A multi-station converging plate material intelligent packaging sorting and stacking system and method

Abstract

The present application relates to the technical field of automatic packaging of plates, and discloses a multi-station converging plate intelligent packaging, sorting and stacking system and method, which comprises an input converging module, a sensing and logic control module and a self-adaptive execution module. The input converging module converges different types of plates into a main conveying line to form a logistics to be operated by using multiple feeding stations. The sensing and logic control module generates a source identity tag by using a controller and binds the tag with geometric size data detected online to generate a composite control data packet. The self-adaptive execution module executes self-adaptive physical packaging and sorting and stacking of the plates according to the tag and size data in the composite control data packet. The present application binds the source identity tag with the geometric size data to generate the composite control data packet, drives the execution module to perform differentiated operation, realizes self-adaptive processing of different plates in the mixed flow line, solves the problem of switching of operation parameters caused by product differences, and improves the automation level.

Description

Technical Field

[0001] This invention relates to the field of automated packaging technology for sheet materials, specifically to a multi-station intelligent packaging, sorting, and palletizing system and method for sheet materials. Background Technology

[0002] In the field of sheet metal processing and manufacturing, post-processing steps typically include packaging, bundling, sorting, and palletizing. With the development of automated production technology, in order to improve space utilization and reduce equipment investment costs, production workshops often adopt a method where multiple upstream production lines share a single downstream packaging and palletizing system. The conveyor system is used to collect the processed sheet metal products from various upstream workstations into the main conveyor line, and then transport them to the downstream area for unified subsequent operations.

[0003] However, in existing multi-station converged production scenarios, sheet metal products on the conveyor line often exhibit diverse materials and specifications. Existing control systems typically employ preset, fixed operating parameters, lacking the ability to perceive and correlate the material characteristics and geometric dimensions of individual products on the conveyor line in real time with physical actions. This results in downstream pressing and strapping mechanisms being unable to automatically switch pressing force and strapping strategies for fragile or common materials, easily causing fragile items to break under pressure or common items to become loosely packaged during mixed production. Simultaneously, when multiple upstream stations discharge materials to the main conveyor line, the lack of priority-based logistics arbitration and timing control mechanisms easily leads to physical collisions or logistics congestion at the convergence nodes, affecting the main conveyor line's throughput efficiency. Furthermore, traditional palletizing equipment relies heavily on fixed points for manual teaching, making it difficult to adapt to the automatic stacking requirements of randomly arriving products of different sizes on mixed conveyor lines, limiting the flexibility of the production line.

[0004] Therefore, how to achieve orderly transportation of sheet products and adaptive packaging and palletizing based on product characteristics in a multi-station confluence environment is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a multi-station intelligent packaging, sorting, and palletizing system and method for sheet materials, which solves the problems of the inability to adaptively adjust operating parameters due to product differences and the easy occurrence of logistics congestion and conflicts when multiple materials converge in existing multi-station confluence scenarios.

[0006] To address the above problems, the present invention provides the following technical solution: This invention provides a multi-station intelligent packaging, sorting, and palletizing system for sheet materials, employing the following technical solution: A multi-station intelligent packaging, sorting, and palletizing system for sheet materials includes: The input confluence module includes multiple loading stations arranged in parallel and a main conveyor line. The multiple loading stations converge the sheet products into the main conveyor line, and the main conveyor line carries the sheet products downstream. The sensing and logic control module, located on the conveying path of the main conveyor line, includes an online shape detection device and a programmable logic controller (PLC). The PLC generates a source identification tag for the sheet metal product, calculates the theoretical estimated position corresponding to the source identification tag using the encoder pulses of the drive motor of the main conveyor line, and when the deviation between the theoretical estimated position and the physical detection position obtained by the online shape detection device is less than or equal to the synchronization tolerance threshold, associates and binds the source identification tag with the geometric dimension data of the sheet metal product obtained by the online shape detection device to generate a composite control data package. An adaptive execution module, located downstream of the perception and logic control module, acquires the composite control data packet and performs physical packaging and sorting / palletizing operations on the sheet material product based on the source identity tag and geometric dimension data in the composite control data packet.

[0007] By adopting the above technical solution, the system establishes a data-driven physical action operation mode. By binding the product's origin identity with its real-time detected geometric dimensions, a composite control data packet containing all the information required for the operation is generated. The downstream execution module directly reads the composite control data packet flowing with the products, achieving adaptive processing of sheet materials and specifications on the mixed flow line. This solves the problem of frequent switching of operation parameters or packaging damage caused by large product differences in multi-station convergence scenarios, improving the system's adaptability and automation level.

[0008] Furthermore, the adaptive execution module includes an automatic pressing mechanism, a tape-pressing unit, and an intelligent palletizing unit arranged sequentially along the process flow direction; The automatic pressing mechanism applies differentiated pressure to the sheet material based on the composite control data package; The tape-binding unit plans the tape-binding strategy according to the composite control data package and bundles the sheet products; The intelligent palletizing unit includes a palletizing robot and multiple mobile palletizing platforms. Based on the composite control data package, the board products are sorted to the corresponding mobile palletizing platforms and stacked.

[0009] By adopting the above technical solution, the packaging and palletizing processes are modularly integrated, and each module responds independently to the instructions of the composite control data packet. The automatic pressing mechanism, the strapping unit, and the intelligent palletizing unit work together to perform the most suitable physical action for each passing board product based on its specific identity and size, realizing fully unmanned operation from conveying to finished product stacking.

[0010] Furthermore, each of the feeding stations of the input confluence module is equipped with a controlled barrier and a buffer section at its outlet. The programmable logic controller performs a priority-based arbitration strategy for the multiple loading stations: The plurality of loading stations include a first station set as high priority, and a second and a third station set as normal priority; Only when there is no release permission signal at the first station and the main conveyor line is not physically occupied, the programmable logic controller uses a polling pointer to alternately switch the import permission between the second station and the third station, and instructs the corresponding controlled block and buffer segment to release the sheet material product.

[0011] By adopting the above technical solution, the conflict and congestion problems during multi-path convergence are resolved. The system introduces a priority-based arbitration mechanism to ensure smooth material flow at the first workstation, while using a polling mechanism to allocate convergence opportunities for ordinary workstations. Combined with the controlled blocking and buffer sections, orderly scheduling of the physical flow is achieved, avoiding collisions or jams caused by multiple sheet metal products entering the main conveyor line simultaneously, thus improving the throughput efficiency of the main conveyor line.

