Box stacking method, box disassembling method and storage medium

Abstract

The invention provides a box stacking method, a box disassembling method and a storage medium. The box stacking method, the box disassembling method and the storage medium can be used for solving the problem of rapid box stacking when the types of material boxes are different. According to the method, when the material box has two clamping and holding positions, when the box is stacked, the one-way stroke of the first clamping and holding mechanism and the one-way stroke of the second clamping and holding mechanism are both the distance between the corresponding material box clamping and holding position and the box bottom and the distance needed when the box is stacked, namely h + x. Therefore, different box unstacking and stacking methods can be operated according to the types of the material boxes, rapid box unstacking and stacking are achieved, the box unstacking and stacking device can be suitable for rapid box unstacking and stacking of various types of material boxes, and compared with an existing scheme, the stroke of the first clamping mechanism and the stroke of the second clamping mechanism during box stacking are reduced, and the box stacking efficiency is improved. And therefore, the time for the first clamping mechanism and the second clamping mechanism to move up and down is shortened, and the box folding and unfolding device can quickly fold boxes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent warehousing, in particular to a stacking method, a destacking method and a storage medium. BACKGROUND

[0002] In the logistics and warehousing industry, a large number of containers are needed. In order to save the storage space occupied by empty containers, a stacking machine is generally used to stack the containers and store them.

[0003] In the prior art, a double-clamping mechanism destacking machine is provided. The clamping process is as follows: the double-clamping mechanism of the upper clamping mechanism and the lower clamping mechanism clamps the container. When the lower clamping mechanism is lifted, the lower lifting main plate can be located inside the upper clamping vertical plate. When the upper clamping mechanism is at the lower limit position and the lower clamping mechanism is at the upper limit position, the lower clamping jaw structure of the lower clamping mechanism is higher than the upper clamping jaw structure of the upper clamping mechanism. In the stacking of the second container and the subsequent containers, only the clamping mechanism needs to be clamped, and the upper lifting mechanism needs to be lifted in two steps to complete the stacking of one container. The clamping mechanism loosening and the lifting mechanism descending can be completed by using the time of the container running and positioning on the conveying line.

[0004] Although the double-clamping mechanism destacking machine optimizes the clamping process and improves the destacking efficiency compared with the single-clamping mechanism destacking machine, in some cases, there may be multiple types of containers on site, such as containers with smooth sides and convex edges on the upper part (i.e., only one clamping position on the upper convex edge), containers with convex edges on the upper part, middle part, and bottom part of the side (i.e., with two or more clamping positions on the upper convex edge, middle convex edge, and / or bottom convex edge), or containers with the same length and width but different heights. Therefore, the prior art does not provide a solution for efficiently handling containers in such cases. SUMMARY

[0005] The present application provides a stacking method, a destacking method and a storage medium, which can be used to solve the problem of quickly stacking containers when the types of containers are different.

[0006] The first aspect of the present application provides

[0007] A stacking method applied to a destacking machine with a double-clamping mechanism, the stacking method comprising:

[0008] D1, a control system acquires container parameters entering the destacking machine, the parameters including the number of containers, the order of entering the containers, the size of the containers, and the clamping position of the containers, wherein containers with only one clamping position are defined as first-type containers, and containers with two or more clamping positions are defined as second-type containers;

[0009] D2, judge whether the containers to be entered into the de-stacking machine are continuous two or more than two second type containers, if the result is yes, get the number of the second type containers to be continuously entered, and execute steps D3-D6, if the result is no, get the number of the containers to be entered, and execute steps D7-D11;

[0010] D3, control the first clamping mechanism of the de-stacking machine to lift up to a first predetermined position after clamping the first clamping position of the second type container entered into the de-stacking machine, and control the de-stacking machine to enter the container;

[0011] D4, control the second clamping mechanism of the de-stacking machine to release the clamped container, and lower to the second clamping position of the second type container clamped by the first clamping mechanism, control the second clamping mechanism to clamp the second clamping position;

[0012] D5, control the first clamping mechanism to release the clamped second type container, and lower to the first clamping position of the second type container after the de-stacking machine enters the container;

[0013] D6, repeat steps D3-D5 until the continuous second type container stacking is completed, return to step D2;

[0014] D7, control the first clamping mechanism of the de-stacking machine to lift up to a first predetermined position after clamping the clamping position of the container entered into the de-stacking machine, and control the de-stacking machine to enter the container;

[0015] D8, control the second clamping mechanism of the de-stacking machine to release the clamped container, and lower to the clamping position of the container after the de-stacking machine enters the container, control the container clamped by the first clamping mechanism to continue lifting up to a second predetermined position;

[0016] D9, control the second clamping mechanism to clamp the container after the de-stacking machine enters the container, and lift up to a first predetermined position after the de-stacking machine enters the container;

[0017] D10, control the first clamping mechanism to release the clamped container, and lower to the clamping position of the container after the de-stacking machine enters the container, control the container clamped by the second clamping mechanism to continue lifting up to a second predetermined position;

[0018] D11, repeat steps D7-D10 until the container stacking is completed, return to step D2;

[0019] D12, all container stacking is completed, the de-stacking machine stops running.

[0020] Further, the step D1 comprises:

[0021] D101, control the system to establish a communication connection with the logistics management system, and the logistics management system sends the number of containers, the entering sequence, the container size and the container clamping position information to the control system;

[0022] D102, the control system receives information sent by the logistics management system to obtain the sequence of the containers entering the folding box machine, the size of the containers and the clamping position of the containers, and the number and position of the first type of containers and the number and position of the second type of containers.

[0023] Further, the step D1 comprises:

[0024] D101, the control system establishes a communication connection with the detection device on the conveying line connected to the folding box machine;

[0025] D102, the detection device scans the containers passing through and sends the scanning information to the control system, and the control system obtains the number of containers entering the folding box machine, the sequence of entering the box, the size of the containers and the clamping position of the containers, and the number and position of the first type of containers and the number and position of the second type of containers.

[0026] Further, the step D1 further comprises:

[0027] D103, the control system controls the second type of containers to enter the buffer area of the conveying line, and controls the first type of containers to enter the folding box machine;

[0028] D104, when the number of the second type of containers in the buffer area reaches a threshold value, the first type of containers entering the folding box machine is suspended, and the second type of containers is controlled to enter the folding box machine;

[0029] D105, when the second type of containers in the buffer area are all completed, the first type of containers is controlled to enter the folding box machine, and the second type of containers is controlled to enter the buffer area of the conveying line;

[0030] D16, repeating D103-D105 until the number of containers obtained is all completed.

