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堆垛機(jī)（或碼垛機(jī)）進(jìn)行碼垛的過(guò)程大致如下：

進(jìn)料定位

：堆垛機(jī)首先通過(guò)輸送線將待碼垛的產(chǎn)品（如袋裝、箱裝或其他包裝形式的物料）送至指定位置，通常有光電傳感器或其它識(shí)別裝置來(lái)確保物料準(zhǔn)確到位。

抓取物料

：根據(jù)物料的不同類型和包裝方式，堆垛機(jī)配備有相應(yīng)的抓取裝置，例如機(jī)械手爪、吸盤(pán)或夾具等。當(dāng)物料到達(dá)設(shè)定位置后，堆垛機(jī)的末端執(zhí)行器會(huì)按照預(yù)設(shè)程序抓取物料。

空間定位與轉(zhuǎn)向

：抓取物料后，堆垛機(jī)會(huì)通過(guò)自身的三維運(yùn)動(dòng)系統(tǒng)（包括橫移、升降、旋轉(zhuǎn)等動(dòng)作）精確地將物料搬運(yùn)到托盤(pán)上方，并根據(jù)預(yù)先設(shè)定好的堆疊模式進(jìn)行精準(zhǔn)的空間定位。

放置物料

：在確定好物料在托盤(pán)上的正確位置后，堆垛機(jī)將其放置于托盤(pán)上，每個(gè)新放置的物料都會(huì)嚴(yán)格按照設(shè)定好的層數(shù)和排列順序堆疊。

層與層之間的加固

（可選）：某些堆垛機(jī)還會(huì)在每層物料之間插入隔板或進(jìn)行捆扎以增強(qiáng)堆垛的穩(wěn)定性和安全性。

重復(fù)操作

：堆垛機(jī)按照上述步驟不斷重復(fù)操作，直到托盤(pán)上的物料達(dá)到預(yù)設(shè)層數(shù)或者滿足其他停止條件。

托盤(pán)更換

：一旦完成一個(gè)托盤(pán)的碼垛，堆垛機(jī)會(huì)自動(dòng)觸發(fā)托盤(pán)更換機(jī)制，新的空托盤(pán)會(huì)被傳送至碼垛區(qū)域，開(kāi)始新一輪的碼垛作業(yè)。

在整個(gè)過(guò)程中，堆垛機(jī)的操作由PLC（可編程邏輯控制器）或更先進(jìn)的控制系統(tǒng)進(jìn)行控制，實(shí)現(xiàn)自動(dòng)化、高效率和精準(zhǔn)化的碼垛工作。同時(shí)，為了保證安全，堆垛機(jī)周圍通常設(shè)置有防護(hù)欄和各類安全傳感器，防止意外發(fā)生。

The process of palletizing by a stacker crane (or palletizer) is roughly as follows:

Feed positioning

The stacker crane first sends the products to be stacked (such as bagged, boxed or other packaging materials) to the designated position through the conveyor line, usually with photoelectric sensors or other identification devices to ensure that the materials are accurate and in place.

Gripping the material

Depending on the type of material and the way it is packed, the stacker crane is equipped with a corresponding gripping device, such as a gripper, a suction cup or a clamp. When the material reaches the set position, the end effector of the stacker crane will grab the material according to the preset program.

Spatial positioning and steering

After grabbing the material, the stacker will accurately move the material to the top of the pallet through its own three-dimensional motion system (including traversing, lifting, rotating, etc.), and carry out precise spatial positioning according to the pre-set stacking mode.

Place the item

After determining the correct position of the material on the pallet, the stacker crane places it on the pallet, and each newly placed material is stacked in strict accordance with the set number of layers and arrangement order.

Reinforcement between layers

(Optional): Some stacker cranes also insert partitions or bundles between each layer of material to enhance the stability and safety of the stack.

Repeat the operation

: The stacker crane repeats the operation according to the above steps until the material on the pallet reaches the preset number of layers or meets other stopping conditions.

Pallet replacement

Once a pallet has been palletized, the stacker automatically triggers the pallet change mechanism and the new empty pallet is transferred to the palletizing area to start a new palletizing operation.

During the whole process, the operation of the stacker crane is controlled by a PLC (programmable logic controller) or a more advanced control system to achieve automated, efficient and accurate palletizing work. At the same time, in order to ensure safety, protective fences and various safety sensors are usually set around the stacker crane to prevent accidents.