[0012] Furthermore, the logic for performing calculations and exception handling by the perception and logic control module is as follows: The programmable logic controller internally maintains a queue of source identity tags arranged according to the import sequence; The programmable logic controller records the initial pulse value when the sheet material is fed in, and calculates the theoretical conveying distance by combining the current pulse value when the online shape detection device detects the sheet material and the preset pulse equivalent parameter. The deviation is obtained by subtracting the theoretical conveying distance from the preset fixed conveying distance. When the deviation exceeds the synchronization tolerance threshold, the programmable logic controller generates an alarm signal and performs a shift correction operation on the source identity tag queue.

[0013] By adopting the above technical solution, a rigorous data verification mechanism is constructed. Position tracking is performed using encoder pulses, and secondary verification is conducted in conjunction with the physical trigger signal of the online shape detection device, eliminating the problem of misalignment between the logical queue and the physical entity caused by belt slippage or interference. This ensures that the composite control data packet received by the subsequent execution module corresponds to the current physical product, preventing incorrect packaging or sorting accidents caused by data misalignment.

[0014] Furthermore, the automatic pressing mechanism switches between soft pressure mode and pre-pressure venting mode based on the source identification tag: The programmable logic controller is preset with a first preset pressure threshold and a second preset pressure threshold, wherein the second preset pressure threshold is greater than the first preset pressure threshold. When the source identification label indicates that the sheet product is a fragile glass sheet, the automatic clamping mechanism uses the first preset pressure threshold to position and prevent slippage of the sheet product; When the source identification label indicates that the board product is a common wood-based assembled board, the automatic pressing mechanism uses the second preset pressure threshold to vent and compact the board product.

[0015] By adopting the above technical solution, the system can automatically switch mechanical control strategies according to the material characteristics of the sheet material. For fragile glass sheets, a smaller pressure is used only to fix them and prevent them from breaking. For standard wooden assembly boards, higher pressure is used to expel air from the packaging gaps, ensuring a tight package. This differentiated pressure control effectively improves product yield while balancing packaging quality and product safety.

[0016] Furthermore, the tape-beating unit performs tape-beating sequence planning, and the tape-beating sequence is determined by the length of the sheet material and the maximum allowable tape-beating spacing. The selection logic for the maximum allowable strip spacing is as follows: When the source identification label indicates that the sheet product is a fragile glass sheet, the maximum allowable punching distance is taken as the dense spacing parameter; When the source identification label indicates that the board product is a common wood-based assembled board, the maximum allowable strip spacing is taken as the standard spacing parameter, and the dense spacing parameter is less than the standard spacing parameter; The number of passes for applying the tape is calculated based on the quotient of the difference between the length of the sheet material product and twice the product edge clearance distance, and the maximum allowable tape spacing.

[0017] By adopting the above technical solution, the parameterization of the strapping operation was achieved. Different strapping density standards were used for different materials. Fragile glass panels were strapped with denser strapping to increase stress points and disperse stress, while ordinary wooden assembled panels were strapped with standard spacing to save materials. At the same time, the number of strapping passes was determined by calculation, avoiding unreasonable binding positions or damage caused by the strapping head hitting the edge of the panel product due to fixed-point strapping.

[0018] Furthermore, the intelligent palletizing unit performs stacking based on a three-dimensional array algorithm: The programmable logic controller calculates the layer index of the board product to be placed based on the total number of products currently stacked on the corresponding mobile palletizing platform and the maximum capacity of a single layer. The programmable logic controller calculates the row index and column index based on the remaining count within the layer obtained by taking the modulo of the total number of stacked products with the maximum capacity of the single layer; The stacking robot calculates the coordinates of the target placement center point based on the hierarchical index, the row index, the column index, and the corresponding reference origin coordinates of the mobile stacking platform.

[0019] By adopting the above technical solution, a three-dimensional array algorithm is used to replace the teaching point mode. The programmable logic controller can calculate the spatial coordinates of the next placement point in real time based on the current stacking state, without the need for manual pre-setting of each position point. This algorithm enables the stacking robot to adapt to the palletizing requirements of different pallet sizes and different arrangements, simplifies the changeover process, and improves the versatility of the palletizing program.

[0020] Furthermore, the mobile palletizing platform has a load status detection function; When the total number of stacked products on the mobile palletizing platform reaches the maximum allowed stacking quantity, the full-load status variable of the mobile palletizing platform is fed back to the programmable logic controller, triggering the input confluence module to execute a reverse scheduling strategy, suspending the feeding of the board products at the corresponding loading station into the main conveyor line, until the mobile palletizing platform completes the pallet changing operation.

[0021] By adopting the above technical solution, a feedback mechanism from the end to the source is established. Once the mobile palletizing platform at the end is fully loaded, the system immediately issues a pause command upstream, cutting off the input of that type of sheet material product at the source and preventing the sheet material product from accumulating and causing blockages on the main conveyor line. This reverse scheduling strategy ensures the dynamic balance of the entire line's logistics and avoids production failures caused by untimely end-of-line processing.

[0022] This invention also provides a multi-station intelligent packaging, sorting, and palletizing method for sheet metal, employing the following technical solution: A multi-station convergence intelligent packaging, sorting, and palletizing method for sheet metal, applied to the aforementioned multi-station convergence intelligent packaging, sorting, and palletizing system for sheet metal, includes the following steps: When the sheet material enters the loading station, the programmable logic controller generates the source identification tag of the sheet material and controls the timing of the sheet material from multiple loading stations entering the main conveyor line to obtain the sheet material associated with the source identification tag. The theoretical estimated position corresponding to the source identification tag is calculated using the encoder pulse of the drive motor of the main conveyor line. The physical detection position and geometric dimension data of the sheet material product are obtained using an online shape detection device. When the deviation between the physical detection position and the theoretical estimated position is less than or equal to the synchronization tolerance threshold, the geometric dimension data is bound to the source identification tag to generate a composite control data package. The composite control data packet is read, and the adaptive execution module is driven to perform pressure control and bundling operations based on the source identification tag and geometric dimension data in the composite control data packet, thereby completing the physical packaging operation of the board product. The motion path of the stacking robot is planned according to the composite control data package. The board products that have completed the physical packaging operation are sorted to the mobile palletizing platform, and the load status of the mobile palletizing platform is monitored. When the load status indicates full load, the board products at the loading station are paused and merged into the main conveyor line.

[0023] By adopting the above technical solution, a complete control method integrating data flow and logistics is provided. This method achieves full-process control of the sheet metal products from material loading to palletizing through a closed-loop logic of perception, decision-making, and execution. By driving the movement of physical equipment through the flow of the composite control data packet, it ensures that each sheet metal product receives processing matching its attributes, achieving efficient production under complex working conditions.

