A palletizing and film wrapping apparatus and a control method thereof

Abstract

The application discloses a palletizing and film winding equipment and a control method thereof. The palletizing and film winding equipment comprises a pallet conveying assembly, which is used for inputting empty pallets and outputting full pallets; a pallet distribution assembly, which is used for receiving and storing the empty pallets on the pallet conveying assembly; a palletizing robot, which is used for palletizing materials on the empty pallets; a film winding robot, which is used for winding and packing the full pallets; a first palletizing assembly, which is used for conveying the empty pallets from the pallet distribution assembly to the palletizing robot; and a second palletizing assembly, which is used for conveying the full pallets packed by the film winding robot to the pallet conveying assembly for output. The empty pallets are conveyed from the pallet distribution assembly to the palletizing robot by the first palletizing assembly, and the full pallets packed by the film winding robot are conveyed to the pallet conveying assembly for output by the second palletizing assembly. In this way, palletizing and film winding of a logistics and warehousing management system can be integrally completed, and the overall operation efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial equipment, and in particular to a palletizing and film wrapping device and a control method thereof. BACKGROUND

[0002] In the current logistics and warehouse management system, palletizing and film wrapping of a pallet are usually completed by independent devices or independent stations. This arrangement often requires the pallet to be transported back and forth between the input line, the palletizing station and the film wrapping station multiple times, which not only makes the pallet flow path long and the site arrangement complex, but also makes it difficult to accurately match the beats between the processes, which is prone to cause a certain station to wait or accumulate, and is not conducive to continuous and efficient automatic palletizing and film wrapping operation under the condition of multiple types and specifications of goods orders, thereby resulting in low overall operation efficiency. SUMMARY

[0003] The present application aims to provide a palletizing and film wrapping device and a control method thereof, and aims to solve the technical problem that palletizing and film wrapping of a logistics and warehouse management system are completed separately in the prior art, resulting in low overall operation efficiency.

[0004] To solve the above technical problems, the present application aims to achieve the following technical solutions: a palletizing and film wrapping device is provided, comprising:

[0005] a pallet transportation assembly for inputting empty pallets and outputting full pallets;

[0006] a pallet distribution assembly for receiving and storing the empty pallets on the pallet transportation assembly;

[0007] a palletizing robot for palletizing materials on the empty pallets to obtain the full pallets;

[0008] a film wrapping robot for film wrapping the full pallets;

[0009] a first palletizing assembly for conveying the empty pallets from the pallet distribution assembly to the palletizing robot;

[0010] a second palletizing assembly for conveying the full pallets wrapped by the film wrapping robot to the pallet transportation assembly for output;

[0011] a device main frame arranged at the side of the pallet transportation assembly for supporting the pallet distribution assembly, the palletizing robot, the film wrapping robot, the first palletizing assembly and the second palletizing assembly.

[0012] The present application also provides a control method applied to the palletizing and film wrapping device as described above, comprising:

[0013] sequentially control the tray conveying assembly, the tray dispensing assembly and the first stacking assembly to convey the empty tray to the stacking robot;

[0014] acquire stacking sequence information and sequentially dispatch goods according to the stacking sequence information to be stacked on the empty tray;

[0015] after stacking is completed, control the film wrapping robot to wrap and package the full tray to obtain a wrapped stack;

[0016] control the second stacking assembly to convey the wrapped stack to the tray conveying assembly, then convey the wrapped stack to the dispatching area by the tray conveying assembly, and record actual stacking data.

[0017] The embodiment of the present application provides a stacking and film wrapping device, which comprises a tray conveying assembly for inputting empty trays and outputting full trays, a tray dispensing assembly for receiving and storing the empty trays on the tray conveying assembly, a stacking robot for stacking materials on the empty trays to obtain the full trays, a film wrapping robot for wrapping and packaging the full trays, a first stacking assembly for conveying the empty trays from the tray dispensing assembly to the stacking robot, a second stacking assembly for conveying the full trays wrapped and packaged by the film wrapping robot to the tray conveying assembly for output, and a device main frame arranged at the side of the tray conveying assembly and used for supporting the tray dispensing assembly, the stacking robot, the film wrapping robot, the first stacking assembly and the second stacking assembly. The empty trays are conveyed from the tray dispensing assembly to the stacking robot by the first stacking assembly, and then the full trays wrapped and packaged by the film wrapping robot are conveyed to the tray conveying assembly for output by the second stacking assembly, so that the stacking and film wrapping of the logistics warehouse management system can be completed integrally, and the overall operation efficiency is improved.

[0018] The present application also provides a control method of the stacking and film wrapping device, which also has the beneficial effects. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 The structure of the stacking and film wrapping device provided by the embodiment of the present application is shown in the figure Figure 1 ;

[0021] Figure 2 The structure of the stacking and film wrapping device provided by the embodiment of the present application is shown in the figure Figure 2;

[0022] Figure 3 Part structure diagram of a palletizing and film wrapping equipment provided by an embodiment of the present application Figure 1 ;

[0023] Figure 4 Part structure diagram of a palletizing and film wrapping equipment provided by an embodiment of the present application Figure 2 ;

[0024] Figure 5 Flow diagram of a control method of a palletizing and film wrapping equipment provided by an embodiment of the present application

[0025] Identification explanation in the figure:

[0026] 10, pallet conveying assembly; 11, pallet input line; 12, pallet output line;

[0027] 20, pallet dispensing assembly; 21, pallet elevator; 22, pallet replenishment conveyor;

[0028] 30, palletizing robot;

[0029] 40, film wrapping robot; 41, film wrapping head; 42, film wrapping driving member;

[0030] 50, first palletizing assembly;

[0031] 60, second palletizing assembly;

[0032] 70, equipment main frame; 71, main frame main body; 72, main frame platform. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0034] It should be understood that, when used in the present specification and the appended claims, the terms “comprise” and “include” indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not exclude one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0035] It should also be understood that the terms used herein are for the purpose of describing particular embodiments and are not intended to limit the application. As used in the specification and in the appended claims, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0036] It should further be understood that the term "and / or" as used herein refers to any combination of one or more of the associated listed items, and all possible combinations, and includes these combinations.

