Control method and device of stacking device, storage medium and electronic equipment

Abstract

The invention provides a control method and device of a stacking device, a storage medium and electronic equipment, the method is applied to a controller in a multi-axis system, and the method comprises the steps that moving parameters of a target object are obtained, the moving parameters at least comprise real-time position information, real-time speed information, real-time pose information, a target position and a target pose of a target object, and the target object is a left side plate or a right side plate of the air conditioner; according to the movement parameters of the target object, operation parameters of all shafts of a stacking device are determined, and the stacking device comprises a three-shaft structure, a four-shaft structure and a five-shaft structure; and according to the operation parameters of all the shafts of the stacking device, the three-shaft structure, the four-shaft structure and the five-shaft structure are controlled to operate, so that the target object is stacked at the target position in the target posture. According to the method, highly automatic control is realized, and manual intervention is reduced. The multi-axis system provides higher operation precision, and ensures the consistency of product quality.

Description

Technical Field

[0001] The present application relates to the field of air conditioning device palletizing, and in particular to a control method for a palletizing device, a control device for a palletizing device, a computer-readable storage medium, and an electronic device. Background Art

[0002] In the production process of air conditioner sheet metal, the finishing of the left and right side panels is a key step, which directly affects the quality and production efficiency of the final product. Traditional control methods often rely on complex mechanical structures and manual operations, which not only increases production costs, but also reduces production efficiency and product consistency. Summary of the invention

[0003] The main purpose of the present application is to provide a control method for a palletizing device, a control device for a palletizing device, a computer-readable storage medium and an electronic device, so as to at least solve the problem in the prior art that the sorting process of the left and right side panels of air-conditioning sheet metal lacks effective automated control means, resulting in low production efficiency and difficulty in ensuring the stability of product quality.

[0004] To achieve the above-mentioned purpose, according to one aspect of the present application, a control method for a palletizing device is provided, which is applied to a controller in a multi-axis system, the method comprising: acquiring movement parameters of a target object, the movement parameters comprising at least real-time position information, real-time speed information, real-time posture information, target position and target posture of the target object, wherein the target object is a left panel or a right panel of an air conditioner; determining operation parameters of each axis of a palletizing device according to the movement parameters of the target object, the palletizing device comprising a three-axis structure, a four-axis structure and a five-axis structure; controlling the operation of the three-axis structure, the four-axis structure and the five-axis structure according to the operation parameters of each axis of the palletizing device, so as to palletize the target object at the target position with the target posture.

[0005] Optionally, according to the operating parameters of each axis of the palletizing device, the three-axis structure, the four-axis structure and the five-axis structure are controlled to operate so as to palletize the target object at the target position with the target posture, including: determining the palletizing process of the target object, the palletizing process including a sorting process, a posture adjustment process and a palletizing process; when the target object is in the sorting process and the target object is located in the area to be sorted, according to the operating parameters of the three-axis structure, the three-axis structure is controlled to move the target object from the area to be sorted to a conveyor belt so that the conveyor belt conveys the target object to the position to be palletized; when the target object is in the posture adjustment process and the target object is located in the position to be palletized, according to the operating parameters of the five-axis structure, the five-axis structure is controlled to adjust the posture of the target object from the current posture to the target posture; when the target object is in the palletizing process and the posture of the target object is the target posture, according to the operating parameters of the four-axis structure, the four-axis structure is controlled to palletize the target object at the target position.

[0006] Optionally, the three-axis structure includes an x-axis structure, a y-axis structure and a z-axis structure, the z-axis structure includes a first z-axis structure and a second z-axis structure, and according to the operating parameters of the three-axis structure, the three-axis structure is controlled to move the target object from the area to be sorted to the conveyor belt, including: according to the operating parameters of the z-axis structure, controlling the z-axis structure to clamp the target object so as to fix the target object between the first z-axis structure and the second z-axis structure; according to the operating parameters of the x-axis structure, controlling the x-axis structure to move the horizontal position of the target object to a first horizontal position; according to the operating parameters of the y-axis structure, controlling the y-axis structure to move the vertical position of the target object to a first vertical position, so as to move the target object from the area to be sorted to the conveyor belt.

[0007] Optionally, the five-axis structure includes an α-axis structure, a β-axis structure, a γ1-axis structure, a γ2-axis structure, and a δ-axis structure, the δ-axis structure includes a first δ-axis structure and a second δ-axis structure, and according to the operating parameters of the five-axis structure, the five-axis structure is controlled to adjust the posture of the target object from the current posture to the target posture, including: according to the operating parameters of the δ-axis structure, the δ-axis structure is controlled to clamp the target object so as to fix the target object between the first δ-axis structure and the second δ-axis structure; according to the operating parameters of the α-axis structure, the α-axis structure is controlled to move the horizontal position of the target object to a second horizontal position; according to the operating parameters of the β-axis structure, the β-axis structure is controlled to move the vertical position of the target object to a second vertical position; according to the operating parameters of the γ1-axis structure and the operating parameters of the γ2-axis structure, the γ1-axis structure and the γ2-axis structure are controlled to rotate simultaneously by a preset angle so as to adjust the posture of the target object from the current posture to the target posture.

