Packing method for goods

Abstract

The invention relates to a goods boxing method which is applied to an automatic boxing production line. The method comprises the steps that goods are conveyed through the first conveying device; the quality detection device is used for identifying surface pollutants, and the first removing device is controlled to remove unqualified products; weight detection is conducted on the remaining goods, and the goods which do not reach the standard are removed through a second removing device; anti-counterfeit labels are automatically pasted on qualified goods, and the goods fall and turn over through the inclined conveying belt so as to compact the labels; cargos are loaded into a carton through the boxing device and sealed; the packaging carton is output by the second conveying device; and the stacking mechanical arm is used for stacking the cartons to the double trays according to a preset mode, and alternate continuous operation is achieved. The full-process automation of detection, removal, labeling, boxing and stacking is integrated, the quality is improved through a double detection mechanism and pneumatic removal, and the efficiency and continuity are improved through the label compaction technology and the double-tray stacking design.

Description

Technical Field

[0001] The present invention relates to the technical field of automated box packing, and in particular to a method for packing goods. Background Art

[0002] In the packaging and transportation of food, pharmaceuticals, chemicals, electronics, and other industries, product inspection and packing are critical steps in ensuring product quality and transportation safety. Currently, most companies still rely on the traditional model of manual inspection and packing. Specifically, during manual inspection, operators must use their naked eyes or simple tools to check the goods for appearance defects, specifications, dimensions, performance indicators, and other indicators. This process is prone to visual fatigue and distraction due to long-term repetitive work, resulting in problems such as missed inspections and misjudgments. For example, in the inspection of electronic components, even the smallest solder joint defects can be transmitted to subsequent links due to manual negligence, causing serious quality risks.

[0003] Manual packing also faces many challenges. During the packing process, operators need to select appropriate packaging materials based on the characteristics of the goods, and arrange and secure them appropriately. This is not only time-consuming, but also difficult to ensure the consistency and standardization of the packaging of each item. Especially when handling special goods such as fragile items and precision instruments, improper manual packing can easily cause damage to the goods. At the same time, the efficiency of manual operations is limited by the number of manpower and workload. During peak order periods, it is often difficult to meet the demand for fast shipments, which in turn affects the company's production delivery cycle and market competitiveness. As the industry's requirements for product quality and production efficiency continue to increase, the limitations of traditional manual inspection and packing models have become increasingly prominent, and more efficient and accurate automated solutions are urgently needed. Summary of the Invention

[0004] The technical problem to be solved by the present application is that manual operation has low efficiency and long cycle. In order to overcome the above defects of the existing technology, the present application provides a method for packing goods.

[0005] The present application provides a method for packing goods, which is applied to a packing production line. The packing production line includes a quality inspection device, a first rejection device, a weight inspection device, a second rejection device, a labeling device, a packing device, a second transmission device, and a stacking device, which are sequentially arranged along the goods conveying direction of a first transmission device. The method includes the following steps: Step S1: transporting goods along a preset direction by a first transport device; Step S2: During the transport process, a quality inspection device is used to identify contaminants on the surface of the goods; Step S3: If surface contaminants are detected, controlling the first rejection device to reject the corresponding goods from the first conveying device; Step S4: Check the weight of the goods that have not been rejected to determine whether they have reached the preset weight; Step S5: If the weight does not reach the preset weight, control the second rejection device to reject the corresponding goods from the first conveying device; Step S6: affixing anti-counterfeiting labels to qualified goods that have not been rejected, and compacting the anti-counterfeiting labels through a label pressing mechanism; Step S7: Pack the labeled qualified goods into cartons and seal the cartons; Step S8: The packaged cartons are transported and output by the second transport device; Step S9: Stacking the cartons of packaged finished products onto pallets using a stacking device.