[0037] In combination Figure 1 As shown, the embodiment of the application provides a pallet wrapping equipment, comprising:

[0038] A pallet conveying assembly 10 is configured to input empty pallets and output full pallets.

[0039] A pallet dispensing assembly 20 is configured to receive and store the empty pallets on the pallet conveying assembly 10.

[0040] A palletizing robot 30 is configured to palletize the empty pallets with materials to obtain the full pallets.

[0041] A wrapping robot 40 is configured to wrap and package the full pallets.

[0042] A first palletizing assembly 50 is configured to convey the empty pallets from the pallet dispensing assembly 20 to the palletizing robot 30.

[0043] A second palletizing assembly 60 is configured to convey the full pallets wrapped and packaged by the wrapping robot 40 to the pallet conveying assembly 10 for output.

[0044] An equipment main frame 70 is disposed at the side of the pallet conveying assembly 10 and configured to support the pallet dispensing assembly 20, the palletizing robot 30, the wrapping robot 40, the first palletizing assembly 50 and the second palletizing assembly 60.

[0045] In the embodiment, the palletizing and film wrapping equipment is arranged as a pallet logistics operation line as a whole, and is provided with a pallet transportation assembly 10 and a device main frame 70 laterally adjacent to the pallet transportation assembly 10 along the running direction of the pallets. The device main frame 70 is integrally installed with a pallet distribution assembly 20, a palletizing robot 30, a film wrapping robot 40, a first palletizing assembly 50 and a second palletizing assembly 60 to form an integrated palletizing and film wrapping operation unit. The pallet transportation assembly 10 is preferably arranged as a pallet conveying channel extending in the horizontal direction, which is used to guide the empty pallets input from the upstream station to the area where the device main frame 70 is located, and output the pallets after palletizing and film wrapping packaging to the subsequent outbound or transfer station at the downstream end. The pallet distribution assembly 20 is arranged on the side of the device main frame 70 close to the pallet transportation assembly 10, which is used to receive the empty pallets when the pallet transportation assembly 10 conveys the empty pallets to the designated transfer position, and forms a storage station on the device main frame 70 that can accommodate at least one empty pallet to realize the temporary storage and distribution of the empty pallets before palletizing operation.

[0046] In the upper operation area of the device main frame 70, the palletizing robot 30 for performing the palletizing operation and the film wrapping robot 40 for performing the film wrapping packaging operation are arranged. The palletizing robot 30 is installed on the upper structure of the device main frame 70, and its working range covers the palletizing station where the first palletizing assembly 50 conveys the empty pallets and the material conveying area, which can grasp the goods from the upstream material conveying line and sequentially stack them on the empty pallets according to the pre-planned stacking sequence to obtain the pallets under the scheduling instruction of the upper control system. The film wrapping robot 40 is also arranged in the upper area of the device main frame 70, and its working range covers the film wrapping station where the second palletizing assembly 60 is located. When the palletizing robot 30 completes the material palletizing of the empty pallets, the film wrapping robot 40 performs the film wrapping packaging operation on the corresponding pallets under the control of the control system to obtain stable film wrapped stacks. To realize the orderly transfer of the pallets between the processes, the first palletizing assembly 50 is arranged between the pallet distribution assembly 20 and the palletizing station of the palletizing robot 30, which is used to accurately convey the empty pallets received from the pallet distribution assembly 20 to the working position of the palletizing robot 30; the second palletizing assembly 60 is arranged between the film wrapping operation area of the film wrapping robot 40 and the pallet transportation assembly 10, which is used to convey the film wrapped stacks back to the output section of the pallet transportation assembly 10 after the film wrapping robot 40 completes the film wrapping packaging of the pallets, so that the pallets after film wrapping can continue to be conveyed to the outbound area along the pallet transportation assembly 10. Through the above arrangement, the device main frame 70 provides unified installation and support for the pallet distribution assembly 20, the palletizing robot 30, the film wrapping robot 40, the first palletizing assembly 50 and the second palletizing assembly 60, so that the empty pallet input, material palletizing, film wrapping packaging and pallet output sequentially connect in a compact space to form a complete palletizing and film wrapping integrated operation process.

[0047] In combinationFigure 2 As shown, in an embodiment, the tray dispensing assembly 20 includes a tray lifter 21 and a tray replenishment conveyor 22, the equipment mainframe 70 includes a mainframe body 71 and a mainframe platform 72 arranged on the mainframe body 71, the tray lifter 21 is vertically arranged at a side of the mainframe body 71, and a lower end of the tray lifter 21 is connected with the tray transport assembly 10, and an upper end of the tray lifter 21 is connected with the first stacking assembly 50, the tray replenishment conveyor 22 is connected with the first stacking assembly 50, and the tray replenishment conveyor 22 is arranged on the mainframe platform 72.

[0048] In the embodiment, the tray dispensing assembly 20 specifically includes the tray lifter 21 and the tray replenishment conveyor 22, which are jointly installed in a structural space defined by the equipment mainframe 70. The equipment mainframe 70 includes a vertically extending mainframe body 71 and a mainframe platform 72 fixedly arranged above the mainframe body 71, the mainframe body 71 is used to carry the entire tray dispensing assembly 20 and the conveying and stacking mechanisms matched therewith, and the mainframe platform 72 forms an upper installation base surface used to arrange conveying and executing components matched with the stacking station height.

[0049] Specifically, the tray lifter 21 is arranged at a side of the mainframe body 71 in a vertical direction, a lower end of the tray lifter 21 is connected with the tray transport assembly 10 at a position with a height matched with a conveying plane of the tray transport assembly 10, so that when the tray transport assembly 10 conveys an empty tray to a predetermined transfer position, the tray lifter 21 can receive the empty tray at the lower end and carry the empty tray to a lifting frame thereof. An upper end of the tray lifter 21 is arranged at a height position close to or adjacent to below the mainframe platform 72, and is connected with an empty-tray-feeding end of the first stacking assembly 50 at the height, so that after the tray lifter 21 completes vertical lifting of the empty tray, the tray lifter 21 can stably transfer the empty tray at the upper end position to the first stacking assembly 50, and the first stacking assembly 50 continues to convey the empty tray to a corresponding stacking station of the stacking robot 30.