[0008] Optionally, the four-axis structure includes an a-axis structure, a b-axis structure, a c-axis structure and a d-axis structure, and according to the operating parameters of the four-axis structure, the four-axis structure is controlled to stack the target objects at the target position, including: according to the operating parameters of the b-axis structure, the b-axis structure is controlled to move the vertical position of the storage bin to a third vertical position, and the third vertical position is at least one target object height away from the current vertical position of the target object; according to the operating parameters of the c-axis structure and the operating parameters of the d-axis structure, the c-axis structure and the d-axis structure are controlled to clamp the target object to fix the target object between the c-axis structure and the d-axis structure to store the target object in the storage bin; when the number of the target objects in the storage bin reaches a preset number, according to the operating parameters of the a-axis structure, the a-axis structure is controlled to move the storage bin to the palletizing robot picking position to stack the target objects at the target position.

[0009] Optionally, determining the operating parameters of each axis of the palletizing device according to the movement parameters of the target object includes: determining the operating parameters of each axis of the palletizing device according to the real-time position information, real-time speed information and real-time posture information of the target object, wherein the operating parameters include the operating time, operating trajectory and operating speed of the corresponding axis, the operating trajectory includes multiple operating sections, and one operating section corresponds to one operating speed.

[0010] Optionally, the method further includes: determining a virtual restriction area for each axis of the palletizing device, and controlling a first non-target axis to adjust its running speed and / or running trajectory when the first target axis moves to the corresponding virtual restriction area, wherein the first non-target axis is an axis other than the first target axis in the palletizing device; and / or determining a locking time for each axis of the palletizing device, and controlling a second target axis to stop moving when the current moment is at the locking time; and / or determining a locking posture for each axis of the palletizing device, and controlling a second non-target axis to stop moving when the current posture of the third target axis is the locking posture, wherein the second non-target axis is an axis other than the third target axis in the palletizing device; and / or collecting actual position information of each axis of the palletizing device, and issuing an alarm signal when the deviation between the actual position information of the axis and the preset position information of the axis is greater than the preset deviation.

[0011] According to another aspect of the present application, a multi-axis system is provided, comprising: a controller, the controller is used to execute any one of the control methods for the palletizing device, the controller comprises a first PLC module and a second PLC module, the first PLC module and the second PLC module are communicatively connected; a palletizing device, comprising a three-axis structure, a four-axis structure and a five-axis structure, which is communicatively connected to the controller.

[0012] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the control methods for the palletizing device.

[0013] According to another aspect of the present application, an electronic device is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a control method for executing any one of the palletizing devices described.

[0014] Applying the technical solution of the present application, the control method of the above-mentioned palletizing device is applied to the controller in the multi-axis system. The method first obtains the moving parameters of the target object, and the moving parameters at least include the real-time position information, real-time speed information, real-time posture information, target position and target posture of the target object. The target object is the left side plate or the right side plate of the air conditioner; then, according to the moving parameters of the target object, the operating parameters of each axis of the palletizing device are determined, and the palletizing device includes a three-axis structure, a four-axis structure and a five-axis structure; finally, according to the operating parameters of each axis of the palletizing device, the three-axis structure, the four-axis structure and the five-axis structure are controlled to operate so as to palletize the target object at the target position with the target posture. The method realizes highly automated control and reduces manual intervention. The multi-axis system provides higher operating accuracy, ensures the consistency of product quality, and solves the problem that the arrangement process of the left and right side plates of the air conditioner sheet metal in the prior art lacks effective automated control means, resulting in low production efficiency and difficulty in ensuring the stability of product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for executing a control method for a palletizing device provided in an embodiment of the present application is shown;

[0017] Figure 2 A schematic flow chart of a control method for a palletizing device provided according to an embodiment of the present application is shown;

[0018] Figure 3 A structural schematic diagram of a palletizing device provided in accordance with an embodiment of the present application from a first viewing angle is shown;

[0019] Figure 4 A structural schematic diagram of a palletizing device provided in accordance with an embodiment of the present application from a second viewing angle is shown;

[0020] Figure 5 A schematic diagram of a three-axis structure of a palletizing device provided according to an embodiment of the present application is shown;

[0021] Figure 6 A schematic diagram of a five-axis structure of a palletizing device provided according to an embodiment of the present application is shown;

[0022] Figure 7 A schematic diagram of a five-axis structure of another palletizing device provided according to an embodiment of the present application is shown;

[0023] Figure 8A schematic diagram of a four-axis structure of a palletizing device provided according to an embodiment of the present application is shown;

[0024] Fig. 9 A structural block diagram of a controller provided according to an embodiment of the present application is shown.

[0025] The above drawings include the following reference numerals:

[0026] 102, processor; 104, memory; 106, transmission device; 108, input and output devices. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. 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 creative work should fall within the scope of protection of the present application.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] As introduced in the background technology, in the prior art, the sorting process of the left and right side panels of the air-conditioning sheet metal lacks effective automated control means, resulting in low production efficiency and difficulty in ensuring the stability of product quality. In order to solve the problem that in the prior art, the sorting process of the left and right side panels of the air-conditioning sheet metal lacks effective automated control means, resulting in low production efficiency and difficulty in ensuring the stability of product quality, the embodiments of the present application provide a control method for a palletizing device, a control device for a palletizing device, a computer-readable storage medium and an electronic device.

