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堆碼機(jī)（也稱為碼垛機(jī)）進(jìn)行碼垛作業(yè)時(shí)，通常會(huì)遵循以下步驟：

物料輸入

：首先，包裝好的物品（如箱體、袋裝產(chǎn)品或桶裝貨物等）通過輸送線或其他自動(dòng)化設(shè)備被送至堆碼機(jī)的進(jìn)料區(qū)域。

定位與識(shí)別

：堆碼機(jī)采用傳感器和/或視覺系統(tǒng)對(duì)物料進(jìn)行實(shí)時(shí)定位和識(shí)別，確保其準(zhǔn)確到達(dá)預(yù)定抓取位置。

抓取物料

：根據(jù)物料的不同類型和形狀，堆碼機(jī)會(huì)配備相應(yīng)的末端執(zhí)行器，如機(jī)械手爪、真空吸盤等。當(dāng)物料到位后，執(zhí)行器按照預(yù)設(shè)程序?qū)⑽锪蠌妮斔途€上精確抓取起來。

空間定位

：抓取物料后，堆碼機(jī)通過自身的多軸伺服驅(qū)動(dòng)系統(tǒng)調(diào)整執(zhí)行器的空間位置，包括上下升降、前后左右移動(dòng)以及可能的旋轉(zhuǎn)動(dòng)作，以便于將物料放置在托盤上的正確位置。

碼放物料

：堆碼機(jī)按照行業(yè)標(biāo)準(zhǔn)或客戶定制的碼垛模式，逐層將物料平穩(wěn)、整齊地碼放在托盤上。每放置一層物料后，可能會(huì)有自動(dòng)調(diào)整托盤高度或更換新托盤的功能。

重復(fù)操作

：堆碼機(jī)不斷地循環(huán)上述過程，直到托盤上的物料達(dá)到設(shè)定層數(shù)或者滿足其他預(yù)先編程的要求為止。

結(jié)束與輸出

：完成一個(gè)托盤的碼垛任務(wù)后，堆碼機(jī)會(huì)將滿載的托盤移出工作區(qū)域，并準(zhǔn)備開始下一個(gè)托盤的碼垛工作。同時(shí)，空托盤會(huì)被自動(dòng)引入到堆碼區(qū)等待新的碼垛循環(huán)開始。

When a stacker (also known as a palletizer) performs a palletizing operation, it usually follows the following steps:

Material entry

First, the packaged items (e.g. boxes, bagged products or drums) are transported to the infeed area of the stacker via conveyor lines or other automated equipment.

Positioning and identification

The stacker uses sensors and/or vision systems to locate and identify the material in real time to ensure that it accurately arrives at the predetermined gripping position.

Gripping the material

According to the different types and shapes of materials, the stacker will be equipped with corresponding end effectors, such as manipulator claws, vacuum suction cups, etc. When the material is in place, the actuator picks up the material from the conveyor line precisely according to the preset program.

Spatial positioning

After grabbing the material, the stacker adjusts the spatial position of the actuator through its own multi-axis servo drive system, including up and down, forward, backward, left and right, and possible rotational movements, so as to facilitate the placement of the material in the correct position on the pallet.

Stacking materials

: The stacker stacks the materials on the pallet layer by layer according to the industry standard or customer-customized palletizing mode. After each layer of material, there may be a function to automatically adjust the height of the pallet or replace it with a new pallet.

Repeat the operation

The stacker continuously cycles through this process until the material on the pallet reaches a set number of layers or meets other pre-programmed requirements.

End & Output

: After completing the palletizing task of one pallet, the stacker moves the fully loaded pallet out of the work area and prepares to start the palletizing work for the next pallet. At the same time, empty pallets are automatically introduced into the stacking area and wait for the start of a new palletizing cycle.