[0050] On this basis, the tray replenishment conveyor 22 is integrally installed on the main frame platform 72, the conveying direction thereof is preferably arranged parallel to the plane of the main frame platform 72, and one end is connected with the tray feeding section of the first stacking assembly 50. The tray replenishment conveyor 22 is used to form a horizontal buffer and distribution path of empty trays on the main frame platform 72. After the tray lifter 21 lifts an empty tray to the upper end and switches to the tray replenishment conveyor 22 through the corresponding transfer structure, the tray replenishment conveyor 22 can convey the empty tray to the docking position of the first stacking assembly 50 at a predetermined rhythm under the drive of the control system, so as to realize the step-by-step handover of the tray distribution assembly 20 from the lower conveying line to the upper stacking station. Through the above structural arrangement, the tray lifter 21 and the tray replenishment conveyor 22 form a tray lifting and upper distribution path from bottom to top in the space defined by the equipment main frame 70, so that the empty tray can be continuously received, lifted and conveyed to the first stacking assembly 50 by the tray transport assembly 10, and the tray supply is coordinated with the stacking operation rhythm of the stacking robot 30.

[0051] In combination Figure 3 As shown in the drawings, in an embodiment, the film wrapping robot 40 includes a film wrapping head 41 and a film wrapping driving member 42. The film wrapping head 41 is arranged on the main frame platform 72 close to the stacking robot 30, and the film wrapping driving member 42 is arranged on the main frame platform 72 away from the film wrapping head 41. The film wrapping driving member 42 drives the film wrapping head 41 to wrap the finished tray stacked by the stacking robot 30.

[0052] In the embodiment, the film wrapping robot 40 is integrally installed on the upper region of the equipment main frame 70, specifically on the main frame platform 72, and its film wrapping work region is arranged adjacent to the stacking work station of the stacking robot 30 in the horizontal plane, so as to facilitate in-situ film wrapping and packaging of the full pallet after the stacking robot 30 completes the stacking. The film wrapping robot 40 includes a film wrapping head 41 and a film wrapping driving member 42, wherein the film wrapping head 41 is arranged on the main frame platform 72 close to the stacking robot 30, for directly carrying the film wrapping roll assembly and completing the film wrapping around the periphery of the full pallet; the film wrapping driving member 42 is arranged on the other side of the main frame platform 72 away from the film wrapping head 41, for providing movement and film unwinding driving for the film wrapping head 41. The film wrapping head 41 can be installed on a set of guiding and supporting mechanism on the main frame platform 72, so that the working end of the film wrapping head 41 is located on the side of the stacking work station and opposite to the position of the full pallet, and a rotating shaft structure for installing the wrapped film roll and a guiding component matched with the film unwinding direction are arranged thereon, so that the film can be adhered to the periphery of the full pallet along the predetermined path in the wrapping process. The film wrapping driving member 42 is fixed on the end of the main frame platform 72 relatively far away from the stacking work station, and can include a driving motor for driving the film wrapping head 41 to move, a transmission assembly and a corresponding control unit, the output end of which is connected to the guiding and supporting mechanism where the film wrapping head 41 is located through a mechanical connection structure, according to the film wrapping trajectory instruction issued by the control system, the film wrapping head 41 is driven to reciprocate or rotate around the full pallet, and the rotation of the film roll and the unwinding speed are synchronously controlled in the movement process, so as to realize the full wrapping of the full pallet after the stacking robot 30 completes the stacking.

[0053] In the embodiment, when the stacking robot 30 completes the material stacking of the empty pallet and forms a full pallet, the full pallet is moved to the corresponding film wrapping work station of the film wrapping robot 40 by the conveying mechanism, so that the full pallet is in the working range of the film wrapping head 41. At this time, the film wrapping driving member 42 is started, and the film wrapping head 41 is driven to move relative to the full pallet according to the preset film wrapping path on the main frame platform 72, the film wrapping head 41 continuously unwinds the film and adheres to the side and periphery of the full pallet in the movement process, thereby completing the film wrapping and packaging of the full pallet after the stacking robot 30 completes the stacking. Through the above relative arrangement and cooperative work of the film wrapping head 41 and the film wrapping driving member 42 on the main frame platform 72, the film wrapping robot 40 can implement the film wrapping work on the full pallet close to the stacking work station, forming an integrated film wrapping unit closely connected with the stacking process.

[0054] In combination with Figure 4 As shown in the figure, in an embodiment, the pallet transportation assembly 10 includes a pallet input line 11 and a pallet output line 12, both of which are arranged below the main frame body 71, the pallet input line 11 is connected with the lower end of the pallet lifter 21, and the pallet output line 12 is connected with the second stacking assembly 60.

[0055] In the embodiment, the tray conveying assembly 10 is arranged in the horizontal direction in the lower region of the main frame body 71 to form a closed-loop conveying channel for empty tray input and full tray output at the bottom of the device. The tray conveying assembly 10 includes a tray input line 11 and a tray output line 12, which are arranged in parallel or approximately parallel with respect to the main frame body 71 and are disposed in the mounting space below the main frame body 71, so that the flow directions of the empty trays and the full trays can be separated and combined at the bottom of the device, which is conducive to the arrangement of the tray distribution assembly 20, the stacking robot 30, the film wrapping robot 40, and the stacking mechanism cooperating therewith in the upper region of the main frame 70.