[0031] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0032] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 1 is a hardware structure block diagram of a mobile terminal of a control method for a palletizing device according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0033] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the control method of the stacking device in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is realized. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0034] In this embodiment, a control method for a palletizing device running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0035] Figure 2 : is a flow chart of a control method of a palletizing device according to an embodiment of the present application. Figure 2 As shown, the method is applied to a controller in a multi-axis system, and the method comprises the following steps:

[0036] Step S201, obtaining movement parameters of a target object, the movement parameters at least including real-time position information, real-time speed information, real-time posture information, target position and target posture of the target object, the target object being a left panel or a right panel of an air conditioner;

[0037] Specifically, before starting to control the palletizing device to perform actions, it is necessary to write a PLC program to define the motion trajectory and time sequence of each axis to ensure accurate and synchronized operations. Write a PLC program to define the motion trajectory and axis avoidance of each axis to ensure accurate and synchronized operations. The motion trajectory usually refers to the path of each axis from the starting point to the end point. That is, when the target object moves to different positions, the operating parameters of each axis of the palletizing device are different, so it is necessary to obtain the real-time position information, real-time speed information, real-time posture information, etc. of the target object.

[0038] Step S202, determining the operating parameters of each axis of the palletizing device according to the movement parameters of the target object, the palletizing device including a three-axis structure, a four-axis structure and a five-axis structure;

[0039] Specifically, in PLC, the definition of motion trajectory usually includes the following: the starting position, target position and path of each axis. PLC controls the movement from one point to another by setting the coordinates of each axis. The trajectory control of this multi-axis system requires an interpolation algorithm. This control design mainly uses a spatial interpolation solution. In defining the running trajectory of each axis, the target position (such as XYZ coordinates) and path type (such as straight line, arc, curve, etc.) are usually defined according to the needs of the task. For example:

[0040] MOVE X1,Y1,Z1; Move to coordinates (X1,Y1,Z1);

[0041] MOVE X2,Y2,Z2; Move to coordinates (X2,Y2,Z2).

[0042] Wherein, determining the operating parameters of each axis of the palletizing device according to the movement parameters of the above-mentioned target object includes: determining the operating parameters of each axis of the above-mentioned palletizing device according to the real-time position information, real-time speed information and real-time posture information of the above-mentioned target object, wherein the above-mentioned operating parameters include the operating time, operating trajectory and operating speed of the corresponding axis, and the above-mentioned operating trajectory includes multiple operating sections, and one of the above-mentioned operating sections corresponds to one of the above-mentioned operating speeds.

[0043] Specifically, during the operation of a multi-axis system, the speed of each axis needs to be controlled; in order to ensure smooth movement and avoid vibration or shock in the system, the maximum acceleration and deceleration are usually set for each axis. In the PLC program, the acceleration of each axis can be controlled by timers (such as TON, TOF) and counters. For example:

[0044] Acceleration section: When the axis starts to move from rest, it needs to gradually increase the speed through the acceleration section to avoid the shock caused by sudden acceleration.

[0045] Uniform speed section: After reaching the target speed, the axis needs to maintain uniform speed.

[0046] Deceleration stage: When approaching the target position, it is necessary to decelerate to avoid exceeding the target position.

[0047] PLC controls the acceleration, speed, target position, etc. of each axis within a specific time through a time sequence. For example:

[0048] SET SPEED X,1000; Set the maximum speed of the X axis to 1000;

[0049] SET ACCEL X,500; Set the acceleration of the X axis to 500;

[0050] MOVE X1,Y1,Z1; Move to coordinates (X1,Y1,Z1).

[0051] Step S203, according to the operating parameters of each axis of the palletizing device, controlling the three-axis structure, the four-axis structure and the five-axis structure to operate, so as to palletize the target object at the target position with the target posture.

[0052] Specifically, in the multi-axis system, the motion between the axes needs to be precisely synchronized. For example, a 3-axis, 4-axis, and 5-axis system may need to start, stop, or adjust motion at the same time to maintain the smoothness of the trajectory.

[0053] Figure 3 and Figure 4 The schematic diagrams of the structure of the palletizing device are shown in two perspectives. Figure 3 and Figure 4 As shown, Figure 3A is a three-axis structure, B is a four-axis structure, C is a five-axis structure, and D is the target object. Design the PLC control program, define the motion trajectory and operation logic of each axis, and realize the automatic control of material separation, material turning, and material discharge.

[0054] According to the operating parameters of each axis of the palletizing device, the three-axis structure, the four-axis structure and the five-axis structure are controlled to operate so as to palletize the target object at the target position in the target posture, including the following steps:

[0055] Step S301, determining the palletizing process of the target object, the palletizing process including a sorting process, a posture adjustment process and a palletizing process;

[0056] Step S302, when the target object is in the sorting process and is located in the area to be sorted, according to the operating parameters of the three-axis structure, the three-axis structure is controlled to move the target object from the area to be sorted to the conveyor belt, so that the conveyor belt conveys the target object to the position to be stacked;

[0057] The three-axis structure includes an x-axis structure, a y-axis structure and a z-axis structure, and the z-axis structure includes a first z-axis structure and a second z-axis structure. According to the operating parameters of the three-axis structure, the three-axis structure is controlled to move the target object from the to-be-sorted area to the conveyor belt, including the following steps:

[0058] Step S3021, controlling the z-axis structure to clamp the target object according to the operating parameters of the z-axis structure, so as to fix the target object between the first z-axis structure and the second z-axis structure;

[0059] Step S3022, controlling the x-axis structure to move the horizontal position of the target object to a first horizontal position according to the operating parameters of the x-axis structure;

[0060] Step S3023, according to the operating parameters of the y-axis structure, controlling the y-axis structure to move the vertical position of the target object to a first vertical position, so as to move the target object from the to-be-sorted area to the conveyor belt.