[0006] Compared with the existing technology, the present invention provides a packing method for goods, which has the following advantages: integrating transmission, detection, rejection, labeling, packing and stacking modules to realize the automation of the entire process of goods processing, significantly improve production efficiency, solve the problems of low efficiency and long cycle of traditional manual operation, and meet the rapid shipment demand during peak order periods; double inspection of goods by quality detection device and weight detection device, and timely rejection of unqualified products by rejection device to ensure that the quality of packed goods meets the standards; each device is arranged in sequence along the goods conveying direction of the first transmission device, so that the goods can continuously complete various processing steps during the transmission process, reducing manual intervention and time waste in the intermediate links.

[0007] In one possible embodiment, the quality inspection device comprises a light source module, an industrial camera, and an image processing unit. Step S2 specifically includes: the light source module provides stable lighting for the industrial camera, the industrial camera captures an image of the product surface and transmits it to the image processing unit, the image processing unit analyzes the image to identify contaminants, and outputs an unqualified inspection result to the first rejection device. Compared to the prior art, the light source module of the quality inspection device provides stable lighting for the industrial camera, the industrial camera captures an image of the product surface and transmits it to the image processing unit, and the image processing unit analyzes the image to identify contaminants using a preset algorithm. This avoids missed detections and misjudgments due to visual fatigue and other issues, thereby improving the accuracy and reliability of inspections.

[0008] In one possible embodiment, the weight detection device includes a weighing platform and a weight sensor. Step S4 specifically includes: as the goods pass through the weighing platform, the weight sensor measures their weight in real time, compares it with a preset weight, and outputs an unqualified detection result to the second rejection device. Compared to the prior art, the weighing platform and weight sensor of the weight detection device measure the weight of the goods in real time as they pass through the weighing platform and compare it with the preset weight, ensuring timely and accurate detection and preventing goods of unqualified weight from entering subsequent stages.

[0009] In one possible implementation, the rejection operation in steps S3 and S5 involves using a pneumatic push cylinder to drive a push plate to push unqualified goods out of the first conveyor. Compared to the prior art, the rejection operation uses a pneumatic push cylinder to drive a push plate to push unqualified goods out of the first conveyor. This pneumatic push plate structure responds quickly, enabling timely rejection of unqualified goods, ensuring the normal operation of the production line and product quality.

[0010] In one possible embodiment, the labeling device includes a labeling machine and an inclined conveyor belt. Step S6 specifically includes: the labeling machine automatically peels and applies the label, and the inclined conveyor belt is used to transport the goods to a higher location, causing the goods to fall from the higher location and flip onto the first conveyor device, thereby compacting the anti-counterfeiting label. Compared to the prior art, the labeling machine automatically peels and applies the label, and the inclined conveyor belt is used to transport the goods to a higher location, causing the goods to fall from the higher location and flip onto the first conveyor device, thereby compacting the anti-counterfeiting label. This improves the reliability of label application and prevents label detachment.

[0011] In one possible embodiment, the cartoning device includes a carton conveying mechanism and a carton loader, a cartoning forklift, and a carton sealing machine arranged sequentially along the carton conveying direction. Step S7 specifically includes: conveying empty cartons via the carton conveying mechanism, grabbing qualified goods and transferring them into the empty cartons using the cartoning forklift, and sealing the filled cartons using the carton sealing machine. Compared to the prior art, the cartoning device conveys empty cartons via the carton conveying mechanism, grabbing qualified goods and transferring them into the empty cartons using the cartoning forklift, and sealing the filled cartons using the carton sealing machine. This achieves automated transfer of goods from the inspection line to the packaging boxes, improving cartoning efficiency and standardization.