[0031] Further, the step D3 further comprises:

[0032] D301, obtaining the first clamping position of the second type of container to be clamped, and calculating the distance between the first clamping mechanism of the folding box machine and the first clamping position;

[0033] D302, controlling the first clamping mechanism to move to the first clamping position and clamp the first clamping position;

[0034] D303, obtaining the height of the next second type of container to be entered, and calculating a first predetermined position according to the height, the height of the first predetermined position being greater than or equal to h+x, wherein h is the height of the second type of container to be entered, and x is the distance required when the second type of container clamped by the first clamping mechanism is stacked with the second type of container to be entered;

[0035] D304, control the first clamping mechanism to lift to the first predetermined position, and control the unstacking machine to enter the box.

[0036] Further, the step D7 further comprises:

[0037] D701, obtain the clamping position of the current box to be clamped, and calculate the distance between the first clamping mechanism of the unstacking machine and the clamping position;

[0038] D702, control the clamping mechanism to move to the clamping position and clamp the clamping position;

[0039] D703, obtain the height of the next box to be entered, and calculate the first predetermined position according to the height, the height of the first predetermined position is greater than or equal to h+x, wherein h is the height of the box to be entered, and x is the distance required when the first clamping mechanism clamps the box and the box to be entered is stacked;

[0040] D704, control the first clamping mechanism to lift to the first predetermined position, and control the unstacking machine to enter the box.

[0041] Another aspect of the present application provides an unstacking method, which is applied to an unstacking machine with double clamping mechanisms, and characterized in that the unstacking method comprises:

[0042] C1, the control system obtains the stacking parameters of the stacking entering the unstacking machine, which includes the stacking type, the stacking quantity, the stacking sequence, the size of each layer of boxes, and the corresponding clamping positions, wherein the box with only one clamping position is defined as the first type of box, the box with two or more clamping positions is defined as the second type of box, the part with two or more consecutive second type of boxes is defined as the second type of stacking, and the remaining stacking type is defined as the first type of stacking;

[0043] C2, control the first clamping mechanism of the unstacking machine to clamp the last layer of the box clamping position of the stacking entering the unstacking machine, and then lift to the first predetermined position, and control the unstacking machine to exit the box;

[0044] C3, determine whether there is a second type of stacking part in the remaining stacking to be exited in the unstacking machine, if the result is yes, obtain the number of second type of boxes of the second type of stacking part and the position in the remaining stacking to be exited, and execute steps C4-C7 when the second type of stacking part is unstacked, and execute steps C8-C13 for the remaining part;

[0045] C4, control the second clamping mechanism of the unstacking machine to open and displace to the second clamping position of the last layer of the second type of box clamped by the first clamping mechanism, and clamp the second type of box;

[0046] C5, control the first clamping mechanism and the second clamping mechanism to descend synchronously, the moving distance of the first clamping mechanism is the distance from clamping the bottom of the box to the conveying device of the box unstacking machine, after the first clamping mechanism descends to the position, open the clamping mechanism, control the box unstacking machine to discharge the box, the descending distance of the second clamping mechanism is the distance from the second clamping position of clamping the second box to the first predetermined position;

[0047] C6, control the first clamping position of the second type of box clamped by the current second clamping mechanism to ascend, and clamp the first clamping position of the second type of box;

[0048] C7, repeat steps C4-C6 until the second type of box unstacking part processing is completed, return to step C3;

[0049] C8, control the second clamping mechanism of the box unstacking machine to move to the second predetermined position, and control the first clamping mechanism to descend at the same time;

[0050] C9, when the first clamping mechanism descends to the position, open the clamping mechanism, and control the second clamping mechanism to clamp the box displaced by the second predetermined position at the same time;

[0051] C10, after controlling the second clamping mechanism to move to the first predetermined position, control the box unstacking machine to discharge the box;

[0052] C11, control the first clamping mechanism of the box unstacking machine to move to the second predetermined position, and control the second clamping mechanism to descend at the same time;

[0053] C12, when the second clamping mechanism descends to the position, open the clamping mechanism, and control the first clamping mechanism to clamp the box displaced by the second predetermined position at the same time;

[0054] C13, repeat steps C8-C12 until the first type of box unstacking part processing is completed, return to step C3;

[0055] C14, all the box unstacking is completed, and the box unstacking machine stops running.

[0056] Further, the step C1 comprises:

[0057] C101, control the system to establish a communication connection with the logistics management system, and the logistics management system sends the box unstacking type, the box unstacking number, the box unstacking sequence, the size of each layer of the box, and the corresponding clamping position information to the control system;

[0058] C102, the control system receives the information sent by the logistics management system, and obtains the number, size, position, and clamping position information of the second type of box in the second type of box unstacking part in the box unstacking machine, and the number, size, position, and clamping position information of the box in the first type of box unstacking part in the box unstacking machine.

[0059] Further, the step C1 comprises:

[0060] C101, the control system establishes a communication connection with a detection device on the conveying line connected with the de-stacking box machine;

[0061] C102, the detection device scans the passing stack box and sends the scanning information to the control system, and the control system obtains the number, size, position and clamping position information of the second type of container in the second type of stack box part of the stack box entering the de-stacking box machine, and the number, size, position and clamping position information of the container in the first type of stack box part of the stack box.

[0062] Further, the step C2 further comprises:

[0063] C201, obtaining the clamping position of the container of the second last layer of the stack box entering the de-stacking box machine, and calculating the distance between the first clamping mechanism of the de-stacking box machine and the clamping position;

[0064] C202, controlling the first clamping mechanism to move to the clamping position and clamp the clamping position;

[0065] C203, obtaining the height of the container of the first last layer of the stack box entering the de-stacking box machine, and calculating a first predetermined position according to the height, the height of the first predetermined position being greater than or equal to h1+x, wherein h1 is the height of the container of the first last layer of the stack box entering the de-stacking box machine, and x is the minimum distance required for separation when the container of the first last layer of the stack box entering the de-stacking box machine is separated from the container of the second last layer of the stack box entering the de-stacking box machine;

[0066] C204, controlling the first clamping mechanism to lift to the first predetermined position, and controlling the de-stacking box machine to enter the box.

[0067] Further, the step C8 further comprises:

[0068] C801, obtaining the position of the clamping position of the upper layer of the container clamped by the first clamping mechanism, and calculating the distance from the position of the clamping position to the surface of the conveying platform of the de-stacking box machine, i.e. the second predetermined position h2;

[0069] C802, obtaining the current position h3 of the second clamping mechanism of the de-stacking box machine, and calculating the distance h3-h2 from the current position to the second predetermined position;

[0070] C803, controlling the second clamping mechanism to move to the second predetermined position and clamp the clamping position of the container at the second predetermined position;

[0071] C804, obtaining the height h3 of the first clamping mechanism, and calculating the distance from the first clamping mechanism to the first predetermined height;

[0072] C805, control the first clamping mechanism to move to the first predetermined height position.

[0073] Yet another aspect of the present application provides a storage medium, the control system readable storage medium has instructions stored therein, when the instructions run on the control system, the control system executes the method of any one of the above.