[0056] Specifically, the tray input line 11 is arranged near the tray lifting machine 21, and the conveying height thereof matches the tray transfer position at the lower end of the tray lifting machine 21, for conveying the empty trays from the upstream workstations to the lower end of the tray lifting machine 21 in the horizontal direction. When the empty trays run to the corresponding transfer area at the lower end of the tray lifting machine 21 along the tray input line 11, the carrying part of the tray lifting machine 21 is at the height of the interface with the conveying plane of the tray input line 11, so that the tray lifting machine 21 can receive the empty trays conveyed by the tray input line 11 under the coordination of the control system, and after receiving the empty trays, the tray lifting machine 21 can move the empty trays from the bottom region of the device to the tray distribution height at the upper layer by the vertical lifting action, so as to realize the layered transfer of the empty trays from the bottom conveying layer to the upper stacking work layer.

[0057] The tray output line 12 is arranged near the output end of the second stacking assembly 60, and the conveying height thereof matches the height position for tray transfer of the second stacking assembly 60, for receiving the full trays that are wrapped and packed by the film wrapping robot 40 and moved down by the second stacking assembly 60. When the full trays wrapped and packed by the film wrapping robot 40 are conveyed from the upper work area to the lower region of the main frame body 71 by the second stacking assembly 60, the full trays can be smoothly transferred to the tray output line 12 after the height interface with the conveying plane of the tray output line 12 is completed, and the full trays are conveyed to the delivery area or the subsequent process workstations outside the device by the tray output line 12 in the preset direction. Through the reasonable arrangement of the tray input line 11 and the tray output line 12 below the main frame body 71 and the cooperation of the tray lifting machine 21 and the second stacking assembly 60 in height and position, the overall logistics path of the empty trays from input to lifting and the full trays from downward conveying to output is clearly layered and smoothly connected between the bottom and the upper part of the device, which is conducive to the construction of a compact stacking and film wrapping integrated device with clear logistics flow.

[0058] In an embodiment, a material conveying line is further included, and the stacking robot 30 is arranged on the main frame platform 72, and the material conveying line is arranged at the side of the main frame body 71 and is connected with the stacking robot 30.

[0059] In the embodiment, the palletizing and film wrapping equipment further comprises a material conveying line for continuously supplying the palletizing station with goods to be palletized, and the palletizing robot 30 is installed on the main frame platform 72, with its base fixed to the upper surface of the main frame platform 72. The working space of the palletizing robot 30 covers the palletizing station area where the empty pallets are located and the discharge end area of the material conveying line, so that the palletizing robot 30 can complete the picking and placing operation between the pallets and the goods in the same working plane. The material conveying line is arranged along one side of the main frame body 71, and its longitudinal extension direction is preferably parallel or approximately parallel to the conveying direction of the pallet transport assembly 10. The material conveying line is fixed to the side edge of the main frame body 71 through a support structure, and the discharge end position thereof is arranged within the reachable grabbing range of the palletizing robot 30, so that the various types of boxes, crates and other goods conveyed out of the material conveying line can be directly recognized and grabbed by the palletizing robot 30 after reaching the discharge end. In specific use, the material conveying line is dispatched by the upper control system according to the generated stacking sequence information, and different orders and different specifications of goods are conveyed to the discharge position on the side edge of the main frame body 71 in a predetermined sequence. Since the material conveying line and the palletizing robot 30 are relatively fixed and height-matched in spatial arrangement, the palletizing robot 30 can complete the grabbing of the target goods at the discharge end of the material conveying line through its end effector, and sequentially place the goods on the empty pallet conveyed to the palletizing station by the first palletizing assembly 50 according to the planned stacking model. Through the above arrangement, the material conveying line and the main frame body 71 form an integrated material supply channel, which cooperates with the palletizing robot 30 arranged on the main frame platform 72 to realize the automatic transfer of the goods to be palletized from the side to the palletizing station, and ensures the orderly supply and continuous operation of the multi-type and multi-specification goods in the palletizing process.

[0060] In combination Figure 5 As shown in the drawings, the embodiment of the present application also provides a control method applied to the palletizing and film wrapping equipment as described above, which comprises:

[0061] sequentially controlling the pallet transport assembly 10, the pallet distribution assembly 20 and the first palletizing assembly 50 to convey the empty pallets to the palletizing robot 30;

[0062] obtaining stacking sequence information, and discharging the goods in sequence according to the stacking sequence information to be palletized on the empty pallets;

[0063] after the palletizing is completed, controlling the film wrapping robot 40 to wrap and package the full pallets to obtain wrapped pallets;

[0064] controlling the second palletizing assembly 60 to convey the wrapped pallets to the pallet transport assembly 10, and then conveying the wrapped pallets to the discharge area by the pallet transport assembly 10, and recording the actual palletizing data.

[0065] In the embodiment, the control system sequentially controls the tray conveying assembly 10, the tray dispensing assembly 20, and the first stacking assembly 50 to complete the conveying of the empty tray to the stacking station. The tray conveying assembly 10 receives the empty tray from the upstream station and conveys the empty tray along the preset conveying path to the position of the tray dispensing assembly 20. When the empty tray reaches the docking station of the tray dispensing assembly 20, the tray dispensing assembly 20 receives and temporarily stores the empty tray. When the preset stacking task starting condition is met, the first stacking assembly 50 cooperates with the tray dispensing assembly 20 to stably convey the corresponding empty tray from the tray dispensing assembly 20 to the stacking station of the stacking robot 30, so that the empty tray is accurately stopped in the working space of the stacking robot 30, and waits for the subsequent execution of the goods stacking operation.

[0066] After the empty tray is positioned, the control system calls a hybrid stacking algorithm module to generate stacking sequence information of the corresponding order based on the pre-received order information. The stacking sequence information reflects the placement order and corresponding specification matching relationship of each layer, each row, and each column of goods under the same tray. According to the stacking sequence information, the control system issues a warehouse instruction to the material conveying and warehouse execution unit, and sequentially conveys the goods of corresponding specifications and quantities from the inventory area or buffer area to the discharge end of the material conveying line accessible to the stacking robot 30. The stacking robot 30 cooperates with the vision recognition or position information acquisition module to sequentially grasp the corresponding goods from the material conveying line according to the stacking sequence information, and places each goods on the predetermined position of the empty tray, until the stacking of the goods of a whole tray is completed, thereby obtaining a full tray. When the goods stacking operation of a tray is completed, the control system marks the tray as a to-be-wrapped tray, and controls the wrapping robot 40 to enter the working state.

