阅读说明：本技术 包装箱自适应码垛方法 (Packing case adaptive code stacking method ) 是由 赵天斌 于 2019-08-30 设计创作，主要内容包括：本发明公开了一种包装箱自适应码垛方法,包括以下步骤：步骤S1：同步传送带顺次且间隔地传送待码垛的包装箱；步骤S2：在待码垛的包装箱传送至同步传送带的第一位置时,根据第一判断条件判断上一个待码垛的包装箱是否已完成码垛,如果判断成功则执行步骤S3,否则暂定同步传送带并且延时指定的间隔周期后再根据第一判断条件判断上一个待码垛的包装箱是否已经完成码垛直至码垛完成。本发明公开的包装箱自适应码垛方法,能够适应机械码垛和人工码垛同时并行的实际需求,不再唯一依赖既定的码垛顺序,在遵循既定的码垛顺序的基础上,能够根据即时的码垛区域存量状态,灵活选择包装箱的最佳码垛位置。(The invention discloses a kind of packing case adaptive code stacking methods, comprising the following steps: step S1: synchrome conveying belt is sequentially and packing case to be palletized is transmitted in compartment of terrain；Step S2: when packing case to be palletized is sent to the first position of synchrome conveying belt, judge whether a upper packing case to be palletized is completed stacking according to the first Rule of judgment, if it is determined that successfully thening follow the steps S3, otherwise fixing tentatively synchrome conveying belt and judging whether a upper packing case to be palletized has completed stacking until stacking is completed further according to the first Rule of judgment after the specified gap periods that are delayed.Packing case adaptive code stacking method disclosed by the invention, it can adapt to mechanical stacking and hand stowage while parallel actual demand, no longer uniquely rely on set stacking sequence, on the basis of following set stacking sequence, it can be set according to instant stacking region storage state, the optimum code stack position of flexible choice packing case.)

1. a kind of packing case adaptive code stacking method, which comprises the following steps:

Step S1: synchrome conveying belt is sequentially and packing case to be palletized is transmitted in compartment of terrain；

Step S2: when packing case to be palletized is sent to the first position of synchrome conveying belt, judged according to the first Rule of judgment Whether a upper packing case to be palletized is completed stacking, if it is determined that successfully thening follow the steps S3, otherwise fixes tentatively synchronous driving Whether a upper packing case to be palletized is judged further according to the first Rule of judgment after the gap periods that band and delay are specified Stacking is completed until stacking is completed；

Step S3: when packing case to be palletized is sent to the second position of synchrome conveying belt, scanning forms image before stacking, than Whether had differences with image after stacking compared with image before stacking, if it is determined that S4 is successfully thened follow the steps, it is no to then follow the steps S5；

Step S4: the optimum code stack position that packing case to be palletized is regenerated according to image before stacking is set, while according to optimum code Stack position, which is set, rewrites stacking sequence, so that stacking sequence is able to reflect newest stacking region storage state；

Step S5: instruct manipulator by packing case stacking to be palletized to designated position according to stacking sequence.

2. packing case adaptive code stacking method according to claim 1, which is characterized in that in step S2, first judges item Part specifically: manipulator has been reset to initial position.

3. packing case adaptive code stacking method according to claim 1, which is characterized in that the adaptive stacking of packing case Method further includes step S6, and step S6 is located at after step S5:

Step S6: while manipulator is by packing case stacking to designated position to be palletized, scanning forms image after stacking.

4. packing case adaptive code stacking method according to claim 3, which is characterized in that in step S2, first judges item Part specifically: memory has obtained image after stacking.

5. packing case adaptive code stacking method described in any one of -4 claims according to claim 1, which is characterized in that step In rapid S2, gap periods are 5 seconds.

Technical field

The invention belongs to technology of the package technical fields, and in particular to a kind of packing case adaptive code stacking method.