[0074] The present application provides a stacking method, a de-stacking method, and a storage medium, which has the following advantages:

[0075] 1. When the method of the present application stacks the containers with two clamping positions, the one-way stroke of the first clamping mechanism and the second clamping mechanism is the distance from the respective corresponding container clamping position to the bottom of the container plus the distance required when stacking, i.e. h+x. Compared with the existing one-way stroke, the distance that the first clamping mechanism and the second clamping mechanism need to lift when stacking the containers entering the de-stacking and stacking machine to the next container that can enter is at least 2h+x. Therefore, compared with the existing scheme, the stroke of the first clamping mechanism and the second clamping mechanism when stacking is reduced, thereby reducing the time for the first clamping mechanism and the second clamping mechanism to move up and down, so that the de-stacking and stacking device can quickly stack. Similarly, the same is true when de-stacking.

[0076] 2. For the case of a conveying line provided with a buffer area, the method of the present application can classify two types of containers, thereby avoiding frequent replacement of the operation mode of the de-stacking and stacking device. In addition, the same type of containers are stacked together as much as possible, so that the same type of containers are stacked together, which can quickly de-stack when de-stacking.

[0077] 3. For the case of a conveying line provided with a buffer area, the method of the present application can also stack the containers that need to be replaced together through the buffer area of the conveying line, thereby achieving quick statistics and replacement of part of the containers.

[0078] 4. For the de-stacking and stacking machine and the containers with two or more clamping positions, the method of the present application has the characteristics of high flexibility, wide application scenarios, and high de-stacking and stacking efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0079] Figure 1 is a structural diagram of a container;

[0080] Figure 2 is a structural diagram of another container;

[0081] Figure 3 is a structural diagram of a de-stacking and stacking machine system;

[0082] Figure 4 is a structural diagram of a conveying line with a buffer area;

[0083] Figure 5 is a schematic diagram of a stacking step method;

[0084] Figure 6 is a schematic diagram of a de-stacking step method. DETAILED DESCRIPTION

[0085] To make the purpose, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the drawings.

[0086] The implementation environment and hardware architecture described in the embodiments of the present application are used to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. It can be known by those skilled in the art that, with the evolution of the hardware architecture, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems in different implementation environments.

[0087] Firstly, the implementation environment of the double-clamping mechanism de-stacking machine of the present application will be introduced below. Figures 1 to 3 The implementation environment of the double-clamping mechanism de-stacking machine of the present application will be introduced below. Figure 3 which shows a schematic diagram of a de-stacking machine system to which the embodiments of the present application can be applicable. The de-stacking machine device at least includes a control system, a double-clamping mechanism de-stacking machine and a conveying line; wherein the control system can be a control cabinet or other processing chips integrated with communication functions, wherein the control cabinet is provided with a communication module and a control module, wherein the communication module is used to connect a logistics control system and / or a detection device arranged on the conveying line, and is connected with the double-clamping mechanism de-stacking machine and the conveying line, and controls the double-clamping mechanism de-stacking machine and the conveying line through a control signal. In addition, the control module of the control cabinet can adopt PLC, FPGA, CPU, GPU, DSP, single-chip microcomputer, etc. The control module is used to read the stored program control in the storage medium to control the de-stacking machine and the conveying line to complete the stacking task.

[0088] In order to introduce the scheme of the present application further, the types of material boxes are explained by the present application, one of which can be specifically referred to Figure 1 which shows a schematic diagram. As can be seen from the side view of the material box, the upper end edge of the material box has a convex edge which can be used as a clamping position of the de-stacking machine, and the lower edge of the convex edge is relatively smooth, so that this type of material box only has one clamping position. The present application defines this type of material box as a first type of material box. Another type of material box can be specifically referred to Figure 2 which shows a schematic diagram. As can be seen from the side view of the material box, in addition to the convex edge at the upper end edge of the side edge of the material box, at least one rib, convex edge and other structures which can be used for clamping are arranged below the convex edge, so that this type of material box has at least two clamping positions. The present application defines this type of material box as a second type of material box.

[0089] Therefore, in order to avoid the frequent change of operation steps of the unstacking machine, and achieve faster unstacking, the conveying line further comprises at least one buffer area. The structure of the buffer area can refer to the schematic diagram shown in Figure 4 The second type of containers can be transferred to the buffer area through the reversing mechanism. The length and number of the buffer area can be set according to the business needs. The buffer area can buffer a certain type of containers during stacking, for example, when there are a small number of second type of containers in a certain conveying area, these second type of containers can be first conveyed to the buffer area. When the number of second type of containers in the buffer area reaches a threshold, the containers in the buffer area are conveyed to the unstacking machine. Conversely, the first type of containers can also be buffered.

[0090] Therefore, the present application can classify two types of containers, thereby avoiding the frequent change of operation mode of the unstacking device. In addition, the same type of containers are stacked together as much as possible, so that the same type of containers can be quickly unstacked during unstacking. In addition, containers are generally made of plastic, which will age or break after a certain number of uses or a certain period of time, and need to be replaced according to the use time or number. The buffer area can also buffer containers with the same use time or number, so as to achieve the purpose of quickly counting and replacing these containers.

[0091] In order to more accurately buffer the required type of containers and more accurately determine the type of containers entering the unstacking machine, detection devices are arranged on the conveying line before and after the unstacking machine, which are respectively used to identify the container information and the stacking information. During the storage of the containers, the side of the container can be provided with identification information, such as a bar code, a two-dimensional code, an RFID tag, etc. attached to the side of the container, and the identification information is identified by a corresponding identification device, such as a bar code scanning device, a two-dimensional code scanning device, an RFID reader, and of course, the type of container can also be identified by a visual identification device. During stacking, the detection device identifies the information on the side of the container. The first way is to send the identified information to the control system, and the control system obtains the type, size, and clamping position information of the container from the logistics management system according to the received information. The detection device can also directly obtain the type, size, and clamping position information of the container from the logistics management system, and then send the obtained information to the control system.

[0092] Next, the unstacking method is described in detail. First, the stacking method is introduced, and the specific steps can refer to the schematic diagram shown in Figure 5 The specific method includes:

[0093] D1, the control system acquires the parameters of the containers entering the de-stacking machine, which include the number of containers, the sequence of entering the containers, the size of the containers, and the container clamping positions, wherein the containers with only one clamping position are defined as the first type of containers, and the containers with two or more clamping positions are defined as the second type of containers.

[0094] Generally, the means for the control system to acquire the parameters of the containers can include the following two methods:

[0095] D101, the control system establishes a communication connection with the logistics management system, and the logistics management system sends the number of containers, the sequence of entering the containers, the size of the containers, and the container clamping position information to the control system;

[0096] D101, the control system receives the information sent by the logistics management system, obtains the sequence of entering the containers, the size of the containers, and the container clamping position of the de-stacking machine, and counts the number and position of the first type of containers and the number and position of the second type of containers.