[0067] In an embodiment, the first stacking assembly 50 or the transfer mechanism connected thereto can move the full tray after the stacking is completed to the wrapping station corresponding to the wrapping robot 40, so that the full tray is within the working range of the wrapping head 41. Subsequently, the control system issues wrapping process parameters to the wrapping robot 40, including the number of wrapping turns, the wrapping path, the height range, etc. The wrapping robot 40 drives the wrapping head 41 to move relative to the full tray according to the wrapping process parameters, and synchronously controls the unwinding and tensioning state of the wrapping film, to wrap the full tray in the circumferential and height directions, until the wrapping and packaging of the full tray are completed, thereby forming a wrapped stack.

[0068] After the film-wrapped stack is formed, the control system further controls the second stacking assembly 60 to transport the film-wrapped stack from the film-wrapping station to the docking position of the tray transport assembly 10. Specifically, after receiving the film-wrapping completion signal, the second stacking assembly 60 smoothly transfers the film-wrapped stack from the upper area of the equipment main frame 70 to the height of the tray output line below the main frame body 71, and realizes the docking of the transport plane with the tray transport assembly 10, so that the film-wrapped stack is smoothly switched to the tray transport assembly 10. After receiving the film-wrapped stack, the tray transport assembly 10 transports the film-wrapped stack to the warehouse-out area or the downstream logistics station according to the preset warehouse-out path and rhythm.

[0069] During the entire process of the above tray from the empty tray input, the goods stacking, the film wrapping and packaging, and the film-wrapped stack output, the control system also collects and records the key operation data in real time to obtain actual stacking data. The actual stacking data at least includes: the actual stacking of the goods variety and quantity, the actual placement of the goods in each layer and each position, the shape size and height information of the stack type when the stacking is completed, the wrapping parameters in the film wrapping and packaging process, and the time stamp of the tray circulation, etc. The control system stores the above actual stacking data and the corresponding order information before the tray completes the warehouse-out, which is used for subsequent optimization and adjustment of the mixed stacking algorithm, the film process parameters and the tray circulation rhythm, so as to further improve the overall stacking and film wrapping efficiency and the stacking stability in the subsequent processing of similar or similar orders.

[0070] In an embodiment, the obtaining the stacking sequence information comprises:

[0071] extracting the goods data in the order and generating a corresponding stacking multi-dimensional array;

[0072] buffering the goods to the corresponding storage location according to the stacking multi-dimensional array, and constructing an initial stacking model according to the goods data;

[0073] optimizing the initial stacking model based on an improved heuristic algorithm to obtain a final stacking model, and outputting the stacking sequence information.

[0074] In the embodiment, the order management system is docked, and the goods data in the current order to be processed is extracted. The goods data at least includes the order number, the product category identifier, the shape size parameters (length, width, height), the weight parameters, the packaging form, the barcode position identifier, and whether the goods can be stacked, the maximum stacking number, and other attribute information. The stacking planning module classifies all the goods to be stacked in the same order according to the tray based on the above-mentioned multi-dimensional attributes, and generates a corresponding stacking multi-dimensional array according to a preset data structure, so that each goods has a unique array index and its corresponding multi-dimensional features such as size, weight, stacking limit and target tray number in the array, which is used for subsequent stacking model construction and algorithm solving.

[0075] After obtaining the stacking multidimensional array, the system maps and caches the to-be-stacked goods to the corresponding storage location according to the order belonging relationship, specification size and outbound priority of each goods in the array, and the storage location can be a stereoscopic warehouse storage location, a buffer conveying line buffer location or a turnover box position, so that the goods under the same pallet are gathered as much as possible in space to facilitate subsequent sequential grabbing. Meanwhile, the stacking planning module takes the pallet as the minimum stacking unit, combines the effective loading size range of the pallet, the allowable bearing weight and the preset safety stability requirements, and distributes the goods in the stacking multidimensional array to the three-dimensional loading space of the pallet one by one to construct an initial stacking model. The initial stacking model considers the geometric matching relationship between the shape size of the goods and the loading space of the pallet, the compatible relationship between the goods in up-down stacking, and the basic constraints such as the bar code orientation recognizability when constructing, forming a stacking scheme that meets the basic placement conditions but has not been globally optimized, which is used as the initial solution of the improved heuristic algorithm.

[0076] After obtaining the above initial stacking model, the stacking planning module iteratively optimizes the initial stacking model based on the improved heuristic algorithm. Specifically, the algorithm takes the pallet space utilization rate, the stacking stability index, the goods bar code visibility, the goods gravity center distribution and the planning calculation time as comprehensive evaluation indexes, generates multiple candidate stacking schemes by performing neighborhood search and scheme transformation on the initial stacking model, such as exchanging the positions of goods in the same layer, adjusting the placement orientation of goods, recombining part of the goods in the layer, and calculating the corresponding comprehensive evaluation function value of each candidate scheme, and selecting the scheme with better evaluation result as the new current stacking model for further iteration. When the number of iterations reaches the preset upper limit or the better scheme cannot be obtained through continuous iterations for multiple times, the algorithm is terminated and the stacking model at this time is determined as the final stacking model. Subsequently, the system generates stacking sequence information corresponding to the target position, placement order and placement posture of each goods in the three-dimensional space of the pallet in the final stacking model, refines the stacking process of each pallet into a time-sequentially arranged instruction sequence such as "grab goods-target layer number-target row and column position-target orientation", and sends the stacking sequence information to the stacking robot control module and the material outbound control module, so as to drive the materials to be sequentially outbound and guide the stacking robot 30 to sequentially complete the stacking operation on the empty pallet.