[0061] Specifically, in the three-axis system, the x-axis is responsible for the horizontal movement of the left and right side plates, that is, the movement in the x-axis direction. The y-axis is responsible for the vertical movement of the left and right side plates. The z-axis is responsible for the clamping and material taking function of the left and right side plates.

[0062] The raw material is moved from the storage area to the processing position using a combination of three-axis systems x, y, and z. The x-axis and y-axis work together to place the raw material precisely at the starting position for processing.

[0063] like Figure 5 As shown in the figure, the three axes x, y, and z are marked respectively. The y axis is mainly responsible for up and down movement, and the z axis is mainly responsible for the clamping function. Through a transmission shaft, when the axis moves, the two axes move closer to the middle to achieve the clamping function. The x axis is mainly responsible for the left and right movement function. The communication between the axis and the PLC is through the EtherCAT protocol. In order to ensure the smooth movement of the x, y, and z three-axis system, interpolation parameters are added.

[0064] Step S303, when the target object is in the posture adjustment process and the target object is located at the to-be-palletized position, according to the operating parameters of the five-axis structure, controlling the five-axis structure to adjust the posture of the target object from the current posture to the target posture;

[0065] The five-axis structure includes an α-axis structure, a β-axis structure, a γ1-axis structure, a γ2-axis structure, and a δ-axis structure, and the δ-axis structure includes a first δ-axis structure and a second δ-axis structure. According to the operating parameters of the five-axis structure, the five-axis structure is controlled to adjust the posture of the target object from the current posture to the target posture, including:

[0066] Step S3031, according to the operating parameters of the δ-axis structure, controlling the δ-axis structure to clamp the target object, so as to fix the target object between the first δ-axis structure and the second δ-axis structure;

[0067] Step S3032, controlling the α-axis structure to move the horizontal position of the target object to a second horizontal position according to the operating parameters of the α-axis structure;

[0068] Step S3033, controlling the β-axis structure to move the vertical position of the target object to a second vertical position according to the operating parameters of the β-axis structure;

[0069] Step S3034, according to the operating parameters of the γ1-axis structure and the operating parameters of the γ2-axis structure, control the γ1-axis structure and the γ2-axis structure to rotate simultaneously by a preset angle to adjust the posture of the target object from the current posture to the target posture.

[0070] Specifically, the α axis in the five-axis system is the same as the x axis in the three-axis system, responsible for horizontal movement. The β axis is the same as the y axis in the three-axis system, responsible for vertical movement. The γ1 axis provides an additional rotational degree of freedom for flipping operations, and moves simultaneously with the γ2 axis. The γ2 axis provides an additional rotational degree of freedom for flipping operations, and moves simultaneously with the γ1 axis. The δ axis is the same as the z axis in the three-axis system, responsible for clamping and picking up materials.

[0071] like Figure 6 and Figure 7As shown, the five axes α, β, δ, γ1, and γ2 are marked respectively, as shown in Figure 6 As shown, the γ1 and γ2 axes of the five-axis system are used to rotate simultaneously to realize the flipping of the side panel so that the side panel can be buckled forward and backward to form a stable stamping shape. During the flipping process, the α and β axes can rotate synchronously, but an interpolation function is required to avoid structural interference and ensure smooth and accurate flipping.

[0072] In some examples, when the target object is an odd number, the preset angle may be 27°, and when the target object is an even number, the preset angle may be -270°.

[0073] Step S304, when the target object is in the palletizing process and the posture of the target object is the target posture, according to the operating parameters of the four-axis structure, control the four-axis structure to palletize the target object at the target position.

[0074] The four-axis structure includes an a-axis structure, a b-axis structure, a c-axis structure and a d-axis structure. According to the operating parameters of the four-axis structure, the four-axis structure is controlled to stack the target object at the target position, including the following steps:

[0075] Step S3041, according to the operating parameters of the b-axis structure, controlling the b-axis structure to move the vertical position of the storage bin to a third vertical position, wherein the third vertical position is at least one height of the target object away from the current vertical position of the target object;

[0076] Step S3042, according to the operating parameters of the c-axis structure and the operating parameters of the d-axis structure, controlling the c-axis structure and the d-axis structure to clamp the target object, so as to fix the target object between the c-axis structure and the d-axis structure, so as to store the target object in the storage bin;

[0077] Step S3043, when the number of the target objects in the storage bin reaches a preset number, according to the operating parameters of the a-axis structure, control the a-axis structure to move the storage bin to the palletizing robot picking position to palletize the target objects at the target position.

[0078] Specifically, in the four-axis system, the a-axis is responsible for the horizontal movement of the left and right side panels. The b-axis is responsible for the vertical movement of the left and right side panels. The c-axis is responsible for the left clamping function of the left and right side panels. The d-axis is responsible for the right clamping function of the left and right side panels.