[0097] Generally, in the storage stage, the side of the container is provided with an identification tag, and the stored goods and the parameter information (such as size information, clamping position information, etc.) of the container are associated with the tag. When the container is discharged, the logistics management system identifies the tag of the container and reads the parameter information of the container. The logistics management system sends the scheduling information of the container and the parameter information of the container to the control system, and the control system can complete the parameters of the containers required for stacking.

[0098] The control system counts and marks the empty containers according to the obtained scheduling information and parameter information of the containers. For example, one of the ways is that the number 1 represents the first type of containers, the number 2 represents the second type of containers, and the position information can be marked by consecutive natural numbers. The containers entering the folding box machine start from the first container and end at the nth container, which can be represented as (1, 1), (1, 2), (1, 3), (2, 4), (1, 5)…(2, n). Thus, the number and position of the first type of containers and the number and position of the second type of containers are counted, and the number and position of the second type of containers to be entered into the de-stacking machine are determined by the type information and the position information, so as to switch the stacking mode.

[0099] In addition to the above, another way for the control system to acquire the parameters of the containers entering the de-stacking machine is as follows:

[0100] D101, the control system establishes a communication connection with the detection device on the conveying line connected to the de-stacking machine;

[0101] D102, the detection device scans the passing containers and sends the scanning information to the control system, and the control system obtains the number of containers entering the de-stacking machine, the sequence of entering the containers, the size of the containers, and the container clamping position, and counts the number and position of the first type of containers and the number and position of the second type of containers.

[0102] In order to more accurately obtain the position and information of the container, a detection device corresponding to the label of the container is generally arranged on the conveying line. When the detection device is arranged on the conveying line, the control system obtains the parameters of the container through the implementation of this step. Specifically, during the storage stage, an identification label is arranged on the side of the container, and the stored articles and the parameter information (such as size information, clamping position information, etc.) of the container are associated with the label. The detection device scans or recognizes the label, and the control system obtains the parameter information of the container in the above-mentioned manner. As for the sequence information of the container entering the de-palletizer, it can be obtained through the identification label information through the logistics management system, or it can be obtained through the detection device, and the information obtained by the detection device can also be compared with the information given by the logistics management system. Since the detection device is arranged before the de-palletizer, the empty container passing through the detection device will be more accurate, so when the information is different, the information of the identification system is used as the standard, thereby improving the accuracy of the obtained information.

[0103] The control system can use a fixed time or a fixed number of containers to count and mark the container information passing through the detection device. For example, one of the ways is that the number 1 represents the first type of container, the number 2 represents the second type of container, and the position information can be marked with consecutive natural numbers. The containers entering the folding box machine start from the first container and end at the nth container, which can be represented as (1, 1), (1, 2), (1, 3), (2, 4), (1, 5)…(2, n). Thus, the number and position of the first type of container and the number and position of the second type of container are counted, and the number and position of the second type of container entering the de-palletizer in succession are determined through the type information and the position information, so as to switch the de-palletizing mode.

[0104] A preferred embodiment is that, in order to avoid frequent switching of the de-palletizing mode, the application further provides a buffer area on the conveying line, and one type of container is first stored in the buffer area. Generally, the value of the threshold is set such that the total length of the containers in the buffer area is less than the length of the buffer area. When the number of containers of this type reaches the preset threshold in the buffer area, the containers in the buffer area are conveyed to the folding box machine. The application takes the second type of container as an example for illustration, and the step D1 further comprises:

[0105] D103, the control system controls the second type of container to enter the buffer area of the conveying line, and controls the first type of container to enter the folding box machine;

[0106] A balance machine or a reversing device is arranged at the connection between the main body of the conveying line and the buffer area conveying line, so that the second type of container can be smoothly conveyed into the buffer area when passing through this place.

[0107] D104、when the number of the second type of containers in the buffer area reaches the threshold value, the first type of containers entering the folding box machine is suspended, and the second type of containers entering the folding box machine is controlled;

[0108] When the number of the second type of containers reaches the threshold value, if the buffer area has no free space to continue buffering the second type of containers, the second type of containers in the buffer area need to be stacked first to release the buffer space. When the number of the second type of containers in the buffer area is a multiple of the number of containers required for stacking, after the stacking of the second type of containers in the buffer area is completed, the stacking of the first type of containers and the buffering of the second type of containers are switched. If the number of the second type of containers in the buffer area is not a multiple of the number of containers required for stacking, the second type of containers required for stacking are stacked first, and then the stacking of the first type of containers and the buffering of the second type of containers are switched. In this way, different types of containers are stacked together as much as possible.

[0109] D105、when the second type of containers in the buffer area are all completed, the first type of containers entering the folding box machine is controlled, and the second type of containers entering the buffer area of the conveying line is controlled;

[0110] D106、repeat D103-D105 until the number of containers obtained is all processed.

[0111] D2、determine whether the containers to be entered into the stacking and unstacking machine are continuous two or more of the second type of containers, if the result is yes, obtain the number of the second type of containers to be continuously entered, and execute steps D3-D6, if the result is no, obtain the number of containers to be entered, and execute steps D7-D11;

[0112] The control system determines the number and position of continuous two or more of the second type of containers according to the number and position of the first type of containers and the number and position of the second type of containers, so as to realize the above determination result, and select to execute the corresponding stacking step.

[0113] D3、control the first clamping mechanism of the stacking and unstacking machine to clamp the first clamping position of the second type of containers entering the stacking and unstacking machine, and then lift to a first predetermined position, and control the stacking and unstacking machine to enter the container.

[0114] The operation of the first clamping mechanism and the second clamping mechanism of the general unstacking machine can adopt a servo motor, or be operated up and down through gear and rack cooperation, or through belt and rope cooperation, or synchronous belt, etc. The control system sends a control command to the power mechanism to realize the up and down operation of the first clamping mechanism and the second clamping mechanism. In order for the first clamping mechanism and the second clamping mechanism to accurately operate to the clamping position, a sensor is further arranged on the first clamping mechanism and the second clamping mechanism, which can be a gravity-sensitive patch, a photoelectric sensor, a visual sensor, etc., for sensing whether the first clamping mechanism and the second clamping mechanism are clamped to the position. Of course, in some scenarios, the length and width of the material box are consistent, and the height is different, at this time the first predetermined position is the height of the material box to be entered + the minimum distance between the upper edge of the material box to be entered when the material box can be entered and the bottom of the last layer of the stacked material box. At this time, the lifting power of the first clamping mechanism and the second clamping mechanism is preferentially servo motor or synchronous belt with high control accuracy. Or use grating detection, radar wave detection, etc. to detect whether the first clamping mechanism and the second clamping mechanism are operated to the position. Generally, the height of the first type of material box is fixed, and the height of the second type of material box is also fixed, so when the unstacking machine enters the box, if it is the first type of material box, the first predetermined position is the height of the first type of material box + the minimum height required between the upper edge of the first type of material box when entering the box and the bottom of the lowest layer of the stacked material box; if it is the second type of material box, the first predetermined position is the height of the second type of material box + the minimum height required between the upper edge of the second type of material box when entering the box and the bottom of the lowest layer of the stacked material box. In addition, since the height of the first type of material box is fixed, and the height of the second type of material box is also fixed, a sensor (proximity sensing or photoelectric sensing, etc.) can be arranged at the first predetermined position corresponding to the first type of material box and the second type of material box respectively, which can detect whether the first clamping mechanism and the second clamping mechanism are operated to the position.

