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垛碼機(jī)（碼垛機(jī)器人）進(jìn)行碼垛的過程通常遵循以下步驟：

接收指令

：首先，碼垛機(jī)通過計(jì)算機(jī)或控制器接收相關(guān)的碼垛任務(wù)指令，包括需要碼垛的產(chǎn)品類型、數(shù)量、排列順序以及目標(biāo)托盤的位置等信息。

物料定位與檢測

：當(dāng)包裝好的物品（如袋裝產(chǎn)品、箱體、桶裝貨物等）到達(dá)指定位置時(shí)，碼垛機(jī)器人通過傳感器和視覺系統(tǒng)對(duì)物料進(jìn)行檢測，確定其準(zhǔn)確位置和姿態(tài)。

抓取物料

：機(jī)器人根據(jù)預(yù)設(shè)的程序控制末端執(zhí)行器（通常是定制設(shè)計(jì)的夾具或吸盤）移動(dòng)到物料上方，并精確地抓取物料。抓取過程中可能包括張開夾具、吸住物料或者閉合夾具以確保物料穩(wěn)固。

搬運(yùn)與轉(zhuǎn)向

：抓取物料后，機(jī)器人通過多軸聯(lián)動(dòng)的方式將物料搬運(yùn)至目標(biāo)碼垛區(qū)域，并在必要時(shí)進(jìn)行轉(zhuǎn)向或旋轉(zhuǎn)，以滿足不同堆疊模式的要求。

定位放置

：在碼垛位上方，機(jī)器人通過伺服電機(jī)控制夾具的升降，將物料放到預(yù)定的層數(shù)和位置上，同時(shí)保證堆垛穩(wěn)定且整齊。

重復(fù)動(dòng)作

：以上步驟循環(huán)進(jìn)行，直到完成一個(gè)托盤的碼垛作業(yè)，然后根據(jù)程序設(shè)定切換至下一個(gè)空托盤繼續(xù)碼垛，或者觸發(fā)托盤更換系統(tǒng)自動(dòng)更換新的托盤。

棧板滿載處理

：當(dāng)托盤上的物料碼垛達(dá)到預(yù)設(shè)層數(shù)或重量時(shí)，碼垛機(jī)會(huì)停止工作，并通知輸送線或其他設(shè)備將滿載的托盤運(yùn)走，同時(shí)準(zhǔn)備下一輪的碼垛作業(yè)。

整個(gè)過程體現(xiàn)了現(xiàn)代自動(dòng)化技術(shù)與機(jī)械工程的高度融合，使得碼垛機(jī)器人能夠?qū)崿F(xiàn)高效、精準(zhǔn)、靈活的碼垛操作，大大提升了生產(chǎn)線的自動(dòng)化程度和生產(chǎn)效率。

The process of palletizing by a palletizing machine (palletizing robot) usually follows the following steps:

Receive instructions

First, the palletizer receives relevant palletizing task instructions through the computer or controller, including information such as the type of product to be palletized, the quantity, the order of arrangement, and the position of the target pallet.

Material Positioning & Detection

When the packaged items (such as bagged products, boxes, barreled goods, etc.) arrive at the designated position, the palletizing robot detects the material through sensors and vision systems to determine its accurate position and posture.

Gripping the material

The robot controls the end effector (usually a custom-designed gripper or suction cup) to move over the material according to a preset program and grips the material with precision. The gripping process may include opening the gripper, sucking up the material, or closing the gripper to ensure the material is secure.

Handling & Steering

After grabbing the material, the robot will move the material to the target palletizing area through multi-axis linkage, and turn or rotate if necessary to meet the requirements of different stacking modes.

Positioning and placement

Above the palletizing position, the robot controls the lifting of the fixture through the servo motor, and puts the material on the predetermined number of layers and positions, while ensuring that the stacking is stable and neat.

Repeat the action

The above steps are carried out in a cycle until the palletizing operation of one pallet is completed, and then the next empty pallet is switched to continue palletizing according to the program setting, or the pallet changing system is triggered to automatically replace the new pallet.

Pallet handling at full load

When the palletizing of material on a pallet reaches a preset number of layers or weight, the palletizer stops working and notifies the conveyor line or other equipment to transport the fully loaded pallet away while preparing for the next round of palletizing operations.

The whole process reflects the high degree of integration of modern automation technology and mechanical engineering, so that the palletizing robot can achieve efficient, accurate and flexible palletizing operations, and greatly improve the automation degree and production efficiency of the production line.