Background technique

Publication No. CN108750749A, subject name are the application for a patent for invention of corrugated sheet palletizing apparatus, technical side Case discloses " including PLC control system and at least two portal frames (1), it is characterized in that: being turnover panel below the portal frame (1) Machine (19), in which: each portal frame (1) is equipped with coaster (2), and the coaster (2) is equipped with the sucker that can be moved up and down The lower end of lift lever (6), all sucker lift levers (6) is fixed on a suction cup carrier (7), is set on the suction cup carrier (7) Have several suckers (8), suction cup carrier (7) side is equipped with the buffer bar (13) that can be moved up and down, buffer bar (13) upper end It is T-shaped, it is successively arranged retarding travel switch (11) above the buffer bar (13) and decline stops travel switch (12)；The suction Plate rail (7) is equipped with range sensor (14)；The panel turnover machine (19) includes rack (20), is successively arranged on the rack (20) Several synchrome conveying belts (21) that can be moved up and down, several U-shaped yokes (22) and several drag chains being able to rotate that can overturn 180 ° (26), the roller-way (29) of the synchrome conveying belt (21) and transport plate, which is spaced, is arranged, and the U-shaped yoke (22) is located at synchronous biography Send the tail end of band (21), the open initial position of the U-shaped yoke (22) is towards synchrome conveying belt (21), drag chain (26) position Tail end in rack (20) ".

In technology of the package technical field, by taking above-mentioned patent of invention as an example, existing packing case palletizing apparatus can be according to Scheduled stacking sequence sequentially carries out, but can not the situation that carries out simultaneously of compatible mechanical stacking and hand stowage.Specifically, existing Palletizing apparatus, especially by PLC control palletizing apparatus, can based on the automation palletization operations of PLC, realize one by one, by Follow the prescribed order to heap in stacking region job.However, in production practice, often there is man-machine parallel situation, in machinery While stacking, manual work is inevitably introduced.Other than the packing case to discharge in batches on assembly line, burst is often had Interim stacking part packing case demand.At this point, the intermittently packing case of hand stowage, can destroy scheduled sequentially carry out Stacking sequence, cause mechanical stacking unpredictable risk occur.For example, the packing case of sampling observation qualification is also required to stacking.This Outside, the packing case that mechanical stacking is completed, it is possible to temporarily being moved away from stacking region due to needing sampling observation etc..

Summary of the invention

The present invention is directed to the situation of the prior art, overcomes disadvantages described above, provides a kind of packing case adaptive code stacking method.

Packing case adaptive code stacking method disclosed in present patent application, its main purpose is, can adapt to machinery Stacking and hand stowage while parallel actual demand.

Packing case adaptive code stacking method, another object disclosed in present patent application are, no longer unique to rely on Set stacking sequence can be according to instant stacking region storage state on the basis of following set stacking sequence, spirit It sets the optimum code stack position of selection packing case living.

The present invention use following technical scheme, the packing case adaptive code stacking method the following steps are included:

Step S1: synchrome conveying belt is sequentially and packing case to be palletized is transmitted in compartment of terrain；

Step S2: when packing case to be palletized is sent to the first position of synchrome conveying belt, according to the first Rule of judgment Judge whether a upper packing case to be palletized is completed stacking, if it is determined that successfully thening follow the steps S3, otherwise fixes tentatively and synchronize Whether a upper packing case to be palletized is judged further according to the first Rule of judgment after the gap periods that conveyer belt and delay are specified Stacking has been completed until stacking is completed；

Step S3: when packing case to be palletized is sent to the second position of synchrome conveying belt, scanning is schemed before forming stacking Picture, whether image has differences with image after stacking before comparing stacking, if it is determined that successfully thening follow the steps S4, otherwise executes step Rapid S5；

Step S4: the optimum code stack position that packing case to be palletized is regenerated according to image before stacking is set, while according to most Stacking sequence is rewritten in good stacking position, so that stacking sequence is able to reflect newest stacking region storage state；

Step S5: instruct manipulator by packing case stacking to be palletized to designated position according to stacking sequence.

According to the above technical scheme, further preferred technical solution as above-mentioned technical proposal, in step S2, first sentences Broken strip part specifically: manipulator has been reset to initial position.