[0115] D301, obtaining the first clamping position of the second type of material box to be clamped, calculating the distance between the first clamping mechanism of the unstacking machine and the first clamping position.

[0116] The position of the first clamping mechanism of the unstacking machine and the first clamping position are based on sea level, ground or a conveying platform on the unstacking machine. The position of the first clamping mechanism can be obtained through the result of the last operation of the control system, and if not obtained, the first clamping mechanism can be controlled to perform a zero reset operation.

[0117] D302, controlling the first clamping mechanism to move to the first clamping position and clamp the first clamping position.

[0118] According to the calculation result, the control system generates a control instruction and sends the control instruction to the first clamping mechanism, and the first clamping mechanism operates to the first clamping position according to the control instruction. In addition, a corresponding sensing device can be arranged to detect the operation of the first clamping mechanism, and when the position is detected, the first clamping mechanism is controlled to clamp the first clamping position.

[0119] D303, obtaining the height of the next second type of container to be entered, calculating a first predetermined position according to the height, and the height of the first predetermined position is greater than or equal to h+x, wherein h is the height of the second type of container to be entered, and x is the distance required when the second type of container clamped by the first clamping mechanism is stacked with the second type of container to be entered;

[0120] D304, controlling the first clamping mechanism to lift to the first predetermined position, and controlling the container unstacking and stacking machine to enter the container.

[0121] When the height of the container is greater than or equal to the sum of the height h of the next container to be entered and the distance x required when the second type of container clamped by the first clamping mechanism is stacked with the second type of container to be entered, the container unstacking and stacking machine is controlled to enter the container, so that the container to be entered can avoid colliding with the lowest layer of the container that has been stacked, and the stacking accident can be avoided.

[0122] D4, controlling the second clamping mechanism of the container unstacking and stacking machine to release the clamped container, and descending to the second clamping position of the second type of container clamped by the first clamping mechanism, and controlling the second clamping mechanism to clamp the second clamping position.

[0123] According to the second clamping position of the container currently clamped by the second clamping mechanism and the second clamping position of the second type of container clamped by the first clamping mechanism, the stroke of the second clamping mechanism is calculated, and the second clamping mechanism is controlled to descend to the second clamping position of the second type of container clamped by the first clamping mechanism.

[0124] D5, controlling the first clamping mechanism to release the clamped second type of container, and descending to the first clamping position of the second type of container after the container unstacking and stacking machine enters the container;

[0125] According to the second clamping position of the container currently clamped by the first clamping mechanism and the first clamping position of the second type of container after entering the container, the stroke of the first clamping mechanism is calculated, and the first clamping mechanism is controlled to descend to the first clamping position of the second type of container after entering the container.

[0126] D6, repeating steps D3-D5 until the continuous stacking of the second type of container is completed, and returning to step D2;

[0127] D7, control the first clamping mechanism of the box unstacking machine to lift to a first predetermined position after clamping the clamping position of the box entering the box unstacking machine, and control the box unstacking machine to enter the box; the specific steps include:

[0128] D71, obtain the clamping position of the current box to be clamped, and calculate the distance between the first clamping mechanism of the box unstacking machine and the clamping position;

[0129] D72, control the clamping mechanism to move to the clamping position and clamp the clamping position;

[0130] D73, obtain the height of the next box to be entered, and calculate the first predetermined position according to the height, the height of the first predetermined position is greater than or equal to h+x, wherein h is the height of the box to be entered, and x is the distance required when the box clamped by the first clamping mechanism is stacked with the box to be entered;

[0131] D74, control the first clamping mechanism to lift to the first predetermined position, and control the box unstacking machine to enter the box.

[0132] The first predetermined position is the height of the box to be entered (h) + the minimum distance (x) between the upper edge of the box to be entered when the box can enter the box and the bottom of the last layer of boxes in the stack. The control system obtains the position of the current first clamping mechanism, calculates the distance between the first clamping mechanism and the first predetermined position, generates a control signal, and controls the first clamping mechanism of the box unstacking machine to lift to the first predetermined position after clamping the clamping position of the box entering the box unstacking machine.

[0133] D8, control the second clamping mechanism of the box unstacking machine to release the clamped box, and lower to the clamping position of the box after the box unstacking machine enters the box, control the box clamped by the first clamping mechanism to continue lifting to a second predetermined position;

[0134] The height of the second predetermined position is 2 times the height of the box to be entered (2h) + the minimum distance x required when the next box to be entered is stacked with the current box. Therefore, the control system calculates the distance between the current position of the first clamping mechanism and the second predetermined position according to the distance, thereby generating a control signal of the first clamping mechanism to control the box clamped by the first clamping mechanism to continue lifting to the second predetermined position.

[0135] D9, control the second clamping mechanism to clamp the box after the box unstacking machine enters the box, and lift to the first predetermined position, and control the box unstacking machine to enter the box;

[0136] D10, control the first clamping mechanism to release the clamped box, and lower to the clamping position of the box after the box unstacking machine enters the box, control the box clamped by the second clamping mechanism to continue lifting to a second predetermined position;

[0137] D11, repeat steps D7-D10 until the box stacking is completed, and return to step D2;

[0138] D12, all the stacker boxes are completed, and the stacker machine stops running. If step D6 is performed, no stacker box needs to be stacked, step D12 is performed; or if step D11 is performed, no stacker box needs to be stacked, step D12 is performed.

[0139] From the above, it can be seen that when the stacker box has two clamping positions, the one-way stroke of the first clamping mechanism and the second clamping mechanism is the distance from the corresponding clamping position of the stacker box to the bottom of the box plus the distance required when stacking, that is, h+x. Relative to the one-way stroke in the prior art, the distance that the first clamping mechanism and the second clamping mechanism need to lift when stacking the stacker box into the next stacker box needs to be at least 2h+x. Therefore, compared with the prior art, the stroke of the first clamping mechanism and the second clamping mechanism when stacking is reduced, thereby reducing the time for the first clamping mechanism and the second clamping mechanism to move up and down, so that the stacker device can quickly stack.