[0024] Furthermore, the specific steps for the drive adaptive execution module to perform differentiated pressure control include: The automatic pressing mechanism of the adaptive execution module first performs position control, controlling the pressing plate of the automatic pressing mechanism to descend according to the height of the sheet product and the preset safety redundancy distance; When the pressure plate is detected to be in contact with the surface of the sheet material, the automatic pressing mechanism switches to torque control mode; If the source identification label indicates that the sheet product is a fragile glass sheet, the pressure applied by the automatic pressing mechanism is controlled to be a first preset pressure threshold. If the source identification label indicates that the board product is a common wood-based assembled board, the pressure applied by the automatic pressing mechanism is controlled to be a second preset pressure threshold.

[0025] By adopting the above technical solution, a clamping strategy combining position control and torque control is employed. Position control is used before approaching the product surface to improve efficiency, and torque control is switched after contact with the surface to control the contact force. This dual-mode control method ensures both operational cycle time and effectively avoids damage to the surface of the sheet material from rigid impacts, providing reliable safety, especially when handling fragile glass sheets.

[0026] This invention provides a multi-station intelligent packaging, sorting, and palletizing system and method for sheet metal. It offers the following advantages: 1. This invention uses a sensing and logic control module to associate and bind the source identification label of the board product with the geometric dimension data obtained by the online shape detection device and generate a composite control data package. Then, the adaptive execution module uses the composite control data package to drive the automatic pressing mechanism, the tape-pressing unit, and the intelligent palletizing unit to perform differentiated physical packaging and sorting and palletizing operations on the board product. This control method, based on the synchronization of data flow and logistics, enables downstream equipment to automatically adapt to different types and specifications of board products on the mixed flow line, thereby solving the problem of frequent switching of operation parameters caused by product differences in multi-station convergence scenarios and improving the system's automation processing capability.

[0027] 2. This invention uses a programmable logic controller to execute a priority-based arbitration strategy on multiple loading stations of the input bus module. When the first station, which is set to high priority, has no release permission signal and the main conveyor line is not physically occupied, the polling pointer alternately switches the access permission between the second and third stations, which are set to normal priority, and instructs the corresponding controlled blocking and buffer sections to release the sheet material. This orderly scheduling mechanism effectively avoids physical collisions and logistics congestion caused by multiple sheet material products entering the main conveyor line at the same time, thereby ensuring the stable transmission and passage efficiency of materials at multiple stations on the main conveyor line.

[0028] 3. This invention utilizes an automatic pressing mechanism and a tape-pressing unit to perform differentiated operations based on the source identification tag in the composite control data package. For fragile glass sheets, a smaller first preset pressure threshold and dense spacing parameters are used, while for ordinary wood-assembled sheets, a larger second preset pressure threshold and standard spacing parameters are used. This control strategy, which automatically adjusts the pressure and tape-pressing density based on material characteristics, prevents fragile sheet products from being mechanically damaged while ensuring the tightness of packaging for ordinary sheet products. Thus, in a mixed production mode, it balances the integrity and safety of finished product packaging. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the architecture of a multi-station convergence intelligent packaging, sorting, and palletizing system for sheet metal according to an embodiment of the present invention; Figure 2 This is a flowchart of a multi-station intelligent packaging, sorting, and palletizing method for sheet metal according to an embodiment of the present invention; Figure 3 This is a statistical distribution diagram of the pressure values ​​of an automatic clamping mechanism according to an embodiment of the present invention; Figure 4 This is a stepped response curve of the number of tape passes as a function of product length, according to an embodiment of the present invention. Figure 5 This is a bar chart comparing key quality indicators of the control group and the experimental group in one embodiment of the present invention.

[0030] Among them, 100 is the input merging module; 200 is the sensing and logic control module; and 300 is the adaptive execution module. Detailed Implementation

[0031] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] See attached document Figure 1 The present invention provides a multi-station intelligent packaging, sorting and palletizing system for sheet materials, which mainly includes an input confluence module 100, a sensing and logic control module 200 and an adaptive execution module 300 arranged sequentially along the process flow direction.

[0033] The input confluence module 100 is used to realize the physical input and preliminary processing of materials from multiple sources. The input confluence module 100 includes three feeding stations arranged in parallel, namely the first station, the second station, and the third station.

[0034] The first station is configured with a special flow channel for handling glass or fragile, clean products. It is equipped with an automatic film-wrapping or bagging device for surface protection treatment of the products. A right-angle transfer mechanism is located at the exit of the first station to transfer the processed products into the main conveyor line.

[0035] The second and third workstations are configured as assembly flow channels for handling general assembly or assembly-type products. Both workstations are equipped with automatic box-feeding equipment, where products complete assembly and box-feeding operations. These two workstations are connected to the main conveyor line via a transfer mechanism.

[0036] At the connection between each workstation exit and the main conveyor line, the input busbar module 100 is equipped with controlled blocking and buffer sections. The controlled blocking and buffer sections are used to temporarily intercept or release products according to control commands to adjust the material cycle time entering the main conveyor line.

[0037] The sensing and logic control module 200 is used to collect product data and generate control commands. The sensing and logic control module 200 includes an online shape detection device installed on the main conveyor line. The online shape detection device is configured to acquire real-time geometric dimension data of the length, width, and height of the products flowing through it.

[0038] The sensing and logic control module 200 also includes a programmable logic controller (PLC) control center. The PLC control center establishes a communication connection with the input bus module 100 and the adaptive execution module 300. The PLC control center is internally configured with a virtual identity tag queue to record product origin attributes and associate and bind the origin attributes with the geometric dimension data obtained by the online shape inspection device.

[0039] The adaptive execution module 300 is located downstream of the sensing and logic control module 200 and is used to complete packaging and palletizing operations according to instructions. The adaptive execution module 300 includes an automatic clamping mechanism. The automatic clamping mechanism has position adjustment and pressure adjustment functions, and can adjust the height of the clamping plate and the amount of pressure applied to the product surface according to instructions.

[0040] The adaptive execution module 300 also includes a strapping unit. The strapping unit consists of a longitudinal strapping machine and a transverse strapping machine, used to bundle the compressed products. The strapping unit supports strapping position adjustment, tension value setting, and strapping pass switching.