[0079] like Figure 8As shown in the figure, after the left and right side panels arrive at the material sorting area, the four-axis system c-axis and d-axis are used to move the two axes closer to the middle to tidy up the side panels of the air conditioner outdoor unit. After tidying up, the two axes open again and wait for the next finished product to arrive. In order to stack multiple finished products, the b-axis in the four-axis system needs to drop the height of one product. When the silo is full, it is handed over to the a-axis of the four-axis system and moved to the material picking position of the palletizing robot, which will pick up the materials and perform subsequent palletizing actions.

[0080] The method further includes: determining a virtual restricted area of ​​each axis of the palletizing device, and when the first target axis moves to the corresponding virtual restricted area, controlling the first non-target axis to adjust the running speed and / or running trajectory, the first non-target axis is an axis other than the first target axis in the palletizing device; and / or determining the locking time of each axis of the palletizing device, and when the current moment is at the locking time, controlling the second target axis to stop moving; and / or determining the locking posture of each axis of the palletizing device, and when the current posture of the third target axis is the locking posture, controlling the second non-target axis to stop moving, the second non-target axis is an axis other than the third target axis in the palletizing device; and / or collecting actual position information of each axis of the palletizing device, and issuing an alarm signal when the deviation between the actual position information of the axis and the preset position information of the axis is greater than the preset deviation.

[0081] Specifically, PLC usually uses synchronization signals or time delays to ensure that all axes move in coordination at a predetermined time and sequence. For example: SYNC MOVE X1, Y1, Z1; synchronize the movement of the X-axis, Y-axis, and Z-axis; including point-to-point motion and continuous path motion. Point-to-point motion is for each axis to move from one specified position to another. This method is relatively simple and is usually used for simple assembly, handling and other applications. Continuous path motion is the coordinated movement of multiple axes at the same time, and continuous motion is performed according to a predetermined trajectory. It is common in scenes that require high-precision control, such as processing and engraving.

[0082] In PLC, different motion modes can be selected according to the task requirements to control the speed, acceleration and target point of each axis. The selection of motion mode is usually controlled by conditional judgment in the program. The corresponding code is as follows:

[0083] IF TaskType=='Point-to-Point'THEN;

[0084] MOVE X1, Y1, Z1; point-to-point movement;

[0085] ELSE IF TaskType=='Continuous'THEN;

[0086] CONTINUOUS PATH X1,Y1,Z1; continuous trajectory motion;

[0087] END IF.

[0088] Multi-axis systems usually need to prevent interference between axes. In practical applications, the movements of multiple axes may interfere with each other, resulting in incorrect paths or position deviations. To avoid this, the following solutions are implemented in the control system:

[0089] Virtual limiter: Set a virtual limit area in the program. When an axis approaches this area, the PLC automatically adjusts the movement speed or trajectory of other axes to avoid interference.

[0090] Interlocking mechanism: Use the interlocking mechanism to ensure that certain axes cannot be active at the same time within a specific time, or that other axes are in a stopped state when performing a certain action.

[0091] Axis position monitoring: By installing position sensors, encoders, etc., the position of each axis is monitored in real time and the data is fed back to the PLC. If the position deviation of an axis is too large, the PLC can issue a warning or stop the equipment.

[0092] Emergency stop (E-stop): PLC needs to be able to quickly stop all movement in the event of a failure or emergency to avoid accidents.

[0093] The corresponding code is as follows:

[0094] IF FAULT THEN;

[0095] E_STOP; Emergency stop system;

[0096] END IF.

[0097] The control method of the above-mentioned stacking device of the present application is applied to the controller in the multi-axis system. The method first obtains the moving parameters of the target object, and the moving parameters at least include the real-time position information, real-time speed information, real-time posture information, target position and target posture of the target object. The target object is the left plate or the right plate of the air conditioner; then, according to the moving parameters of the target object, the operating parameters of each axis of the stacking device are determined, and the stacking device includes a three-axis structure, a four-axis structure and a five-axis structure; finally, according to the operating parameters of each axis of the stacking device, the three-axis structure, the four-axis structure and the five-axis structure are controlled to operate so as to stack the target object in the target position with the target posture. The method realizes highly automated control and reduces manual intervention. The multi-axis system provides higher operating accuracy, ensures the consistency of product quality, and solves the problem that the arrangement process of the left and right side plates of the air conditioner sheet metal in the prior art lacks effective automated control means, resulting in low production efficiency and difficulty in ensuring the stability of product quality.

[0098] An embodiment of the present application also provides a multi-axis system, including: a controller, the controller is used to execute any one of the control methods for the above-mentioned palletizing devices, the controller includes a first PLC module and a second PLC module, and the first PLC module and the second PLC module are communicatively connected; a palletizing device, including a three-axis structure, a four-axis structure and a five-axis structure, which is communicatively connected to the above-mentioned controller.

[0099] Since the palletizing device includes a three-axis structure, two four-axis structures and two five-axis structures, and one PLC module can only control 12 axes, two PLC modules are required to control the entire palletizing device.

[0100] The multi-axis system uses Ethernet IP control to exchange signals from two programmable controllers. A three-axis system, two four-axis systems and two five-axis systems are used to control the material separation, material turning and material discharge of the left and right side plates. Through the combination of PLC and Ethernet IP, highly automated control is achieved, reducing manual intervention. The multi-axis system provides higher operating accuracy and ensures the consistency of product quality. The system design is flexible and can be adjusted according to different production needs. The modular design is easy to maintain and upgrade.