[0140] Another aspect of the present application provides a method for unstacking, the specific steps of which can be referred to Figure 6 The schematic diagram shown, the unstacking method is the reverse process of the stacking method, therefore, after the present application introduces the stacking method in detail, those skilled in the art can understand the technical concept and technical means of the present application to achieve the method, therefore, when introducing the unstacking method, the present application will omit the steps of the same concept as the stacking method. The specific steps of the unstacking method include:

[0141] C1, the control system obtains the stacking parameters of the stacker entering the unstacking machine, which includes the stacking type of the stack, the number of stacks, the stacking sequence, the size of each layer of the stacker, and the corresponding clamping position. Wherein the stacker with only one clamping position is defined as the first type of stacker, the stacker with two or more clamping positions is defined as the second type of stacker, the part of the second type of stacker with two or more consecutive clamping positions is defined as the second type of stack, and the remaining stacking type is defined as the first type of stack. Wherein the control system obtains the stacking parameters of the stacker entering the unstacking machine, which can specifically include:

[0142] C101, the control system establishes a communication connection with the detection device on the conveying line connected to the unstacking machine;

[0143] C102, the detection device scans the passing stacker and sends the scanning information to the control system, and the control system obtains the number, size, position and clamping position information of the second type of stacker in the second type of stacker part of the stack entering the unstacking machine, and the number, size, position and clamping position information of the stacker in the first type of stacker part of the stack.

[0144] Generally, a barcode, a two-dimensional code, an RFID tag, and the like are pasted on the side of the bin, and are identified by corresponding identification equipment, such as a barcode scanning device, a two-dimensional code scanning device, a radio frequency reader, and of course, a visual identification device can be used to identify the type of the bin. During the unstacking process, the detection equipment identifies the information on the side of the bin in the stack, and the first way is to send the identified information to the control system, and the control system obtains the type, size, and clamping position information of the bin from the logistics management system according to the received information; the second way is that the detection equipment directly obtains the type, size, and clamping position information of the bin from the logistics management system, and then sends the obtained information to the control system; the third way is that the detection equipment scans each bin in the stack and obtains the information of these bins. The preferred way is that when the stack is stacked, the control system uploads the stack information to the logistics management system, and when the stack is unstacked, only the information of one bin needs to be scanned, and the information of the stack entering the unstacking machine can be obtained according to the uploaded information of the whole stack.

[0145] C2, control the first clamping mechanism of the unstacking machine to clamp the last but one layer of bins of the stack entering the unstacking machine, and lift to a first predetermined position, and then control the unstacking machine to discharge the bins. One of the possible specific steps is as follows:

[0146] C201, obtain the clamping position of the last but one layer of bins of the stack entering the unstacking machine, and calculate the distance between the first clamping mechanism of the unstacking machine and the clamping position;

[0147] The number of stacks is limited by the highest travel position of the clamping mechanism of the unstacking machine and the height of a single bin. Assuming that the number of bins in a certain stack is 10, the type and position information of the bins from the bottom layer to the top layer can be marked as (1, 1), (1, 2), (1, 3), (2, 4), (1, 5)…(2, 10). Since the stack of any type of bin only needs to be separated from the bottom layer of the bin, the separation distance reaches the separation distance between the bottom layer of the bin and the bin above it, and the conveying module of the unstacking machine can be started to separate the bottom layer of the bin.

[0148] C202, control the first clamping mechanism to move to the clamping position and clamp the clamping position;

[0149] Therefore, when the whole stack of bins enters the unstacking machine, the clamping position of the last but one layer of bins is obtained, that is, the clamping position of the bin marked as (1, 2) in the above example, the position of the first clamping mechanism is obtained, the distance between the first clamping mechanism of the unstacking machine and the clamping position is calculated, and the first clamping mechanism is controlled to move to the clamping position and clamp the clamping position.

[0150] C203, obtaining the height of the last layer of the container entering the de-stacking machine, and calculating a first predetermined position according to the height, the height of the first predetermined position being greater than or equal to h1+x, wherein h1 is the height of the last layer of the container entering the de-stacking machine, and x is the minimum distance required for separating the last layer of the container entering the de-stacking machine from the second last layer of the container entering the de-stacking machine when the container is de-stacked;

[0151] C204, controlling the first clamping mechanism to rise to the first predetermined position, and controlling the de-stacking machine to enter the container.

[0152] C3, determining whether there is a second type of container in the remaining container entering the de-stacking machine, if the result is yes, obtaining the second type of container quantity and the position in the remaining container entering the de-stacking machine, and executing steps C4-C7 when the second type of container is de-stacked, and executing steps C8-C13 for the remaining part;

[0153] C4, controlling the second clamping mechanism of the de-stacking machine to open and move to the second clamping position of the last layer of the second type of container clamped by the first clamping mechanism, and clamping the second type of container;

[0154] C5, controlling the first clamping mechanism and the second clamping mechanism to descend synchronously, the moving distance of the first clamping mechanism being the distance from the bottom of the clamped container to the conveying device of the de-stacking machine, and the first clamping mechanism descending to the position, then opening the clamping mechanism, controlling the de-stacking machine to enter the container, and the descending distance of the second clamping mechanism being the distance from the second clamping position of the clamped second type of container to the first predetermined position;

[0155] If the same type of container is used for the whole stack, and the height of the container does not change, the first predetermined position is a fixed value. If different types of containers are used, or the height of the container changes, the first predetermined position is determined according to the parameters of the current bottom layer and the layer above it, and specifically, the height of the first predetermined position is greater than or equal to h1+x, wherein h1 is the height of the current last layer of the container, and x is the minimum distance required for separating the current last layer of the container from the current second last layer of the container when the container is de-stacked.

[0156] C6, controlling the first clamping mechanism to rise to the first clamping position of the second type of container clamped by the second clamping mechanism, and clamping the first clamping position of the second type of container;

[0157] C7, repeating steps C4-C6 until the second type of container is processed, and returning to step C3;

[0158] C8, controlling the second clamping mechanism of the de-stacking machine to move to a second predetermined position, and controlling the first clamping mechanism to descend;

[0159] C801, obtaining the position of the last layer of the material box clamped by the first clamping mechanism, calculating the distance from the clamping position to the surface of the delivery platform of the box unstacking machine, i.e. the second predetermined position h2;

[0160] C802, obtaining the current position h3 of the second clamping mechanism of the box unstacking machine, calculating the distance h3-h2 from the current position to the second predetermined position;

[0161] C803, controlling the second clamping mechanism to move to the second predetermined position and clamp the clamping position of the material box at the second predetermined position;

[0162] C804, obtaining the height h3 of the first clamping mechanism, calculating the distance from the first clamping mechanism to the first predetermined height;

[0163] C805, controlling the first clamping mechanism to move to the first predetermined height position.

[0164] C9, after the first clamping mechanism is lowered to the position, the clamping mechanism is opened, and the second clamping mechanism is controlled to clamp the material box displaced by the second predetermined position;

[0165] C10, after controlling the second clamping mechanism to move to the first predetermined position, controlling the box unstacking machine to unload the box;

[0166] C11, controlling the first clamping mechanism of the box unstacking machine to move to the second predetermined position, and controlling the second clamping mechanism to lower;

[0167] C12, after the second clamping mechanism is lowered to the position, the clamping mechanism is opened, and the first clamping mechanism is controlled to clamp the material box displaced by the second predetermined position;

[0168] C13, repeating steps C8-C12 until the first type of box unstacking part is processed, and returning to step C3;

[0169] C14, after all the material boxes are unloaded, the box unstacking machine stops running.

