and causing the first A-sized box 2 to shift, a predetermined distance is placed longitudinally between the second A-sized box 2 and the first A-sized box 2 during placement. Therefore, after the second A-sized box 2 is placed on the pallet 3, the second A-sized box 2 can be moved a predetermined distance toward the first A-sized box 2 to eliminate or reduce the gap between them.

[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 Figure 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] Furthermore, in the case where the next box is box 2 of size A, refer to Figure 15 , the space in 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. Figure 16 When it is determined that the pallet 3 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 at the second position.

[0113] In addition, in some embodiments, if the space of 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. Figure 17 For example, if the first layer of boxes is relatively full, the supporting surface above the first layer of boxes can be directly regarded as a rectangle, and 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, if the height difference of the boxes 2 is less than 2 cm, the height difference of the boxes 2 can be ignored. If the protrusion of a part of the first layer of boxes is large, the bottom dimension of the boxes stacked on the protrusion can be made no larger than the top dimension of the protrusion.

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

[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: During the process of the conveying device (100) conveying the box (2), parameter information of the box (2) is obtained, wherein the parameter information includes dimensional parameters of the box (2), and the dimensional 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) which is currently located at the second position (3b).

2. The palletizing method according to claim 1, wherein: The method 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 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, wherein: The outer edge of the rectangular bearing surface of each tray (3) includes 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 method of determining whether the tray (3) located at the first position (3a) can accommodate the box (2) based on the size parameters of the box (2) specifically includes: Determine an empty area of ​​the pallet (3) located at the first position (3a), and based on the size parameters of the box (2), determine whether the empty 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 (31) toward the third side (33) of the pallet (3) located at the first position (3a) and in a direction from the second side (32) toward the fourth side (34); The method of transferring the box (2) output from the conveying device (100) to the pallet (3) located at the first position (3a) when the pallet (3) located at the first position (3a) is capable of accommodating the box (2) specifically comprises: When the empty area of ​​the pallet (3) located at the first position (3a) 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 first position (3a).

4. The palletizing method according to claim 3, wherein: 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 includes: In the case where the empty area of ​​the pallet (3) located at the first position (3a) does not have a stacking area capable of accommodating the box (2), determining the empty area of ​​the pallet (3) located at the second position (3b), and based on the size parameters of the box (2), determining whether the empty area of ​​the pallet (3) located at the second position (3b) has a stacking area capable of accommodating the box (2) in the direction from the first side (31) toward the third side (33) of the pallet (3) located at the second position (3b) and in the direction from the second side (32) toward the fourth side (34); The method of transferring the box (2) output from the conveying device (100) to the pallet (3) located at the second position (3b) when the pallet (3) located at the second position (3b) is capable of accommodating the box (2) specifically comprises: When the empty 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, wherein: 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 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 equipment according to claim 6, characterized in that: The palletizing equipment further includes a first code reader (210) and a second code reader (220), and 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 located on the side of the second conveyor (120) that is opposite to the first conveyor (110), and the second code reader (220) is located on the side of the second conveyor (120) that is 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 on the first roller conveyor (122) to the third conveyor (130).

8. The palletizing equipment 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 spaced apart and arranged above the second roller conveyor (131); 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 equipment according to claim 6, characterized in that: The palletizing equipment further includes a transfer device (400), the transfer device (400) includes a manipulator (410) and an actuator (420), and 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).

10. The palletizing equipment according to claim 9, characterized in that: The conveying device (100) includes a fourth conveyor (140); 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); the fourth belt conveyor (142) is arranged between two adjacent roller mechanisms (1411); 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) 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).

Images