[0041] The adaptive execution module 300 is equipped with an intelligent palletizing unit at its end. The intelligent palletizing unit includes a stacking robot and multiple mobile palletizing platforms. The stacking robot is configured to pick up packaged products and place them on designated mobile palletizing platforms. The mobile palletizing platforms have load status detection capabilities and feed back status signals to the PLC control center.

[0042] When the system is in operation, different types of sheet metal products are fed into the corresponding workstations of the input bus module 100. The first workstation handles fragile products, while the second and third workstations handle ordinary assembled products. The source identification signals generated by each workstation are transmitted to the sensing and logic control module 200.

[0043] After the products are fed into the main conveyor line, the sensing and logic control module 200 obtains the geometric dimensions through the online shape detection device and generates composite control data by combining the source identity.

[0044] The adaptive execution module 300 receives composite control data. The automatic clamping mechanism adjusts the pressure plate position based on the height data and selects either soft pressure mode or pre-pressure venting mode based on the source identity. The belt-laying unit adjusts the belt-laying position based on the dimensional data and adjusts the tension and belt-laying passes based on the source identity.

[0045] The stacking robot plans its path based on the product's origin and size data, and sorts the products to the corresponding mobile palletizing platform. When the mobile palletizing platform is fully loaded, a status signal is fed back to the PLC control center, triggering the input merging module 100 to execute a reverse scheduling strategy, restricting the material input to specific workstations.

[0046] See attached document Figure 2 This invention provides a multi-station intelligent packaging, sorting, and palletizing method for sheet metal, comprising the following steps: S100, performs source identification and reverse dynamic scheduling: when a product enters the loading station, it uses sensors to generate a source identification tag, and controls the blocking mechanism of the input confluence module 100 based on the palletizing platform status fed back by the adaptive execution module 300, thereby adjusting the timing of products from each station entering the main conveyor line. S200, perform online detection and multi-dimensional data fusion: after the product enters the main conveyor line, use the online shape detection device to collect geometric dimension data, and the PLC control center binds the geometric dimension data with the source identity tag generated in step S100 to construct a composite control data package containing identity attributes and physical dimensions; S300 executes a dual data-driven adaptive packaging process: the adaptive execution module 300 reads the composite control data packet, and drives the automatic pressing mechanism to perform differentiated pressure control based on the source identification label and geometric dimension data, and drives the tape-making unit to perform differentiated tension and pass control. S400, Perform intelligent sorting and closed-loop palletizing: The palletizing robot plans its motion path according to the composite control data package, sorts the products to the corresponding mobile palletizing platform, and monitors the load status of the mobile palletizing platform in real time to feed back to step S100 to form closed-loop control.

[0047] To more clearly illustrate the technical solution of this invention, the above steps will be explained in detail below in conjunction with specific mathematical models and control logic.

[0048] The packaging, sorting, and palletizing process begins with the inbound control and identity initialization of multi-source materials. This step aims to establish an initial mapping relationship between the physical entities and digital information of the materials, and adjust the inbound cycle time based on the downstream status. Step S100 specifically includes the following sub-steps: S101 monitors the physical status of feeding channels with different functional attributes. The input bus module includes physically isolated first, second, and third stations. The first station is configured as a fragile goods handling channel, with an automatic film-wrapping or automatic bagging device connected to its front end for handling glass sheets or high-cleanliness sheets. The second and third stations are configured as general goods handling channels, with assembly and box-loading equipment connected to their front ends. At the junction of each station and the main conveyor line, photoelectric sensors or limit switches are installed as trigger detection units. When the sheet material is conveyed to the controlled obstruction and buffer section at the exit of each station, the trigger detection unit generates an in-situ trigger signal. This step converts the discrete material flow of each station into digital pulse signals recognizable by the control system through physical sensors, providing a timing reference for subsequent logical judgments.

[0049] S102, establish real-time status mapping of backend palletizing resources. The PLC control center reads the working status of each mobile palletizing platform at the end of the adaptive execution module via the fieldbus. This status signal originates from the pallet detection sensor at the bottom of the mobile palletizing platform or the I / O interface of the stacking robot. System definition number... The state variables of each mobile palletizing platform are: ,in The platform is assigned an index, with a value range of [value range missing]. , The total number of platforms configured for the system.

[0050] State variables Using binary logic definition: when corresponding to the platform number index When the mobile palletizing platform is in a ready-to-receive state, the state variable will be... The value is assigned to 1; when corresponding to the platform number index When the mobile palletizing platform is in a fully loaded removal state, an empty pallet replacement state, or a fault alarm state, the state variable will be... The value is assigned to 0.

[0051] S103 executes reverse flow control based on end-point status feedback and front-end conflict arbitration. Step S103 combines back-end resource status with front-end multi-source inflow requirements to implement flow control at each loading station. The PLC control center establishes a logical mapping relationship between loading stations and mobile palletizing platforms based on material flow requirements. The first station corresponds to the glass palletizing platform and is denoted by a specific platform number index. The PLC control center uses a specific platform number as its index. The state variables of the mobile palletizing platform Solve the basic resource constraint signal of the blocking mechanism at the exit of the first workstation.

[0052] To resolve the physical interference issue when multiple workstations simultaneously request to merge into the main conveyor line, the system implements an arbitration strategy based on a combination of fixed priority and polling. The system defines the physical occupancy status of the main conveyor line merging point as follows: When the sensor detects material in the main conveyor line's confluence area... When the sensor does not detect material in the main conveyor line confluence area Definition of the first The material ready request signal for each loading station under controlled obstruction and buffer section is: When the first The value is 1 when there is material waiting at the outlet of the first loading station. The value is 0 when there is no material waiting at the outlet of each loading station. The value can be 1, 2 or 3.

[0053] The PLC control center maintains a binary polling pointer internally. Used to switch service rights between the second and third workstations. The initial value is 0. Release permission signals for each loading station. The arbitration logic is as follows: ; ; ; Among them, symbols Represents the logical AND operation, symbol The OR operation represents a logical OR operation, and the NOT operation represents a logical NOT operation, where the value 1 minus the variable. It is in a physically occupied state.

[0054] The above formula shows that the first station has a significantly higher priority, and only when the first station has no release permission signal ( And the main conveyor line has no physical occupation ( The system only responds to requests from the second or third workstation when the polling pointer is active. When the polling pointer is 0, the second workstation has priority in receiving service; when the polling pointer is 0... When the score is 1, the third workstation has priority in obtaining service rights.