[0170] As can be seen from the above, the method of the present application can realize rapid box unstacking according to the type of the material box, so that it can be suitable for rapid box unstacking of various types of material boxes. And it can be suitable for material boxes with different heights and different clamping positions, and has great flexibility. In addition

[0171] The method has great flexibility for the type of the material box, so that when the existing box unstacking device is upgraded and replaced, it can be suitable for the existing material box, thereby saving the cost of upgrading and replacing the box unstacking device.

[0172] The method of the present application is particularly suitable for a magazine with two or more clamping positions. In the stacking process, the one-way stroke of the first clamping mechanism and the second clamping mechanism is the distance from the corresponding clamping position of the magazine to the bottom of the magazine plus the distance required in the stacking process, i.e. h+x. Compared with the one-way stroke in the prior art, the distance that the first clamping mechanism and the second clamping mechanism need to be lifted in the stacking process is at least 2h+x. Therefore, compared with the prior art, the stroke of the first clamping mechanism and the second clamping mechanism in the stacking process is reduced, and the time for the first clamping mechanism and the second clamping mechanism to move up and down is reduced, so that the magazine unstacking and stacking device can quickly stack the magazines. Similarly, the same is true in the unstacking process.

[0173] The above mainly introduces the scheme provided by the embodiments of the present application. It can be understood that, in order to realize the above functions, the corresponding hardware structure and / or software module for executing each function are included. The units and algorithm steps of each example described in combination with the embodiments disclosed in the present application can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is realized by hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the technical solutions of the embodiments of the present application.

[0174] The embodiments of the present application can divide the functional units according to the above method examples. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The integrated unit can be realized in the form of hardware or software functional unit. It should be noted that the division of units in the embodiments of the present application is illustrative, and is only a logical function division. When actually implemented, there can be another division method.

[0175] In addition, the present application also provides a computer storage medium, wherein the control system readable storage medium stores instructions, when the instructions run on the control system, the control system executes the method described in any one of the above. The computer storage medium can store programs or executable instructions, which when executed can include part or all of the steps in the method embodiments provided by the present application. The storage medium can be a magnetic disk, an optical disk, a read-only memory ROM or a random access memory RAM, etc. The computer program product includes one or more computer instructions. When the computer loads and executes the computer program, all or part of the processes or functions described in the above embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices.

[0176] Those skilled in the art can clearly understand that the technical solutions in the embodiments of the present application can be implemented by means of software plus necessary hardware platforms. Based on such an understanding, the technical solutions in the embodiments of the present application can be embodied in a form of software product, and the computer software product can be stored in a storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a plurality of instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments of the present application.

[0177] In addition, in the description of the present application, "a plurality of" means two or more than two, unless otherwise specified. In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the same items or similar items with basically the same functions and effects are distinguished by using "first", "second", etc. Those skilled in the art can understand that "first", "second", etc. do not limit the quantity and execution order, and "first", "second", etc. also do not necessarily mean different. The above-described embodiments of the present application do not constitute a limitation on the protection scope of the present application.

Claims

1. A method for stacking boxes, applied to a box destacking machine with a double clamping mechanism, characterized in that, Stacking methods include: D1. The control system acquires the parameters of the boxes entering the de-stacking machine. These parameters include the number of boxes, the order of feeding, the size of the boxes, and the clamping position of the boxes. Boxes with only one clamping position are defined as first-class boxes, and boxes with two or more clamping positions are defined as second-class boxes. D2. Determine whether the bins to be entered into the destacking machine are two or more consecutive bins of the second type. If the result is yes, obtain the number of bins to be consecutively entered into the second type and execute steps D3-D6. If the result is no, obtain the number of bins to be entered and execute steps D7-D11. D3. After the first clamping mechanism of the de-stacking machine clamps the second type of box into the first clamping position of the de-stacking machine, it is lifted to the first predetermined position, and the de-stacking machine is controlled to enter the box. D4. Control the second clamping mechanism of the destacking machine to release the clamped box and descend to the second clamping position of the second type of box held by the first clamping mechanism, and control the second clamping mechanism to clamp the second clamping position. D5. Control the first clamping mechanism to release the clamped second type of box and lower it to the first clamping position of the second type of box after the box is fed into the box by the box destacking machine; D6. Repeat steps D3-D5 until the second type of bins are stacked in succession, then return to step D2. D7. After the first clamping mechanism of the de-stacking machine clamps the material box entering the de-stacking machine at the clamping position, it is lifted to the first predetermined position, and the de-stacking machine is controlled to enter the box. D8. Control the second clamping mechanism of the de-stacking machine to release the clamped box and lower it to the clamping position of the box after the box enters the de-stacking machine, and control the box clamped by the first clamping mechanism to continue to rise to the second predetermined position. D9. Control the second clamping mechanism to clamp the box after the box de-stacking machine has entered the box, and lift it to the first predetermined position, and then control the box de-stacking machine to enter the box. D10. Control the first clamping mechanism to release the clamped box and lower it to the clamping position of the box after the box is fed into the de-stacker, and control the second clamping mechanism to continue to lift the box to the second predetermined position. D11. Repeat steps D7-D10 until the bins are stacked, then return to step D2. D12. Once all bins are stacked, the bin stacking and unstacking machine stops operating.

2. The stacking method according to claim 1, characterized in that, Step D1 includes: D101. The control system establishes a communication connection with the logistics management system. The logistics management system sends the quantity of the bins, the order of feeding the bins, the size of the bins, and the information on the clamping position of the bins to the control system. D102. The control system receives information sent by the logistics management system, obtains the order of the boxes entering the de-stacking machine, the size of the boxes, and the clamping position of the boxes, and counts the number and position of the first type of boxes and the number and position of the second type of boxes.

3. The stacking method according to claim 1, characterized in that, Step D1 includes: D101. The control system establishes a communication connection with the detection equipment on the conveyor line connected to the de-stacking machine; D102. The detection equipment scans the passing bins and sends the scanning information to the control system. The control system obtains the number of bins entering the de-stacking machine, the order of entry, the size of the bins, and the clamping position of the bins. It also counts the number and position of the first type of bins and the number and position of the second type of bins.

4. The stacking method according to claim 2 or 3, characterized in that, Step D1 further includes: D103. The control system controls the second type of material box to enter the buffer area of ​​the conveyor line and controls the first type of material box to enter the folding box machine. D104. When the number of the second type of bins in the buffer area reaches the threshold, the entry of the first type of bins into the folding box machine is paused, and the entry of the second type of bins into the folding box machine is controlled. D105. When all the second type of boxes in the buffer area have been fed into the box, control the first type of boxes to enter the folding box machine and control the second type of boxes to enter the buffer area of ​​the conveyor line. D106. Repeat D103-D105 until all the obtained bins have been processed.