[0012] In one possible embodiment, the stacking device includes a stacking robot arm and at least two pallets. Step S9 specifically includes: controlling the stacking robot arm to grab the packed cartons on the second conveyor device, and the stacking robot arm to stack the cartons on the pallet according to a preset stacking pattern. When stacking of the first pallet is completed, controlling the stacking robot arm to automatically switch to the second pallet to continue stacking, while simultaneously removing the first pallet. Compared to the prior art, the stacking device controls the stacking robot arm to grab the packed cartons on the second conveyor device, and to stack the cartons on the pallet according to a preset stacking pattern. When stacking of the first pallet is completed, controlling the stacking robot arm to automatically switch to the second pallet to continue stacking, while simultaneously removing the first pallet. By alternating the two pallets, the stacking process is continuously operated, avoiding downtime and waiting, and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the overall structure of this application; Figure 2 It is a structural diagram of the quality inspection device; Figure 3It is a structural diagram of the weight detection device; Figure 4 It is a structural diagram of the labeling device; Figure 5 It is a structural diagram of the packing device; Figure 6 It is a structural schematic diagram of the stacking device; Description of reference numerals: 1. First conveying device; 2. Quality inspection device; 3. First rejection device; 4. Weight inspection device; 5. Second rejection device; 6. Labeling device; 61. Labeling machine; 62. Inclined conveyor belt; 7. Cartoning device; 71. Carton conveying mechanism; 72. Carton loader; 73. Cartoning forklift; 74. Carton sealing machine; 8. Second conveying device; 9. Stacking device; 91. Stacking robot arm; 92. Pallet; 93. Guardrail; 101. Push plate; 102. Pneumatic push cylinder. DETAILED DESCRIPTION

[0014] First, those skilled in the art should understand that these embodiments are merely used to explain the technical principles of the embodiments of the present application and are not intended to limit the scope of protection of the embodiments of the present application. Those skilled in the art may adjust them as needed to suit specific application scenarios.

[0015] In the description of the embodiments of this application, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on the specific circumstances.

[0016] In the embodiments of the present application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0017] The present application is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] See also Figures 1 to 6, the embodiment of the present application discloses a packing production line for goods, comprising: a first conveying device 1, a quality inspection device 2, a first rejecting device 3, a weight inspection device 4, a second rejecting device 5, a labeling device 6, a packing device 7, a second conveying device 8, and a stacking device 9; the first conveying device 1 is used to convey goods; the quality inspection device 2 is arranged on the first conveying device 1, and is used to detect contaminants on the surface of the goods; the first rejecting device 3 is arranged downstream of the quality inspection device 2, and is used to reject goods with contaminants on the surface; the weight inspection device 4 is arranged downstream of the first rejecting device 3, and is used to detect whether the goods have reached a preset weight; the second rejecting device 5 is arranged downstream of the first rejecting device 3 Downstream of the weight detection device 4, it is used to reject goods that do not reach the preset weight; the labeling device 6 is arranged downstream of the second rejection device 5, for attaching anti-counterfeiting labels on qualified goods; the packing device 7 is arranged downstream of the labeling device 6, for packing qualified goods into cartons; the second transmission device 8 is arranged at the output end of the packing device 7, for transporting and outputting cartons containing goods; the stacking device 9 is arranged at the output end of the second transmission device 8, for stacking cartons; among them, the quality detection device 2, the first rejection device 3, the weight detection device 4, the second rejection device 5, the labeling device 6, and the packing device 7 are arranged in sequence along the goods conveying direction of the first transmission device 1.

[0019] In this embodiment, the quality inspection device 2 includes a light source module, an industrial camera, and an image processing unit. The light source module and the industrial camera are mounted on the first transmission device 1. The industrial camera is electrically connected to the image processing unit, which is in turn electrically connected to the first rejection device 3. Specifically, the light source module can employ a ring-shaped LED array to provide stable lighting conditions, ensuring that the industrial camera can clearly capture images of the product surface. The industrial camera can employ a CCD or CMOS sensor, with its resolution selected based on the required detection accuracy. The image processing unit analyzes contaminant characteristics in the image, such as color difference, texture anomalies, or foreign matter attachment, using a preset algorithm. The electrical connection between the image processing unit and the first rejection device 3 includes, but is not limited to, RS485 communication, Ethernet, or relay signal transmission. That is, the light source module provides stable lighting for the industrial camera, which captures images of the product surface and transmits them to the image processing unit. The image processing unit analyzes the images to identify contaminants and, if determined to be unqualified, controls the first rejection device 3 to reject the product.