[0101] The embodiment of the present application also provides a controller. It should be noted that the controller of the embodiment of the present application can be used to execute the control method for a palletizing device provided in the embodiment of the present application. The controller is used to implement the above-mentioned embodiments and preferred embodiments, and the descriptions have been made and will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0102] The following is an introduction to the controller provided in the embodiments of the present application.

[0103] Fig. 9 is a schematic diagram of a controller according to an embodiment of the present application. Fig. 9 As shown, the controller includes an acquisition unit 10, a determination unit 20 and a control unit 30, the acquisition unit 10 is used to acquire the movement parameters of the target object, the above-mentioned movement parameters at least include the real-time position information, real-time speed information, real-time posture information, target position and target posture of the above-mentioned target object, and the above-mentioned target object is the left side plate or the right side plate of the air conditioner; the determination unit 20 is used to determine the operation parameters of each axis of the stacking device according to the movement parameters of the above-mentioned target object, and the above-mentioned stacking device includes a three-axis structure, a four-axis structure and a five-axis structure; the control unit 30 is used to control the operation of the above-mentioned three-axis structure, the above-mentioned four-axis structure and the above-mentioned five-axis structure according to the operation parameters of each axis of the above-mentioned stacking device, so as to stack the above-mentioned target object at the above-mentioned target position with the above-mentioned target posture.

[0104] The controller of the present application includes an acquisition unit, a determination unit and a control unit. The acquisition unit is used to acquire the moving parameters of the target object. The moving parameters include at least the real-time position information, real-time speed information, real-time posture information, target position and target posture of the target object. The target object is the left side plate or the right side plate of the air conditioner; the determination unit is used to determine the operating parameters of each axis of the stacking device according to the moving parameters of the target object. The stacking device includes a three-axis structure, a four-axis structure and a five-axis structure; the control unit is used to control the operation of the three-axis structure, the four-axis structure and the five-axis structure according to the operating parameters of each axis of the stacking device, so as to stack the target object in the target position with the target posture. The controller realizes highly automated control and reduces manual intervention. The multi-axis system provides higher operating accuracy, ensures the consistency of product quality, and solves the problem that the arrangement process of the left and right side plates of the air conditioner sheet metal in the prior art lacks effective automated control means, resulting in low production efficiency and difficulty in ensuring the stability of product quality.

[0105] In some examples, the control unit includes a first determination module, a first control module, a second control module and a third control module, the first determination module is used to determine the stacking process of the target object, the stacking process includes a sorting process, a posture adjustment process and a stacking process; the first control module is used to control the three-axis structure to move the target object from the to-be-sorted area to the conveyor belt according to the operating parameters of the three-axis structure when the target object is in the sorting process and the target object is located in the to-be-sorted area, so that the conveyor belt conveys the target object to the to-be-stacking position; the second control module is used to control the five-axis structure to adjust the posture of the target object from the current posture to the target posture according to the operating parameters of the five-axis structure when the target object is in the posture adjustment process and the target object is located in the to-be-stacking position; the third control module is used to control the four-axis structure to stack the target object at the target position according to the operating parameters of the four-axis structure when the target object is in the stacking process and the posture of the target object is the target posture.

[0106] In some instances, the three-axis structure includes an x-axis structure, a y-axis structure and a z-axis structure, the z-axis structure includes a first z-axis structure and a second z-axis structure, the first control module includes a first control submodule, a second control submodule and a third control submodule, the first control submodule is used to control the z-axis structure to clamp the target object according to the operating parameters of the z-axis structure, so as to fix the target object between the first z-axis structure and the second z-axis structure; the second control submodule is used to control the x-axis structure to move the horizontal position of the target object to the first horizontal position according to the operating parameters of the x-axis structure; the third control submodule is used to control the y-axis structure to move the vertical position of the target object to the first vertical position according to the operating parameters of the y-axis structure, so as to move the target object from the area to be sorted to the conveyor belt.

[0107] In some instances, the five-axis structure includes an α-axis structure, a β-axis structure, a γ1-axis structure, a γ2-axis structure, and a δ-axis structure, the δ-axis structure includes a first δ-axis structure and a second δ-axis structure, the second control module includes a fourth control submodule, a fifth control submodule, a sixth control submodule, and a seventh control submodule, the fourth control submodule is used to control the δ-axis structure to clamp the target object according to the operating parameters of the δ-axis structure, so as to fix the target object between the first δ-axis structure and the second δ-axis structure; the fifth control submodule is used to control the α-axis structure to move the horizontal position of the target object to the second horizontal position according to the operating parameters of the α-axis structure; the sixth control submodule is used to control the β-axis structure to move the vertical position of the target object to the second vertical position according to the operating parameters of the β-axis structure; the seventh control submodule is used to control the γ1-axis structure and the γ2-axis structure to rotate simultaneously by a preset angle according to the operating parameters of the γ1-axis structure and the operating parameters of the γ2-axis structure, so as to adjust the posture of the target object from the current posture to the target posture.