5. The stacking method according to claim 4, characterized in that, Step D3 further includes: D301. Obtain the first clamping position of the second type of box to be clamped, and calculate the distance between the first clamping mechanism of the box destacking machine and the first clamping position; D302. Control the first clamping mechanism to move to the first clamping position and clamp the first clamping position; D303. Obtain the height of the next second type of material box to be entered, and calculate the first predetermined position based on the height. The height of the first predetermined position is greater than or equal to h+x, where h is the height of the second type of material box to be entered, and x is the distance required when the second type of material box held by the first clamping mechanism is stacked with the second type of material box to be entered. D304. After controlling the first clamping mechanism to lift to the first predetermined position, control the unpacking machine to enter the box.

6. The stacking method according to claim 5, characterized in that, Step D7 further includes: D701. Obtain the clamping position of the current box to be clamped, and calculate the distance between the first clamping mechanism of the box destacking machine and the clamping position. D702. Control the clamping mechanism to move to the clamping position and clamp the clamping position; D703. Obtain the height of the next box to be entered, and calculate the first predetermined position based on the height. The height of the first predetermined position is greater than or equal to h+x, where h is the height of the box to be entered, and x is the distance required when the box held by the first clamping mechanism is stacked with the box to be entered. D704. After controlling the first clamping mechanism to lift to the first predetermined position, control the unpacking machine to enter the box.

7. A box unpacking method, applied to a box unpacking machine with a double clamping mechanism, characterized in that, Unpacking methods include: C1. The control system acquires the stacking parameters of the boxes entering the destacking machine. These parameters include the type of stacked boxes, the number of stacked boxes, the stacking order, the size of each layer of boxes, and the corresponding clamping positions. Boxes with only one clamping position are defined as first-class boxes, boxes with two or more clamping positions are defined as second-class boxes, and portions with two or more consecutive second-class boxes are defined as second-class stacked boxes. All other cases are defined as first-class stacked boxes. C2. After the first clamping mechanism of the de-stacking machine clamps the second-to-last layer of the stacked boxes into the de-stacking machine, it lifts the boxes to the first predetermined position and then controls the de-stacking machine to discharge the boxes. C3. Determine whether there is a second type of stacked box in the remaining stacked boxes to be unpacked in the destacking machine. If the determination result is yes, obtain the number of second type boxes in the second type of stacked box and their position in the remaining stacked boxes to be unpacked. When the second type of stacked box is unpacked, execute steps C4-C7. For the remaining parts, execute steps C8-C13. C4. Control the second clamping mechanism of the destacking machine to open and move to the second clamping position of the second type of material box above the material box held by the first clamping mechanism, and clamp the second type of material box. C5. Control the first clamping mechanism and the second clamping mechanism to descend synchronously. The first clamping mechanism moves a distance from the bottom of the clamping box to the conveying equipment of the box folding machine. After the first clamping mechanism descends to the position, open the clamping mechanism and control the box folding machine to release the box. The second clamping mechanism descends a distance from the second clamping position of the clamping box to the first predetermined position. C6. Control the rise to the first clamping position of the second type of material box currently held by the second clamping mechanism, and clamp the first clamping position of the second type of material box; C7. Repeat steps C4-C6 until the second type of stacked boxes is processed, then return to step C3. C8. Control the second clamping mechanism of the de-stacking machine to move to the second predetermined position, and at the same time control the first clamping mechanism to descend; C9. When the first clamping mechanism descends to the position, the clamping mechanism is opened, and at the same time the second clamping mechanism is controlled to clamp the material box that has been displaced to the second predetermined position. C10. After controlling the second clamping mechanism to move to the first predetermined position, control the unpacking machine to release the box; C11. Control the first clamping mechanism of the de-stacking machine to move to the second predetermined position, and at the same time control the second clamping mechanism to descend; C12. When the second clamping mechanism descends to the position, the clamping mechanism is opened, and at the same time the first clamping mechanism is controlled to clamp the material box that has been displaced to the second predetermined position. C13. Repeat steps C8-C12 until the first type of stacked boxes is processed, then return to step C3. C14. Once all bins have been unpacked, the unpacking and stacking machine stops operating.

8. The unpacking method according to claim 7, characterized in that, Step C1 includes: C101. The control system establishes a communication connection with the logistics management system. The logistics management system sends the stacked box type, stacked box quantity, stacking order, dimensions of each layer of boxes, and corresponding clamping position information to the control system. C102. The control system receives information sent by the logistics management system and obtains the quantity, size, position, and clamping position information of the second type of boxes in the second type of stacking section of the stacking machine, as well as the quantity, size, position, and clamping position information of the boxes in the first type of stacking section of the stacking machine.

9. The unpacking method according to claim 7, characterized in that, Step C1 includes: C101. The control system establishes a communication connection with the detection equipment on the conveyor line connected to the de-stacking machine; C102. The detection equipment scans the stacked boxes that have passed through and sends the scanning information to the control system. The control system obtains the quantity, size, position, and clamping position information of the second type of boxes in the second type of stacked box section of the stacked box entering the destacking machine, as well as the quantity, size, position, and clamping position information of the boxes in the first type of stacked box section of the stacked box.

10. The unpacking method according to claim 8 or 9, characterized in that, Step C2 further includes: C201. Obtain the clamping position of the second-to-last layer of the stacked boxes entering the destacking machine, and calculate the distance between the first clamping mechanism of the destacking machine and the clamping position. C202. Control the first clamping mechanism to move to the clamping position and clamp the clamping position; C203. Obtain the height of the last layer of the stacked boxes entering the destacking machine, and calculate the first predetermined position based on the height. The height of the first predetermined position is greater than or equal to h1+x, where h1 is the height of the last layer of the stacked boxes entering the destacking machine, and x is the minimum distance required for the last layer of the stacked boxes entering the destacking machine to separate from the second-to-last layer of the stacked boxes entering the destacking machine when they are destacking. C204. After controlling the first clamping mechanism to lift to the first predetermined position, control the unpacking machine to enter the box.

11. The unpacking method according to claim 10, characterized in that, Step C8 further includes: C801. Obtain the position of the upper layer of the clamping position of the material box held by the first clamping mechanism, and calculate the distance from the position of the clamping position to the surface of the conveyor platform of the destacking machine, i.e., the second predetermined position h2. C802. Obtain the current position h3 of the second clamping mechanism of the de-stacking machine, and calculate the distance h3-h2 from the current position to the second predetermined position; C803. Control the second clamping mechanism to move to the second predetermined position and clamp the clamping position of the material box at the second predetermined position; C804. Obtain the height h3 of the first clamping mechanism and calculate the distance from the first clamping mechanism to the first predetermined height; C805. Control the first clamping mechanism to move to the first predetermined height position.

12. A storage medium, characterized in that, The control system has instructions stored in a readable storage medium that, when executed on the control system, cause the control system to perform the method described in any one of claims 1 to 11.

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