[0020] In this embodiment, the weight detection device 4 comprises a weighing platform and a weight sensor. The weighing platform is mounted on the first conveyor 1. The weight sensor is mounted on the weighing platform to measure the weight of the goods. The weight sensor is electrically connected to the second rejection device 5. Specifically, the weighing platform can be made of rust-proof material and provided with a wear-resistant coating to reduce the impact on weighing. The weight sensor is preferably a strain gauge sensor or a piezoelectric sensor. That is, as the goods pass through the weighing platform, the weight sensor measures their weight in real time and compares it with a preset weight. If the weight does not meet the standard, the second rejection device 5 is controlled to reject the goods.

[0021] In this embodiment, both the first rejection device 3 and the second rejection device 5 are pneumatic push plate structures, comprising a push plate 101 and a pneumatic push cylinder 102. The pneumatic push cylinder 102 is mounted on the first conveyor 1. The push plate 101 pushes unqualified goods off the first conveyor 1 via the pneumatic push cylinder 102. Specifically, the pneumatic push plate structure uses compressed air to drive the pneumatic push cylinder 102 to generate linear motion. The push plate 101 is fixedly connected to the piston rod of the pneumatic push cylinder 102. That is, when unqualified goods are detected, the pneumatic push cylinder 102 drives the push plate 101 to push the goods off the first conveyor 1.

[0022] Continue to see Figure 4 In this embodiment, the labeling device 6 includes a labeler 61 mounted on the first conveyor 1 and a label pressing mechanism. The label pressing mechanism is located downstream of the labeler 61 and is used to prevent the anti-counterfeiting label from falling off the goods. The label pressing mechanism is an inclined conveyor belt 62, which is used to transport the goods to a higher position, causing the goods to fall from the higher position and flip, thereby compacting the anti-counterfeiting label. Specifically, the model of the labeler 61 is selected based on the label size and the speed of the goods transport. For example, a flat labeler 61 uses a servo motor to drive the label roll to automatically complete the label peeling and sticking operations. The inclined conveyor belt 62 uses a motor-driven belt or roller to achieve an inclined conveying function. The tilt angle ranges from 15 to 30 degrees. The conveyor belt surface can be provided with anti-slip grooves to increase friction. After being transported to the highest point of the inclined conveyor belt 62, the goods fall freely and fall back onto the first conveyor 1. During the fall, the goods flip due to gravity, ensuring that the anti-counterfeiting label fully contacts the surface of the goods.

[0023] Continue to see Figure 5In this embodiment, the cartoning device 7 includes a carton conveying mechanism 71 and a carton loader 72, a carton forklift 73, and a carton sealing machine 74 arranged in sequence along the carton conveying direction. The carton conveying direction of the carton conveying mechanism 71 is arranged parallel to the goods conveying direction of the first transmission device 1. The carton forklift 73 is used to load goods from the first transmission device 1 into cartons. Specifically, the carton conveying mechanism 71 can realize the carton conveying function by driving a motor-driven belt or roller; the carton loader 72 can use a vacuum suction cup or a mechanical gripper to unfold the folded empty carton and place it on the conveying mechanism; the carton forklift 73 is a mechanical arm structure with multiple degrees of freedom, equipped with a special clamp at the end, which can accurately grasp the goods and transfer them to a predetermined position inside the carton; the carton sealing machine 74 can use tape sealing to automatically seal the carton filled with goods. That is, by setting up parallel goods conveying lines and carton conveying lines, and coordinating with a gantry-type packing mechanism, the automatic transfer of goods from the inspection line to the packaging box is realized.

[0024] Continue to see Figure 6 In this embodiment, the stacking device 9 includes a stacking robot arm 91 and a pallet 92. The stacking robot arm 91 is arranged between the output end of the second transmission device 8 and the pallet 92, and is used to stack cartons containing goods on the pallet 92. Specifically, the stacking robot arm 91 can be a six-axis industrial robot or a rectangular coordinate manipulator, and its end effector is equipped with a vacuum suction cup or a gripper mechanism for grabbing cartons; the pallet 92 can be made of wood or plastic, and its size matches the specifications of the cartons. The surface of the pallet 92 can be provided with anti-slip patterns to prevent the cartons from shifting during the stacking process. That is, through the coordinated operation of the robot arm and the pallet 92, the automated transfer and stacking of cartons from the conveyor line to the pallet 92 is realized. A guardrail 93 for protection is provided on the outside of the stacking device 9.

