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堆垛機（或碼垛機）進行碼垛的過程大致如下：

進料定位

：堆垛機首先通過輸送線將待碼垛的產品（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別裝置來確保物料準確到位。

抓取物料

：根據物料的不同類型和包裝方式，堆垛機配備有相應的抓取裝置，例如機械手爪、吸盤或夾具等。當物料到達設定位置后，堆垛機的末端執行器會按照預設程序抓取物料。

空間定位與轉向

：抓取物料后，堆垛機會通過自身的三維運動系統（包括橫移、升降、旋轉等動作）精確地將物料搬運到托盤上方，并根據預先設定好的堆疊模式進行精準的空間定位。

放置物料

：在確定好物料在托盤上的正確位置后，堆垛機將其放置于托盤上，每個新放置的物料都會嚴格按照設定好的層數和排列順序堆疊。

層與層之間的加固

（可選）：某些堆垛機還會在每層物料之間插入隔板或進行捆扎以增強堆垛的穩定性和安全性。

重復操作

：堆垛機按照上述步驟不斷重復操作，直到托盤上的物料達到預設層數或者滿足其他停止條件。

托盤更換

：一旦完成一個托盤的碼垛，堆垛機會自動觸發托盤更換機制，新的空托盤會被傳送至碼垛區域，開始新一輪的碼垛作業。

在整個過程中，堆垛機的操作由PLC（可編程邏輯控制器）或更先進的控制系統進行控制，實現自動化、高效率和精準化的碼垛工作。同時，為了保證安全，堆垛機周圍通常設置有防護欄和各類安全傳感器，防止意外發生。

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.