[0055] Once Once a material loading station completes one inbound operation, a release permission signal is issued. When the value changes from 1 to 0, the system performs a polling pointer toggle operation, updating the pointer. =1 minus the value before the update This ensures that the second and third workstations alternately receive input permissions. Finally, the control signals for the blocking mechanisms at each loading station... Defined as: ; When control signal When the value is 1, the PLC control center drives the blocking mechanism to maintain the blocking state on the product; when the control signal .... When the value is 0, the PLC control center releases the blocking mechanism, allowing the product to enter the main conveyor line.

[0056] S104, Generate and bind source identification tags. When the blocking mechanism releases, allowing the product to be transferred into the main conveyor line by the transfer mechanism, the PLC control center captures the trigger source of this transfer action and generates the corresponding tag in memory. Product Origin Identity Label .in, This indicates the global serial number of the product currently being fed into the main conveyor line. Source identification tag. Used to uniquely identify the physical attributes of a product in subsequent processes. Let... The workstation number that triggers material loading, and the source identification tag. The assignment logic is as follows: ; Generated source identity tags The data is temporarily stored at the head of the PLC's FIFO tracking queue, awaiting fusion with subsequent online monitoring data. Through these steps, the system completes the digital identification of the mixed-flow product and proactive flow control at the initial stage of physical confluence.

[0057] After the products enter the main conveyor line, the system needs to collect the geometric dimension data of the products during the dynamic conveying process, and associate the geometric dimension data with the source identification tag generated in step S100 to construct composite control data for driving subsequent actuators. Step S200 specifically includes the following sub-steps: S201, Perform dynamic geometric dimension acquisition. An online shape inspection device is deployed at the front end of the main conveyor line. This device employs one or a combination of a laser scanning rangefinder, a 3D vision camera, or an infrared light curtain array. The online shape inspection device is installed above or to the side of the main conveyor line, and its measurement coordinate system... The zero point of the axis is calibrated on the upper surface of the main conveyor line. As the product moves along the conveyor line through the detection area, the online shape detection device scans the product's external contour in a non-contact manner and calculates the product's circumscribed cuboid dimensions in the established measurement coordinate system. The PLC control center reads this dimension data through the communication interface and defines it as the first... Geometric dimension vector of each product Geometric dimension vector The mathematical expression is as follows: ; in, Representing the The length of each product along the conveying direction Representing the The width of each product perpendicular to the conveying direction. Representing the The height of a product in the vertical direction.

[0058] S202 performs synchronous calibration between the virtual queue and the physical entity. The PLC control center maintains a source identification tag queue logically mapped to the physical location of the main conveyor line, following a first-in, first-out (FIFO) principle. During the process of products entering the main conveyor line from the loading station and being transferred to the inspection area, the PLC control center uses the encoder pulse count of the conveyor line drive motor to perform integrated tracking of the product's real-time position on the conveyor line. The tracking process is based on preset pulse equivalent parameters. (Unit: mm / pulse) This converts the cumulative pulse increment of the encoder into the physical displacement of the product.

[0059] To prevent misalignment between the virtual queue and physical entities due to external interference or sensor malfunctions, the system performs a synchronization consistency check before extracting the source identification tag. When the online shape detection device detects a product arrival signal, the PLC control center reads the current pulse value of the conveyor encoder. And read the initial pulse value of the product arrival time recorded by the first element of the source identity tag queue. The fixed conveying distance between the material loading station's convergence point and the online shape inspection device is known to be... The system calculates the physical position deviation. The calculation logic is as follows: ; Among them, symbols This represents absolute value operations. The system sets the position synchronization tolerance threshold to be... The PLC control center will calculate the physical position deviation. Location synchronization tolerance threshold Compare them.

[0060] If the physical position deviates Less than or equal to the position synchronization tolerance threshold The system determines that the physical product matches the virtual queue data, confirms that the currently detected product corresponds to the tag data at the head of the source identity tag queue, and then formally extracts the source identity tag. .

[0061] If the physical position deviates Greater than the position synchronization tolerance threshold The system determines that a queue synchronization anomaly has occurred. At this time, the PLC control center generates a data misalignment alarm signal and performs a shift correction operation on the source identification tag queue to ensure the accuracy of subsequent control data.

[0062] S203, Construct a composite control data package. This step aims to atomically bind discrete physical attribute data with identity attribute data to prevent data misalignment during subsequent multi-process flows. The PLC control center allocates a dedicated data block in memory to store the quantitative geometric dimension vector obtained in step S201. Qualitative source identity tags extracted in step S202 Perform association to generate a unique composite control data packet. This data packet serves as the driving data basis for subsequent adaptive actuators. (Composite control data packet) The structure definition is as follows: ; S204 executes the synchronous flow of control data packets. The system establishes a virtual mapping model of the main conveyor line, where each storage unit of the PLC's shift register corresponds to a physical micro-segment on the main conveyor line. The generated composite control data packet... The data is written to the shift register data area of ​​the PLC. As the conveyor line runs, the logical address index of this data packet in the register shifts synchronously with the increase of the encoder pulse value. The system ensures that when the... When a product reaches the operating range of any downstream actuator, the PLC control center calls the composite control data package corresponding to that location. It analyzes the identity attributes and size parameters of the specific product to achieve synchronous control of data transmission and physical delivery.

[0063] After acquiring the composite control data packet containing identity attributes and geometric dimensions, the adaptive execution module drives the automatic clamping mechanism and the belt-pressing unit to perform mechanical actions matching the current product attributes based on the parameter parsing results in the data packet. Step S300 specifically includes the following sub-steps: S301, parse the composite control data packet and initialize the execution parameters. The core of this step is to decouple the digitized composite control data packet into motion commands and force control commands that the physical actuator can recognize. When the photoelectric tracking sensor detects that the product has reached the operating area of ​​the adaptive execution module, the PLC control center reads the composite control data packet corresponding to the current position from the shift register. The system parses out the geometric dimension vectors. Length in ,width ,high and source identity tags The above parameters are then mapped into the registers of the automatic clamping mechanism and the belt-pressing unit as reference parameters for action execution.

[0064] S302 performs dual-modal clamping control based on height and identity. The end effector of the automatic clamping mechanism is configured as a floating buffer structure, consisting of a rigid pressure plate, a universal floating joint, and a flexible buffer pad. The rigid pressure plate is connected to the drive shaft via the universal floating joint to accommodate surface flatness deviations of different products; the flexible buffer pad, made of high-density polyurethane or foamed rubber, is bonded to the lower surface of the rigid pressure plate to provide damping protection at the moment of physical contact.