[0025] In this embodiment, two pallets 92 are used for alternating stacking and transfer operations. Specifically, the two pallets 92 can be positioned on either side of the working area of the stacking robot 91. When one pallet 92 is finished stacking, the stacking robot 91 immediately switches to another empty pallet 92 to continue the stacking process. Meanwhile, the completed pallet 92 can be transferred to storage or transportation. By arranging two pallets 92 for alternating operations, a continuous stacking process is achieved.

[0026] In this embodiment, the first transmission device 1 and the second transmission device 8 are belt conveyor devices or roller conveyor devices.

[0027] In this embodiment, a blocking mechanism is provided at the front end of the first conveyor 1, comprising a blocking plate and a blocking cylinder. The blocking cylinder drives the blocking plate to prevent large accumulation of goods on the first conveyor 1, ensuring smooth subsequent inspection and packing processes.

[0028] This embodiment provides a method for packing goods, comprising the following steps: Step S1: transporting goods along a preset direction via the first transport device 1; Step S2: During the transmission process, the quality inspection device 2 is used to identify contaminants on the surface of the goods. Specifically, the light source module provides stable lighting for the industrial camera, which captures images of the surface of the goods and transmits them to the image processing unit. The image processing unit analyzes the images, identifies contaminants, and outputs unqualified inspection results to the first rejection device 3. Step S3: If surface contaminants are detected, the first rejection device 3 is controlled to reject the corresponding goods from the first conveying device 1; Step S4: The weight of the goods that have not been rejected is checked to determine whether they have reached the preset weight. Specifically, when the goods pass through the weighing platform, the weight sensor measures their weight in real time and compares it with the preset weight, and outputs the unqualified test result to the second rejection device 5; Step S5: If the weight does not reach the preset weight, the second rejection device 5 is controlled to reject the corresponding goods from the first conveying device 1; Step S6: Attaching anti-counterfeiting labels to qualified goods that have not been rejected, and compacting the anti-counterfeiting labels through the label pressing mechanism. Specifically, the labeling machine 61 automatically completes the peeling and sticking actions of the labels, and the inclined conveyor belt 62 is used to transport the goods to a high place, so that the goods fall from the high place and flip over to the first conveying device 1, and the anti-counterfeiting labels are compacted; Step S7: The labeled qualified goods are loaded into cartons and sealed. Specifically, the empty cartons are transported by the carton conveyor 71, the qualified goods are grabbed by the packing forklift 73 and transferred to the empty cartons, and the filled cartons are sealed by the carton sealer 74. Step S8: The packaged cartons are transported and output by the second transport device 8; Step S9: Use the stacking device 9 to stack the packaged finished cartons onto the pallet 92. Specifically, control the stacking robot 91 to grab the packed cartons on the second conveying device 8. The stacking robot 91 stacks the cartons onto the pallet 92 according to a preset stacking mode. When the stacking of the first pallet 92 is completed, control the stacking robot 91 to automatically switch to the second pallet 92 to continue stacking, and remove the first pallet 92 at the same time.

[0029] Among the beneficial effects are: 1. Full-process automation and efficiency improvement: By integrating transmission, inspection, rejection, labeling, packing and stacking modules, the entire process of goods handling is automated, significantly improving production efficiency, solving the problems of low efficiency and long cycle of traditional manual operations, and meeting the demand for fast shipment during peak order periods.

[0030] 2. Accurate detection: Industrial cameras combined with image processing units automatically identify surface contaminants, and weight sensors detect the weight of goods in real time to avoid manual omissions and misjudgments.

[0031] 3. Reliable rejection: The pneumatic push plate structure responds quickly and rejects unqualified products in time to ensure that the quality of the packed goods meets the standards.