[0108] In some instances, the four-axis structure includes an a-axis structure, a b-axis structure, a c-axis structure, and a d-axis structure, and the third control module includes an eighth control submodule, a ninth control submodule, and a tenth control submodule. The eighth control submodule is used to control the b-axis structure to move the vertical position of the storage bin to a third vertical position according to the operating parameters of the b-axis structure, and the third vertical position is at least one target object height away from the current vertical position of the target object; the ninth control submodule is used to control the c-axis structure and the d-axis structure to clamp the target object according to the operating parameters of the c-axis structure and the operating parameters of the d-axis structure, so as to fix the target object between the c-axis structure and the d-axis structure, so as to store the target object in the storage bin; the tenth control submodule is used to control the a-axis structure to move the storage bin to the material picking position of the stacking robot according to the operating parameters of the a-axis structure when the number of the target objects in the storage bin reaches a preset number, so as to stack the target objects at the target position.

[0109] In some instances, the determination unit includes a determination subunit, which is used to determine the operating parameters of each axis of the above-mentioned stacking device according to the real-time position information, real-time speed information and real-time posture information of the above-mentioned target object, wherein the above-mentioned operating parameters include the operating time, operating trajectory and operating speed of the corresponding axis, and the above-mentioned operating trajectory includes multiple operating sections, and one of the above-mentioned operating sections corresponds to one of the above-mentioned operating speeds.

[0110] In some examples, the method further includes a second determination module, a third determination module, a fourth determination module and an alarm module, wherein the second determination module is used to determine the virtual restriction area of ​​each axis of the palletizing device, and when the first target axis runs to the corresponding virtual restriction area, control the first non-target axis to adjust the running speed and / or running trajectory, and the first non-target axis is an axis other than the first target axis in the palletizing device; the third determination module is used to determine the locking time of each axis of the palletizing device, and when the current moment is at the locking time, control the second target axis to stop moving; the fourth determination module is used to determine the locking posture of each axis of the palletizing device, and when the current posture of the third target axis is the locking posture, control the second non-target axis to stop moving, and the second non-target axis is an axis other than the third target axis in the palletizing device; the alarm module is used to collect the actual position information of each axis of the palletizing device, and send an alarm signal when the deviation between the actual position information of the axis and the preset position information of the axis is greater than the preset deviation.

[0111] The control device of the palletizing device includes a processor and a memory. The acquisition unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0112] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters can be adjusted to solve the problem that the finishing process of the left and right side panels of the air conditioner sheet metal in the prior art lacks effective automatic control means, resulting in low production efficiency and difficulty in ensuring the stability of product quality.

[0113] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0114] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the control method of the palletizing device.

[0115] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the control method of the palletizing device is executed when the program is run.

[0116] An embodiment of the present invention provides a device, the device includes a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the steps of the control method of the palletizing device are implemented. The device in this article can be a server, a PC, a PAD, a mobile phone, etc.

[0117] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing the control method steps of at least a palletizing device.

[0118] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0119] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0120] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0121] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0122] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0123] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0124] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0125] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0126] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity 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, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0127] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0128] 1) The control method of the above-mentioned stacking device of the present application is applied to the controller in the multi-axis system. The method first obtains the moving parameters of the target object, and the moving parameters at least include the real-time position information, real-time speed information, real-time posture information, target position and target posture of the target object. The target object is the left side plate or the right side plate of the air conditioner; then, according to the moving parameters of the target object, the operating parameters of each axis of the stacking device are determined, and the stacking device includes a three-axis structure, a four-axis structure and a five-axis structure; finally, according to the operating parameters of each axis of the stacking device, the three-axis structure, the four-axis structure and the five-axis structure are controlled to operate so as to stack the target object at the target position with the target posture. The method realizes highly automated control and reduces manual intervention. The multi-axis system provides higher operating accuracy, ensures the consistency of product quality, and solves the problem that the arrangement process of the left and right side plates of the air conditioner sheet metal in the prior art lacks effective automated control means, resulting in low production efficiency and difficulty in ensuring the stability of product quality.

[0129] 2) The controller of the present application includes an acquisition unit, a determination unit and a control unit. The acquisition unit is used to acquire the moving parameters of the target object. The moving parameters include at least the real-time position information, real-time speed information, real-time posture information, target position and target posture of the target object. The target object is the left side panel or the right side panel of the air conditioner. The determination unit is used to determine the operating parameters of each axis of the stacking device according to the moving parameters of the target object. The stacking device includes a three-axis structure, a four-axis structure and a five-axis structure. The control unit is used to control the operation of the three-axis structure, the four-axis structure and the five-axis structure according to the operating parameters of each axis of the stacking device, so as to stack the target object at the target position with the target posture. The controller realizes highly automated control and reduces manual intervention. The multi-axis system provides higher operating accuracy, ensures the consistency of product quality, and solves the problem that the arrangement process of the left and right side panels of the air conditioner sheet metal in the prior art lacks effective automated control means, resulting in low production efficiency and difficulty in ensuring the stability of product quality.

[0130] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for a palletizing device, characterized in that: A controller applied to a multi-axis system, the method comprising: Acquire movement parameters of a target object, wherein the movement parameters include at least real-time position information, real-time speed information, real-time posture information, target position, and target posture of the target object, wherein the target object is a left panel or a right panel of an air conditioner; Determining the operating parameters of each axis of a palletizing device according to the movement parameters of the target object, wherein the palletizing device includes a three-axis structure, a four-axis structure, and a five-axis structure; According to the operating parameters of each axis of the palletizing device, the three-axis structure, the four-axis structure and the five-axis structure are controlled to operate so as to palletize the target object at the target position with the target posture.