[0065] The automatic clamping mechanism uses a servo electric cylinder with torque control mode as the drive unit. The system first performs position control, and the PLC control center determines the position based on the height. Calculate the target downward position of the pressure plate The calculation logic is as follows: ; in, A preset safety redundancy distance, ranging from 10 mm to 50 mm, is used to prevent the flexible buffer pad from colliding with the product due to height measurement errors during the rapid descent of the pressure plate. When the pressure plate rapidly travels to... After positioning, the system switches to low-speed detection mode and continues to descend until the current value fed back by the servo electric cylinder changes abruptly, thus confirming that the flexible buffer pad has contacted the product surface.

[0066] At this point, the system switches to torque control mode, based on the source identification tag. Set target pressure value Target pressure value The calculation model is shown below: ; in, The first preset pressure threshold, set within a range of 50 Newtons to 200 Newtons, is the minimum holding force required to maintain contact, corresponding to when... The flexible positioning mode is designed for fragile items, aiming to fix the product position without generating destructive deformation stress; The second preset pressure threshold is set within a range of 500 Newtons to 2000 Newtons, a value that is significantly greater than... , corresponding to when The pre-pressure venting mode for assembled products is designed to expel air gaps in the packaging box by applying a set pressure to prevent subsequent loosening of the straps.

[0067] S303, performs differentiated tension adjustment based on identity attributes. The tape-laying unit receives the source identity tag. The strapping tension can be dynamically adjusted by regulating the current limit of the servo motor or the slippage torque of the mechanical clutch. The tension control logic is as follows: ; in, The low-tension protection threshold is set to be less than the critical breaking stress value at the edge of the fragile item, and is used when... Prevent high tension from damaging the edges of fragile items; The standard high-tension threshold is set to a value greater than the rebound stress value of a typical packaging box, and is used when... Ensure the assembly of the box is secure.

[0068] S304 performs adaptive tape-laying sequence planning and precise positioning based on size and identity. The tape-laying unit adjusts according to product length. and source identity tags Calculate the required number of tape passes And the longitudinal position of each strap. The system first determines the maximum allowable strap spacing based on the source identification label. As shown below: ; in, For dense spacing parameters, For standard spacing parameters, and This indicates that fragile items require denser binding points to distribute stress. Based on the determined... , hit the road The calculation formula is as follows: ; in, This indicates the floor function. This refers to the preset clearance distance between the first and last straps and the product edge. Further, the system calculates the... The longitudinal position coordinates of the packing strap relative to the front edge of the product ,in The value range is 1 to The calculation formula is as follows: ; To eliminate inertial slippage errors during the start-up and shutdown of heavy sheet metal conveying, the conveying mechanism of the belt conveyor unit employs a two-stage speed control strategy based on the longitudinal position coordinates. The system defines the real-time feedback position of the conveyor servo motor as... Define the deceleration buffer distance as Define the positioning tolerance range as follows: Transmit speed commands to the servo motor. The control logic is as follows: ; in, To quickly approach the speed, This is a low-speed creeping rate. When the following conditions are met... When the stopping condition is met, the servo motor enters position holding mode to mechanically lock the conveyor belt, and the belt fastening machine then performs the binding action. (Complete the first...) After the track is secured, the system updates the target's longitudinal position coordinates as follows: Repeat the above process until all binding operations are completed.

[0069] Products that have completed packaging are transferred to the end of the system. The stacking robot performs sorting and palletizing operations based on the composite control data package. Simultaneously, the system monitors the load status of the mobile palletizing platform in real time and generates feedback signals to achieve closed-loop feedback control of the front-end loading station. Step S400 specifically includes the following sub-steps: S401 performs target platform routing mapping based on identity attributes. The stacker robot's motion controller receives composite control data packets through the communication interface. The motion controller extracts the source identity tags. And call the preset address mapping function. Determine the platform number index of the target mobile palletizing platform where the product should be placed. The mapping logic is: when When the mapping function returns the platform number index of the dedicated palletizing platform for fragile items; when At that time, the mapping function returns the platform number index of the ordinary assembly palletizing platform. The mathematical expression of the mapping relationship is as follows: ; S402, Solve for the 3D array stacked coordinates. The motion controller obtains the index corresponding to the platform number. The reference origin coordinates of the mobile palletizing platform And combined with the geometric dimension vector in the composite control data packet Calculate the coordinates of the target placement center point of the product in the stacking coordinate system. To achieve a composite palletizing mode that combines multi-box flat laying and multi-level stacking, the system introduces a logic algorithm based on row and column layering.

[0070] The system reads the index corresponding to the platform number. The mobile palletizing platform currently has a total of [number] products stacked. The maximum number of columns allowed per layer along the X-axis on this platform is set to [value]. The maximum number of rows arranged along the Y-axis is The system first calculates the maximum capacity of a single layer. The calculation formula is as follows: ; Based on the total number of products With the maximum capacity of a single layer The system calculates the hierarchical index of the product to be placed. Row index and column indexes Hierarchical Index Total number of products Divide by the maximum capacity of a single floor The integer part of the quotient is calculated using the following formula: ; Define the remaining count within the layer Total number of products Maximum capacity of a single layer The result of modulo operation. Based on the residual count within the layer. row index With column index The calculation logic is as follows: ; ; Based on the calculated hierarchical index Row index With column index Combined with product length ,width With height The calculation model for the coordinates of the target placement center point is shown below: ; The above model ensures that products are filled into the mobile palletizing platform in a column-first, row-later, bottom-up order, forming a compact three-dimensional solid pallet.

[0071] S403 performs path planning and sorting operations. The stacking robot plans its motion trajectory based on the calculated target placement center point coordinates and the current gripping point, using a polynomial interpolation algorithm or trapezoidal velocity curve. The robot's end effector grips the product and transports it along the planned path to the platform number index. The mobile palletizing platform is positioned at a designated level and released. For the specific inverse kinematics calculation and joint servo control of the robot, those skilled in the art can use general industrial robot control algorithms, which will not be elaborated upon here.