[0032] 4. Label firmness: The inclined conveyor belt 62 utilizes the free fall of goods to flip and compact the anti-counterfeiting label, thereby improving the reliability of the label.

[0033] 5. Cost and layout optimization: Pneumatic push plates, belt / roller conveyors, and other features are simple and reliable, with low maintenance costs. The goods conveyor line and carton conveyor line are arranged in parallel, saving space and facilitating production line integration. The double-pallet 92-degree alternating stacking design avoids downtime and ensures continuous production.

[0034] In the description of the embodiments of the present application, it should be noted that in the description of the present application, terms such as "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present application.

[0035] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "in the present embodiment", "specific example", or "some examples" means that the specific features, mechanisms, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, mechanisms, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0036] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for packing goods, applied to a packing production line, wherein the packing production line comprises a quality inspection device, a first rejection device, a weight inspection device, a second rejection device, a labeling device, a packing device, a second transmission device, and a stacking device, which are sequentially arranged along the direction of goods conveyance of a first transmission device, characterized in that: The method comprises the following steps: Step S1: transporting goods along a preset direction by a first transport device; Step S2: During the transport process, a quality inspection device is used to identify contaminants on the surface of the goods; Step S3: If surface contaminants are detected, controlling the first rejection device to reject the corresponding goods from the first conveying device; Step S4: Check the weight of the goods that have not been rejected to determine whether they have reached the preset weight; Step S5: If the weight does not reach the preset weight, control the second rejection device to reject the corresponding goods from the first conveying device; Step S6: affixing anti-counterfeiting labels to qualified goods that have not been rejected, and compacting the anti-counterfeiting labels through a label pressing mechanism; Step S7: Pack the labeled qualified goods into cartons and seal the cartons; Step S8: The packaged cartons are transported and output by the second transport device; Step S9: Stacking the cartons of packaged finished products onto pallets using a stacking device.

2. The method for packing goods according to claim 1, characterized in that: The quality inspection device includes a light source module, an industrial camera, and an image processing unit. Step S2 specifically includes: the light source module provides stable lighting for the industrial camera, the industrial camera captures the surface image of the goods and transmits it to the image processing unit, the image processing unit analyzes the image to identify contaminants, and outputs unqualified inspection results to the first rejection device.

3. The method for packing goods according to claim 1, characterized in that: The weight detection device includes a weighing platform and a weight sensor. Step S4 specifically includes: when the goods pass through the weighing platform, the weight sensor measures their weight in real time and compares it with the preset weight, and outputs the unqualified detection result to the second rejection device.

4. The method for packing goods according to claim 1, characterized in that: Rejection operation in steps S3 and S5: The push plate is driven by a pneumatic push cylinder to push unqualified goods out of the first conveying device.

5. The method for packing goods according to claim 1, characterized in that: The labeling device includes a labeling machine and an inclined conveyor belt. Step S6 specifically includes: the labeling machine automatically completes the peeling and sticking actions of the label, and the inclined conveyor belt is used to transport the goods to a high place, so that the goods fall from the high place and turn over to the first transmission device to compact the anti-counterfeiting label.

6. The method for packing goods according to claim 1, characterized in that: The cartoning device includes a carton conveying mechanism and a carton loader, a cartoning forklift, and a carton sealing machine arranged in sequence along the carton conveying direction. Step S7 specifically includes: conveying empty cartons through the carton conveying mechanism, using the cartoning forklift to grab qualified goods and transfer them into the empty cartons, and sealing the cartons filled with goods through the carton sealing machine.

7. The method for packing goods according to claim 1, characterized in that: The stacking device includes a stacking robot arm and at least two pallets. Step S9 specifically includes: controlling the stacking robot arm to grab the packed cartons on the second transmission device, and the stacking robot arm stacks the cartons on the pallet according to a preset stacking mode. When the stacking of the first pallet is completed, the stacking robot arm is controlled to automatically switch to the second pallet to continue stacking, and the first pallet is removed at the same time.

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