2. The method according to claim 1, characterized in that: According to the operating parameters of each axis of the palletizing device, the three-axis structure, the four-axis structure and the five-axis structure are controlled to operate so as to palletize the target object at the target position in the target posture, including: Determining a palletizing process of the target object, wherein the palletizing process includes a sorting process, a posture adjustment process, and a palletizing process; When the target object is in the sorting process and is located in the area to be sorted, the three-axis structure is controlled to move the target object from the area to be sorted to the conveyor belt according to the operating parameters of the three-axis structure, so that the conveyor belt conveys the target object to the position to be stacked; When the target object is in the posture adjustment process and the target object is located at the to-be-palletized position, according to the operating parameters of the five-axis structure, controlling the five-axis structure to adjust the posture of the target object from the current posture to the target posture; When the target object is in the palletizing process and the posture of the target object is the target posture, the four-axis structure is controlled to palletize the target object at the target position according to the operating parameters of the four-axis structure.

3. The method according to claim 2, characterized in that The three-axis structure includes an x-axis structure, a y-axis structure and a z-axis structure, the z-axis structure includes a first z-axis structure and a second z-axis structure, and according to the operating parameters of the three-axis structure, the three-axis structure is controlled to move the target object from the to-be-sorted area to the conveyor belt, including: According to the operating parameters of the z-axis structure, controlling the z-axis structure to clamp the target object so as to fix the target object between the first z-axis structure and the second z-axis structure; controlling the x-axis structure to move the horizontal position of the target object to a first horizontal position according to an operating parameter of the x-axis structure; According to the operating parameters of the y-axis structure, the y-axis structure is controlled to move the vertical position of the target object to a first vertical position, so as to move the target object from the to-be-sorted area to a conveyor belt.

4. The method according to claim 2, characterized in that: The five-axis structure includes an α-axis structure, a β-axis structure, a γ1-axis structure, a γ2-axis structure, and a δ-axis structure, wherein the δ-axis structure includes a first δ-axis structure and a second δ-axis structure. According to the operation parameters of the five-axis structure, the five-axis structure is controlled to adjust the posture of the target object from the current posture to the target posture, including: According to the operating parameters of the δ-axis structure, controlling the δ-axis structure to clamp the target object so as to fix the target object between the first δ-axis structure and the second δ-axis structure; controlling the α-axis structure to move the horizontal position of the target object to a second horizontal position according to an operating parameter of the α-axis structure; controlling the β-axis structure to move the vertical position of the target object to a second vertical position according to an operating parameter of the β-axis structure; According to the operating parameters of the γ1-axis structure and the operating parameters of the γ2-axis structure, the γ1-axis structure and the γ2-axis structure are controlled to rotate simultaneously by a preset angle to adjust the posture of the target object from the current posture to the target posture.

5. The method according to claim 2, characterized in that: The four-axis structure includes an a-axis structure, a b-axis structure, a c-axis structure, and a d-axis structure. According to the operating parameters of the four-axis structure, the four-axis structure is controlled to stack the target object at the target position, including: According to the operating parameters of the b-axis structure, control the b-axis structure to move the vertical position of the storage bin to a third vertical position, wherein the third vertical position is at least one height of the target object away from the current vertical position of the target object; According to the operating parameters of the c-axis structure and the operating parameters of the d-axis structure, controlling the c-axis structure and the d-axis structure to clamp the target object so as to fix the target object between the c-axis structure and the d-axis structure so as to store the target object in the storage bin; When the number of the target objects in the storage bin reaches a preset number, the a-axis structure is controlled to move the storage bin to the palletizing robot picking position according to the operating parameters of the a-axis structure, so as to palletize the target objects at the target position.

6. The method according to claim 1, characterized in that According to the movement parameters of the target object, the operation parameters of each axis of the palletizing device are determined, including: According to the real-time position information, real-time speed information and real-time posture information of the target object, the operating parameters of each axis of the palletizing device are determined, wherein the operating parameters include the operating time, operating trajectory and operating speed of the corresponding axis, and the operating trajectory includes multiple operating sections, and one operating section corresponds to one operating speed.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: Determine a virtual restricted area of ​​each axis of the palletizing device, and when the first target axis moves to the corresponding virtual restricted area, control a first non-target axis to adjust the running speed and / or running trajectory, wherein the first non-target axis is an axis in the palletizing device other than the first target axis; and / or, Determine the locking time of each axis of the palletizing device, and when the current moment is at the locking time, control the second target axis to stop moving; and / or, Determine the locking posture of each axis of the palletizing device, and when the current posture of the third target axis is the locking posture, control the second non-target axis to stop moving, the second non-target axis being an axis in the palletizing device other than the third target axis; and / or, The actual position information of each axis of the palletizing device is collected, and when the deviation between the actual position information of the axis and the preset position information of the axis is greater than the preset deviation, an alarm signal is issued.

8. A multi-axis system, characterized in that: include: A controller, the controller being used to execute the control method of the palletizing device according to any one of claims 1 to 7, the controller comprising a first PLC module and a second PLC module, the first PLC module and the second PLC module being communicatively connected with each other; The palletizing device comprises a three-axis structure, a four-axis structure and a five-axis structure, and is communicatively connected with the controller.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the control method of the palletizing device according to any one of claims 1 to 7.

10. An electronic device, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a control method for executing the palletizing device according to any one of claims 1 to 7.

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