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垛碼機（碼垛機器人）進行碼垛的過程通常遵循以下步驟：

接收指令

：首先，碼垛機通過計算機或控制器接收相關的碼垛任務指令，包括需要碼垛的產品類型、數量、排列順序以及目標托盤的位置等信息。

物料定位與檢測

：當包裝好的物品（如袋裝產品、箱體、桶裝貨物等）到達指定位置時，碼垛機器人通過傳感器和視覺系統對物料進行檢測，確定其準確位置和姿態。

抓取物料

：機器人根據預設的程序控制末端執行器（通常是定制設計的夾具或吸盤）移動到物料上方，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固。

搬運與轉向

：抓取物料后，機器人通過多軸聯動的方式將物料搬運至目標碼垛區域，并在必要時進行轉向或旋轉，以滿足不同堆疊模式的要求。

定位放置

：在碼垛位上方，機器人通過伺服電機控制夾具的升降，將物料放到預定的層數和位置上，同時保證堆垛穩定且整齊。

重復動作

：以上步驟循環進行，直到完成一個托盤的碼垛作業，然后根據程序設定切換至下一個空托盤繼續碼垛，或者觸發托盤更換系統自動更換新的托盤。

棧板滿載處理

：當托盤上的物料碼垛達到預設層數或重量時，碼垛機會停止工作，并通知輸送線或其他設備將滿載的托盤運走，同時準備下一輪的碼垛作業。

整個過程體現了現代自動化技術與機械工程的高度融合，使得碼垛機器人能夠實現高效、精準、靈活的碼垛操作，大大提升了生產線的自動化程度和生產效率。

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.