[0072] S404 executes load status update and closed-loop feedback. After completing a placement action, the PLC control center updates the index corresponding to the platform number. Load counter of mobile palletizing platform The update logic is as follows: ; The system updates the load count in real time. With the preset maximum allowed stacking number Comparison. When At that time, the system determines that it corresponds to the platform number index. The platform reached full load, and then the platform's state variable was changed. Set to 0. This state change is fed back to the logic control unit of the input bus module via the control bus, triggering step S103 reverse flow control blocking logic, suspending the material inflow at the corresponding loading station until the material inflow at the platform number index is reached. The mobile palletizing platform completes the pallet changing operation and resets to a ready state. This process constitutes a closed-loop control loop from end-effector execution to front-end input. Specific implementation examples: To better understand the technical solution of this invention, the invention will be further described in detail below with reference to specific application scenarios and accompanying drawings. This specific application embodiment is constructed in an automated packaging workshop for sheet materials. This workshop mainly produces two types of sheet material products with different specifications. The first type of product is fragile large tempered glass, denoted as Product A, which originates from the first workstation and corresponds to the... Product Origin Identity Label The value is 1; the second type of product is a regular wooden assembled cabinet, denoted as Product B, which originates from the second workstation, corresponding to the... Product Origin Identity Label The value is 0. The physical dimension of product A is length. Equal to 2000 millimeters, width Equal to 1200 millimeters, height Equal to 15 millimeters; the physical dimension of product B is length. Equal to 1800 mm, width Equal to 1000 millimeters, height It equals 600 millimeters.

[0074] When the above two types of products are processed by the sensing and logic control module and transmitted to the adaptive execution module, the system first drives the automatic clamping mechanism to perform pressure control that matches the product attributes. The PLC control center reads the first [data] in the composite control data packet. Product Origin Identity Label Calculate the target pressure value based on preset pressure parameters. The system sets a first preset pressure threshold. 150 Newtons, used for positioning and anti-slip of fragile items; a second preset pressure threshold is set. 1200 Newtons, used for venting and compaction of ordinary products. Target pressure value. The calculation formula is as follows: ; in, For the target pressure value, For the first Product origin identification label The first preset pressure threshold, This is the second preset pressure threshold. For product A, [the following will be specified]: Substituting 1 into the formula, we get... Equal to 150 Newtons; for product B, Substituting 0 into the formula, we get... It equals 1200 Newtons.

[0075] See attached document Figure 3 This figure illustrates the statistical distribution of pressure values ​​during continuous operation of the automatic clamping mechanism. The horizontal axis represents the applied pressure value in Newtons (N); the vertical axis represents the sample frequency. The figure shows a distinct bimodal distribution of the system output pressure. The first peak is concentrated around 150 N, corresponding to the flexible positioning of product A; the second peak is concentrated around 1200 N, corresponding to the rigid compaction of product B. This statistical result verifies that the formula can achieve differentiated force control based on object properties under mixed flow conditions.

[0076] After the automatic clamping mechanism completes its operation, the product is transferred to the tape-stretching unit. The system plans the tape-stretching strategy based on the product's geometry and characteristics. The tape-stretching unit's tape-stretching sequence... By the Length of each product and maximum allowable strip spacing Jointly decided. The system sets the product edge avoidance distance. The spacing is 100 mm. For product A, due to its fragile nature, the system sets a tight spacing parameter. The standard spacing is 400 mm; for product B, the system sets the standard spacing parameter. The maximum permissible belt spacing is 600 mm. The selection logic is: when When equal to 1, Value ;when When equal to 0, Value Hit the road next. The calculation formula is as follows: ; in, Hit the road, For the first The length of each product along the conveying direction To provide clearance for product edges, The symbol represents the maximum permissible spacing between the strips. This indicates a floor operation. For product A, substitute the length. Equal to 2000 mm and The value is 400 mm. The calculation process is as follows: the difference between 2000 and 200, divided by 400, equals 4.5. Rounding down gives 4, and adding 2 gives the number of strips. Equals 6. For product B, substitute the length. Equal to 1800 mm and The value is equal to 600 mm. The calculation process is as follows: the difference between 1800 and 200 is divided by 600, which equals 2.66. Rounding down gives 2. Adding 2 gives the number of strips. It equals 4.

[0077] See attached document Figure 4 The figure shows the stepped response curve of the number of tape passes as the product length changes. The solid line in the figure represents the fragile item mode, and the dashed line represents the normal item mode. It can be seen that, for the same length, the number of tape passes calculated in the fragile item mode is always higher than or equal to that in the normal item mode. Moreover, as the length increases, the tape pass density trend of the fragile item is more obvious, which verifies the adaptive logic of the algorithm across the entire size range.

[0078] To verify the effectiveness of the present invention in actual production, a comparative experiment was established with 2000 samples, including 1000 samples of product A and 1000 samples of product B. The control group used a traditional fixed-parameter mode, with the pressure fixed at 800 Newtons and the packing spacing fixed at 500 mm; the experimental group used the adaptive system described in this invention. The experiment statistically analyzed two key indicators: product breakage rate and packaging loosening rate.

[0079] See attached document Figure 5 This figure shows a bar chart comparing the quality indicators of the control group and the experimental group. The left side of the horizontal axis represents the control group, and the right side represents the experimental group. Data shows that the breakage rate of fragile items in the control group was higher, at 12.4% (because the 800 Newtons pressure far exceeded the fragile items' tolerance limit), while the experimental group's rate dropped to 0.2%. The loosening rate of assembled items in the control group was 8.6% (mainly because the 800 Newtons pressure failed to fully compact the assembled items), while the experimental group's rate dropped to 0.0%. These results demonstrate that the present invention, through an adaptive execution mechanism driven by composite control data packets, improves the packaging tightness of assembled items while ensuring the safety of fragile items.

Claims

1. A multi-station intelligent packaging, sorting, and palletizing system for sheet metal, characterized in that, include: The input confluence module (100) includes multiple loading stations arranged in parallel and a main conveyor line. The multiple loading stations converge the sheet products into the main conveyor line, and the main conveyor line carries the sheet products downstream. The sensing and logic control module (200) is set on the conveying path of the main conveyor line and includes an online shape detection device and a programmable logic controller. The programmable logic controller generates a source identification tag for the sheet material product, calculates the theoretical estimated position corresponding to the source identification tag using the encoder pulse of the drive motor of the main conveyor line, and when the deviation between the theoretical estimated position and the physical detection position obtained by the online shape detection device is less than or equal to the synchronization tolerance threshold, it associates and binds the source identification tag with the geometric dimension data of the sheet material product obtained by the online shape detection device to generate a composite control data package. An adaptive execution module (300), located downstream of the perception and logic control module (200), acquires the composite control data packet and performs physical packaging and sorting / palletizing operations on the sheet material product based on the source identity tag and geometric dimension data in the composite control data packet.