[0077] In an embodiment, the constraint conditions of the initial stacking model include:

[0078] The first constraint: ;

[0079] wherein, represents the shape function of the goods, represents an arbitrary position vector, represents the preset shape function of the goods, represents a preset position vector;

[0080] The second constraint is: , , ;

[0081] wherein, , and are the length, width and height of the goods, respectively, , and are the length, width and height of the box, respectively;

[0082] The third constraint is: ;

[0083] wherein, represents the gravity value of the whole goods, represents the minimum preset gravity value;

[0084] The fourth constraint is: ;

[0085] wherein, represents the goods barcode, represents that the barcode faces outward.

[0086] In the present embodiment, in order to ensure that the stacking scheme meets the requirements in terms of geometric matching, size adaptation, overall stability and barcode reading when constructing the initial stacking model, the control system establishes multi-dimensional constraint conditions for each to-be-placed goods. First, the first constraint is set to limit the outer contour of the goods in the stacking space from exceeding the pre-set stacking envelope boundary. Specifically, the system uses a shape function to describe the outer shape of the pre-set stacking space and the actual goods, and discretizes the stacking space into a plurality of candidate placement positions. For any candidate position, the system judges whether the goods placed at the position completely fall within the pre-set stacking envelope according to the shape function value corresponding to the position. Only when the outer shape of the goods at any candidate position is completely covered by the shape function of the pre-set goods, it is considered that the first constraint is satisfied, thereby avoiding the situation that the goods protrude from the tray boundary or invade the safety isolation area during the stacking process.

[0087] Furthermore, the system sets a second constraint to ensure that the dimensions of the goods are compatible with the dimensions of the carrier box or pallet unit. In this constraint, the length, width, and height of the goods correspond to the effective length, effective width, and effective height of the box or pallet, respectively. By comparing the three-dimensional relationships, the system limits the overall dimensions of the goods in any direction to no greater than the available dimensions of the carrier unit. When it is determined that a certain item exceeds the effective dimensions of the corresponding box or pallet in any of the length, width, or height directions, the system determines that the item does not meet the second constraint at the current stacking level and position and will not place it. Only when all three dimensions of the item are within the allowable range of the box or pallet will the item be allowed to be included in the initial stacking model, thus ensuring that no single item will cause stacking interference or loading failure due to exceeding the size limit.

[0088] Simultaneously, the system sets a third constraint to evaluate the overall stability of the stack. Based on the planar position, height distribution, and weight parameters of the goods on the pallet, the control system calculates the overall gravity characteristic value of the entire pallet of goods in three-dimensional space and compares this value with a pre-set minimum gravity threshold. When the gravity characteristic value of the entire pallet of goods is not lower than this threshold, it indicates that the center of gravity distribution and load-bearing state of the stack are within a safe range, and the third constraint can be considered satisfied. Conversely, if the value is lower, it is determined that the current stacking arrangement has a risk of insufficient overall stability, and the placement order or layer combination of goods needs to be adjusted in subsequent optimization processes to avoid tipping or uneven loading.

[0089] In addition, the system incorporates a fourth constraint to ensure that the product barcodes remain visible on the outside after stacking, facilitating subsequent scanning, tracking, and inventory management. To this end, when establishing the initial stacking model, the control system assigns a barcode orientation indicator to each product. When the barcode faces outwards from the pallet and is within the visible area, the indicator is set to valid. If the barcode is obscured by adjacent products or faces inwards from the pallet, the product is deemed not to meet the fourth constraint in its current placement, requiring adjustment of its orientation or a change in its stacking position. Through this barcode orientation constraint, it is ensured that the barcodes of all critical products in the final stacking model are arranged facing outwards, meeting the requirements for rapid identification and refined management in intelligent warehousing. In summary, the initial stacking model is constructed under the combined effect of the first to fourth constraints, providing a compliant and feasible initial solution space for subsequent optimization based on improved heuristic algorithms.

[0090] In one embodiment, optimizing the initial stacking model based on an improved heuristic algorithm to obtain the final stacking model includes:

[0091] Perform multi-objective weighted combination according to the following formula:

[0092] ;

[0093] in, Indicates the actual number of boxes used. This represents the theoretical minimum number of boxes. Indicates the volume already used. Indicates the total volume. This represents the stability score of the stacking model. The time index represents the planning time, and α, β, γ, and δ represent adaptive weighting coefficients.

[0094] In one embodiment, to simultaneously consider packing quantity, pallet space utilization, stacking stability, and planning time cost when optimizing the initial stacking model based on an improved heuristic algorithm, the control system pre-constructs a comprehensive evaluation function in the stacking planning module to perform multi-objective weighted evaluation on each candidate stacking model. This comprehensive evaluation function is formed by weighted summation of multiple objective terms, where each objective term corresponds to a key indicator of the stacking scheme. The smaller the value of the evaluation function, the better the overall stacking model.

[0095] Specifically, when evaluating candidate stacking models, a box usage index reflecting the compactness of packing is first introduced. This is achieved by statistically analyzing the actual number of boxes used in the current stacking model and comparing this number with the minimum number of boxes required to stack the same batch of goods under theoretical conditions. This yields a quantitative result representing the relationship between n and N, used to measure the redundancy of the current solution in terms of box quantity. The closer the actual number of boxes used is to the theoretical minimum, the better the corresponding index. Secondly, a volume utilization index reflecting pallet space utilization is introduced. This is achieved by calculating the volume already occupied by goods under the current stacking model and comparing it with the total available volume of the corresponding pallet. and The quantitative results of the relationship between them are used to evaluate the filling degree of the pallet loading space. When the used volume is close to the upper limit of the pallet volume and the safety constraints are met, the better the value of this index, the more beneficial it is to reduce gaps and improve space utilization.