According to the above technical scheme, further preferred technical solution as above-mentioned technical proposal, the packing case are adaptive Answering palletizing method further includes step S6, and step S6 is located at after step S5:

Step S6: while manipulator is by packing case stacking to designated position to be palletized, scanning is schemed after forming stacking Picture.

According to the above technical scheme, further preferred technical solution as above-mentioned technical proposal, in step S2, first sentences Broken strip part specifically: memory has obtained image after stacking.

According to the above technical scheme, further preferred technical solution as above-mentioned technical proposal, in step S2, every other week Phase is 5 seconds.

Packing case adaptive code stacking method disclosed by the invention, the beneficial effect is that, it can adapt to mechanical stacking and people Work stacking actual demand parallel simultaneously no longer uniquely relies on set stacking sequence, in the base for following set stacking sequence On plinth, it can be set according to instant stacking region storage state, the optimum code stack position of flexible choice packing case.

Specific embodiment

The invention discloses a kind of packing case adaptive code stacking methods, below with reference to preferred embodiment, to tool of the invention Body embodiment is further described.

Preferred embodiment.

Preferably, the packing case adaptive code stacking method the following steps are included:

Step S1: synchrome conveying belt is sequentially and compartment of terrain between i.e. adjacent packing case to be palletized (between having centainly Away from, so as to manipulator circulation complete comprising crawl, transhipment, release and etc. the stacking period) transmission packing case to be palletized；

Step S2: when packing case to be palletized is sent to the first position of synchrome conveying belt, (controller) is according to first Rule of judgment judges whether a upper packing case to be palletized is completed stacking, if it is determined that success (stacking is completed) then executes Step S3, otherwise fixes tentatively synchrome conveying belt and is delayed after specified gap periods and judge upper one further according to the first Rule of judgment Packing case to be palletized whether has completed stacking (repeating step S2) until stacking is completed；

Step S3:(synchrome conveying belt continues to transmit packing case to be palletized) synchronous biography is sent in packing case to be palletized When sending the second position of band, (imaging device) scanning forms image before stacking, (controller) compare before stacking image whether with (In Upper one packing case to be palletized, which is completed to scan when stacking, to be formed) image has differences after stacking, if it is determined that success (exists Difference) S4 is thened follow the steps, it is no to then follow the steps S5；

Step S4: the optimum code stack position that packing case (currently) to be palletized is regenerated according to image before stacking is set, together When according to optimum code stack position set rewritings (set) stacking sequence so that stacking is sequentially able to reflect newest stacking region storage State；

Step S5:(controller) instruct manipulator by packing case stacking to be palletized to designated position according to stacking sequence (setting optimum code stack position).

Further, in step S2, the first Rule of judgment specifically: manipulator (is completed packing case code to be palletized After pile to designated position) it has been reset to initial position.

Further, the packing case adaptive code stacking method further includes step S6, and step S6 (executing sequence) is located at After step S5:

Step S6: while manipulator is by packing case stacking to designated position to be palletized, (imaging device) scans shape At image after stacking.

Further, in step S2, the first Rule of judgment specifically: memory has obtained image after stacking.

Further, in step S2, (delay is specified) gap periods are preferably 5 seconds.

Further, in step S2, (delay is specified) gap periods are preferably the average used time in 5 stacking periods of inverted order (i.e. using the current stacking period as starting point, the average used time in immediate 5 stacking periods).

It is noted that the technical characteristics such as manipulator that present patent application is related to should be considered as the prior art, this Specific structure, working principle and the control mode that may relate to, the space layout mode of a little technical characteristics use this field Conventional selection, be not construed as where the inventive point of the invention patent, the invention patent does not do further specific expansion It is described in detail.

For a person skilled in the art, technical solution documented by foregoing embodiments can still be repaired Change or equivalent replacement of some of the technical features, it is all within the spirits and principles of the present invention, made any to repair Change, equivalent replacement, improvement etc., should be included in protection scope of the present invention.