2. The intelligent packaging, sorting, and palletizing system for sheet metal with multi-station convergence as described in claim 1, characterized in that, The adaptive execution module (300) includes an automatic pressing mechanism, a tape-pressing unit, and an intelligent palletizing unit arranged sequentially along the process flow direction; The automatic pressing mechanism applies differentiated pressure to the sheet material based on the composite control data package; The tape-binding unit plans the tape-binding strategy according to the composite control data package and bundles the sheet products; The intelligent palletizing unit includes a palletizing robot and multiple mobile palletizing platforms. Based on the composite control data package, the board products are sorted to the corresponding mobile palletizing platforms and stacked.

3. The intelligent packaging, sorting, and palletizing system for sheet metal with multi-station convergence as described in claim 1, characterized in that, Each of the feeding stations of the input bus module (100) is equipped with a controlled barrier and a buffer section at its outlet. The programmable logic controller performs a priority-based arbitration strategy for the multiple loading stations: The plurality of loading stations include a first station set as high priority, and a second and a third station set as normal priority; When there is no release permission signal at the first station and the main conveyor line is not physically occupied, the programmable logic controller uses a polling pointer to alternately switch the import permission between the second station and the third station, and instructs the corresponding controlled block and buffer segment to release the sheet material product.

4. The intelligent packaging, sorting, and palletizing system for sheet metal with multi-station convergence as described in claim 1, characterized in that, The logic for performing calculations and exception handling in the perception and logic control module (200) is as follows: The programmable logic controller internally maintains a queue of source identity tags arranged according to the import sequence; The programmable logic controller records the initial pulse value when the sheet material is fed in, and calculates the theoretical conveying distance by combining the current pulse value when the online shape detection device detects the sheet material and the preset pulse equivalent parameter. The deviation is obtained by subtracting the theoretical conveying distance from the preset fixed conveying distance. When the deviation exceeds the synchronization tolerance threshold, the programmable logic controller generates an alarm signal and performs a shift correction operation on the source identity tag queue.

5. The intelligent packaging, sorting, and palletizing system for sheet metal with multi-station convergence as described in claim 2, characterized in that, The automatic clamping mechanism switches between soft pressure mode and pre-pressure venting mode based on the source identification tag: The programmable logic controller is preset with a first preset pressure threshold and a second preset pressure threshold, wherein the second preset pressure threshold is greater than the first preset pressure threshold. When the source identification label indicates that the sheet product is a fragile glass sheet, the automatic pressing mechanism executes the soft pressure mode and uses the first preset pressure threshold to position and prevent slippage of the sheet product; When the source identification label indicates that the board product is a common wood-based assembled board, the automatic pressing mechanism executes the pre-pressure venting mode and uses the second preset pressure threshold to vent and compact the board product.

6. The intelligent packaging, sorting, and palletizing system for sheet metal with multi-station convergence according to claim 2, characterized in that, When planning the belt-stretching strategy, the belt-stretching unit calculates the number of belt-stretching passes, which are determined by the length and the maximum allowable belt-stretching spacing in the geometric dimension data. The selection logic for the maximum allowable punching spacing is as follows: when the source identification label indicates that the board product is a fragile glass board, the maximum allowable punching spacing is set to the dense spacing parameter; when the source identification label indicates that the board product is a common wood-based assembled board, the maximum allowable punching spacing is set to the standard spacing parameter, and the dense spacing parameter is less than the standard spacing parameter. The number of tape passes is calculated based on the quotient of the length in the geometric dimension data minus twice the product edge clearance distance and the maximum allowable tape spacing.

7. The intelligent packaging, sorting, and palletizing system for sheet metal with multi-station convergence according to claim 2, characterized in that, The intelligent palletizing unit performs stacking based on a three-dimensional array algorithm: The programmable logic controller calculates the layer index of the board product to be placed based on the total number of products currently stacked on the corresponding mobile palletizing platform and the maximum capacity of a single layer. The programmable logic controller calculates the row index and column index based on the remaining count within the layer obtained by taking the modulo of the total number of stacked products with the maximum capacity of the single layer; The stacking robot calculates the coordinates of the target placement center point based on the hierarchical index, the row index, the column index, and the corresponding reference origin coordinates of the mobile stacking platform.

8. The intelligent packaging, sorting, and palletizing system for sheet metal with multi-station convergence according to claim 2, characterized in that, The mobile palletizing platform has a load status detection function; When the total number of stacked products on the mobile palletizing platform reaches the maximum allowed stacking quantity, the full load status variable of the mobile palletizing platform is fed back to the programmable logic controller, triggering the input bus module (100) to execute the reverse scheduling strategy, suspending the board products of the corresponding loading station from entering the main conveyor line, until the mobile palletizing platform completes the pallet changing operation.

9. A multi-station intelligent packaging, sorting, and palletizing method for sheet metal, characterized in that, The system, applied to a multi-station intelligent packaging, sorting, and palletizing system for sheet metal as described in any one of claims 1 to 8, includes the following steps: When the sheet material enters the loading station, the programmable logic controller generates the source identification tag of the sheet material and controls the timing of the sheet material from multiple loading stations entering the main conveyor line to obtain the sheet material associated with the source identification tag. The theoretical estimated position corresponding to the source identification tag is calculated using the encoder pulse of the drive motor of the main conveyor line. The physical detection position and geometric dimension data of the sheet material product are obtained using an online shape detection device. When the deviation between the physical detection position and the theoretical estimated position is less than or equal to the synchronization tolerance threshold, the geometric dimension data is bound to the source identification tag to generate a composite control data package. The composite control data packet is read, and the adaptive execution module is driven to perform pressure control and bundling operations based on the source identification tag and geometric dimension data in the composite control data packet, thereby completing the physical packaging operation of the board product. The motion path of the stacking robot is planned according to the composite control data package. The board products that have completed the physical packaging operation are sorted to the mobile palletizing platform, and the load status of the mobile palletizing platform is monitored. When the load status indicates full load, the board products at the loading station are paused and merged into the main conveyor line.

10. A multi-station intelligent packaging, sorting, and palletizing method for sheet metal as described in claim 9, characterized in that, The specific steps for the drive adaptive execution module to perform pressure control include: The automatic clamping mechanism of the adaptive execution module first performs position control, and controls the pressure plate of the automatic clamping mechanism to move downward according to the height information in the geometric dimension data and the preset safety redundancy distance; When the pressure plate is detected to be in contact with the surface of the sheet material, the automatic pressing mechanism switches to torque control mode; If the source identification label indicates that the sheet product is a fragile glass sheet, the pressure applied by the automatic pressing mechanism is controlled to be a first preset pressure threshold. If the source identification label indicates that the board product is a common wood-based assembled board, the pressure applied by the automatic pressing mechanism is controlled to be a second preset pressure threshold.

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