[0096] Building upon this, to reflect the stacking scheme's performance in terms of anti-tipping and force balance, a stacking stability index is also introduced into the comprehensive evaluation function. The control system calculates the corresponding stacking stability score based on the current stacking model's product location distribution, weight parameters, and pallet support boundaries. The impact of this score is reflected in the comprehensive evaluation function through its reciprocal form. This ensures that a higher stacking stability score corresponds to a smaller contribution of the corresponding item to the evaluation function, thus guiding the algorithm to prioritize stacking models with a reasonable overall center of gravity distribution and strong anti-overturning capability. Furthermore, to avoid excessively long stacking planning calculation time affecting the overall system cycle time, a planning time index is also introduced into the comprehensive evaluation function. , for characterizing the time required to complete the solution of the stacking model under the current search strategy and parameter setting, when the planning time is too long, the proportion of this indicator in the evaluation function will be increased, so as to prompt the algorithm to balance between the quality of the solution and the calculation overhead.

[0097] The influence degree of each indicator in the comprehensive evaluation function is adjusted by the adaptive weight coefficients α, β, γ, δ, and the control system can preset or dynamically adjust each weight coefficient according to different order types, product characteristics, and different emphasis on efficiency or stability on the scene. For example, in the heavy cargo and easy-to-tip scene, the weight of the stability-related indicators can be appropriately increased, and in the large-batch and high-throughput outbound scene, the weight of the planning time and box utilization-related indicators can be increased. In the iterative process of improving the heuristic algorithm, for each generated candidate stacking model, the system calculates its corresponding evaluation value according to the above comprehensive evaluation function, and compares the evaluation results of different candidate models in the same iteration process, and preferentially retains the stacking model with smaller evaluation value as the current optimal solution to continue participating in subsequent neighborhood search; when multiple iterations in a row fail to obtain a smaller evaluation value, it is considered that the current stacking model has reached the expected optimization level, and the stacking model at this time is determined as the final stacking model and output, so as to realize the multi-objective comprehensive optimization of the initial stacking model.

[0098] In an embodiment, after recording the actual stacking data, the method comprises:

[0099] Based on the historical stacking data and the product attributes, the actual stacking data is parameter corrected to obtain stacking correction data;

[0100] The actual stacking position and the planning deviation are obtained to dynamically adjust the stacking correction data to obtain dynamic adjustment data for the subsequent optimization model.

[0101] In this embodiment, after completing the flow control of each pallet stacking task, the control system unifies the operation information collected by the stacking robot 30, the film wrapping robot 40 and the related sensors into actual stacking data and stores it in the database, which at least includes: the order number corresponding to the current pallet, the type and quantity of goods, the actual placement layer number, row and column position, placement posture of each goods on the pallet, stacking sequence and time, the change of the center of gravity monitored during stacking, the stress on the pallet, and the size and deformation of the stack after film wrapping. Subsequently, the control system calls the historical stacking data and the attribute information related to each goods, compares and analyzes the actual stacking data generated this time with the statistical data of similar orders and the same or similar specification goods in previous stacking processes, and corrects the parameters reflecting the stacking stability, space utilization rate and goods deformation characteristics, etc. For example, when the system finds that a certain type of goods has similar deformation mode or is prone to tipping in multiple stacking processes, it will increase the stability sensitivity weight in the parameter library and adjust the priority placement position and stacking number; when it is found that some combination methods have long caused the stress on the edge area of the pallet to be too large or the space utilization rate to be too low, the feasibility score of this combination in the subsequent stacking model is corrected accordingly. After the above processing, the stacking correction data reflecting the current running condition and the real characteristics of the goods is obtained, providing updated basic parameters for subsequent model optimization.

[0102] After obtaining the stacking correction data, the control system further calls the real-time monitoring and feedback system to compare the actual stacking position recorded in this stacking process with the target position in the planned stacking model one by one. Specifically, based on the three-dimensional position and posture information of the goods collected by machine vision, as well as the execution trajectory feedback by the position encoder and force sensor, the system reconstructs the actual stacking distribution of each goods on the pallet, and matches it with the stacking sequence information and target layer column coordinates output in the planning stage, calculates the deviation value of each goods in the plane position, height and attitude angle, and obtains the deviation distribution characteristics of this operation. For the cases where the deviation is obviously concentrated or shows a systematic trend, such as the long-term existence of stacking deviation in a certain pallet area or the systematic height of a certain type of goods after stacking being systematically lower than the theoretical value, the control system will adjust the related parameters dynamically in combination with the stacking correction data: on the one hand, the size allowance, deformation compensation coefficient and stability score of this type of goods in the model are corrected; on the other hand, the coefficients of robot motion path, grabbing point offset and placement strategy are fine-tuned. Through the above position deviation analysis and parameter dynamic adjustment process, the dynamic adjustment data for subsequent stacking model optimization is finally formed, and is used as input to participate in the weight update and constraint revision of the improved heuristic algorithm during the next round of stacking planning and execution, so that the stacking model can be gradually self-adapted and optimized according to the actual running situation.

[0103] In summary, the palletizing and film wrapping equipment and the control method thereof provided by the present application have obvious improvement in overall operation efficiency through integrated design in equipment structure layout and control strategy. Through the introduction of the improved heuristic hybrid palletizing algorithm in the upper control system, and the combination of the parallel processing mechanism, the order analysis, the stacking model construction and the stacking sequence information generation are cooperatively scheduled, so that the calculation time of the palletizing planning stage is significantly shortened, and the planning time can be compressed to about six tenths of the traditional scheme under the same order scale, so as to release more effective working time for the palletizing robot, so that the palletizing robot can complete more pallet stacking tasks in unit time, and the comprehensive utilization rate is obviously improved.

[0104] The present application also unifies modeling and multi-dimensional constraint combination optimization of goods of different specifications, different weights and different packaging forms through the hybrid palletizing algorithm, and comprehensively considers factors such as pallet loading boundary, goods size matching, barcode orientation and stacking stability when generating the stacking scheme, so that the available loading space of the pallet can be more fully filled. Compared with the traditional single-specification or regular simple stacking mode, the present application can load more goods under the condition of the same pallet size, and the average utilization rate of pallet space is significantly improved, thereby effectively reducing the logistics and warehousing cost per unit of goods. The film wrapping structure and the palletizing station are integrated and arranged on the same equipment main frame, and the real-time monitoring and feedback system is matched, so as to dynamically detect the actual stacking posture, center of gravity change and film wrapping coverage state, and realize whole-process control of the stability of the stack. The film wrapping robot can automatically adjust the wrapping path and the number of wrapping turns according to the stacking height and the outer shape contour when performing the film wrapping operation, so that the stack has higher anti-toppling capacity and overall rigidity after completing the film wrapping, and adapts to the requirements of long-distance transportation, storage and other working conditions, thereby significantly reducing the risk of overturning and scattering during transportation.

[0105] The present application adopts a multi-section lifting type empty pallet supply structure in the pallet supply link, and configures the input, lifting, unstacking and distribution processes of the empty pallet in the vertical direction and the horizontal direction in sections and layers, so that the empty pallet can continuously flow between the lifting sections and the conveying sections. Through the cooperative control of the lifting mechanisms and the conveying mechanisms in each section, the empty pallets can be supplied in advance from the downstream while the palletizing station consumes the empty pallets, so as to match the empty pallet supply with the palletizing rhythm, significantly shorten the empty pallet supply time, reduce the standby time caused by the shortage of pallets, and enable the system to have the ability of long-time continuous and uninterrupted operation.

[0106] In addition, the present application combines real-time monitoring data with historical stacking data to model and predict the deformation characteristics and stress conditions of goods during the stacking process, and introduces deformation compensation parameters and stability correction coefficients in subsequent stacking planning, so that the stacking scheme can automatically adjust the interlayer combination and placement order according to the characteristics of goods of different materials and different packaging strengths, thereby realizing adaptive optimization more in line with the actual running state under the premise of ensuring stability, and improving the adaptability and robustness of the system in complex order and complex goods scenarios.

[0107] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method of a pallet wrapping apparatus, characterized by, The pallet wrapping equipment comprises a pallet conveying assembly for inputting empty pallets and outputting full pallets; a pallet distribution assembly for receiving and storing the empty pallets on the pallet conveying assembly; a palletizing robot for palletizing materials on the empty pallets to obtain the full pallets; a film wrapping robot for wrapping and packing the full pallets; a first palletizing assembly for conveying the empty pallets from the pallet distribution assembly to the palletizing robot; a second palletizing assembly for conveying the full pallets wrapped and packed by the film wrapping robot to the pallet conveying assembly for output; and an equipment main frame arranged at the side of the pallet conveying assembly for supporting the pallet distribution assembly, the palletizing robot, the film wrapping robot, the first palletizing assembly and the second palletizing assembly. The control method comprises sequentially controlling the pallet conveying assembly, the pallet distribution assembly and the first palletizing assembly to convey the empty pallets to the palletizing robot; obtaining stacking sequence information and sequentially outputting goods according to the stacking sequence information to be palletized on the empty pallets; after the palletizing is completed, controlling the film wrapping robot to wrap and pack the full pallets to obtain wrapped pallets; and controlling the second palletizing assembly to convey the wrapped pallets to the pallet conveying assembly, and then conveying the wrapped pallets to an output area by the pallet conveying assembly, and recording actual palletizing data. The obtaining of the stacking sequence information comprises extracting goods data in an order and generating a corresponding palletizing multi-dimensional array; buffering goods to corresponding storage locations according to the palletizing multi-dimensional array, and constructing an initial stacking model according to the goods data; optimizing the initial stacking model based on an improved heuristic algorithm to obtain a final stacking model, and outputting stacking sequence information. The optimization of the initial stacking model based on the improved heuristic algorithm to obtain the final stacking model comprises multi-objective weighted combination according to the following formula: wherein, represents the actual number of boxes used, represents the theoretical minimum number of boxes, represents the volume used, represents the total volume, represents the stability score of the stacking model, represents the planning time, and a, b, g, d represent adaptive weight coefficients; The constraint condition of the initial stack model comprises: a first constraint: ; wherein, represents a shape function of the goods, represents an arbitrary position vector, represents a preset shape function of the goods, represents a preset position vector; a second constraint: , , ; wherein, , and are length, width and height of the goods respectively, , and are length, width and height of the box respectively; a third constraint: ; wherein, represents a gravity value of the goods as a whole, represents a minimum preset gravity value; a fourth constraint: ; wherein, represents a cargo barcode, represents that the barcode faces outward.

2. The control method of the pallet wrapping apparatus according to claim 1, characterized in that, The pallet distribution assembly comprises a pallet lifter and a pallet replenishment conveyor, the equipment main frame comprises a main frame body and a main frame platform arranged on the main frame body, the pallet lifter is vertically arranged at the side of the main frame body, the lower end of the pallet lifter is connected with the pallet conveying assembly, the upper end of the pallet lifter is connected with the first palletizing assembly, the pallet replenishment conveyor is connected with the first palletizing assembly, and the pallet replenishment conveyor is arranged on the main frame platform.

3. The control method of the pallet wrapping apparatus according to claim 2, characterized in that, The film wrapping robot comprises a film wrapping head and a film wrapping driving member, the film wrapping head is arranged on the main frame platform close to the palletizing robot, the film wrapping driving member is arranged on the main frame platform away from the film wrapping head, and the film wrapping driving member drives the film wrapping head to wrap and pack the full pallets palletized by the palletizing robot.

4. The control method of the pallet wrapping apparatus according to claim 2, characterized by, The pallet conveying assembly comprises a pallet input line and a pallet output line both arranged below the main frame body, the pallet input line is connected with the lower end of the pallet lifter, and the pallet output line is connected with the second palletizing assembly.

5. The control method of the pallet wrapping apparatus according to claim 2, wherein The palletizing robot is arranged on the main frame platform, and the material conveying line is arranged at the side of the main frame body and connected with the palletizing robot.

6. The control method of the pallet wrapping apparatus according to claim 1, wherein After the actual palletizing data is recorded, the following steps are included: Parameter correction is performed on the actual palletizing data based on historical stacking data and cargo attributes to obtain palletizing correction data. The actual stacking position and the planning deviation are obtained to dynamically adjust the palletizing correction data to obtain dynamic adjustment data for a subsequent optimization model.

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