CN106406142A - Cigarette palletizing control method and system - Google Patents
Cigarette palletizing control method and system Download PDFInfo
- Publication number
- CN106406142A CN106406142A CN201610883641.5A CN201610883641A CN106406142A CN 106406142 A CN106406142 A CN 106406142A CN 201610883641 A CN201610883641 A CN 201610883641A CN 106406142 A CN106406142 A CN 106406142A
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- Prior art keywords
- stack position
- datum level
- cigarette
- bar cigarette
- piling
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
Abstract
The present invention provides a cigarette palletizing control method and system. The system comprises a platform configured to put cigarettes and a conveyor belt configured to transfer the cigarettes; one side, perpendicular to the conveyor belt, of the platform is the width direction of the platform, the width direction of the platform is divided into four stack positions in order, and a platform center line is arranged between a second stack position and a third position. The control method comprises the platform palletizing control step, namely, a cigarette gripping device puts the cigarettes on the second stack position, the first stack position, the third position and the fourth position on the stack positions in order. The palletizing sequence on the platform is controlled. Because the second stack position and the third stack position are located at the middle position of the platform, the first priority position of the stacking each time is the second stack position and the second stack position, and when the first stack position and the fourth stack position are not suitable for stacking, the center of gravity of the stack of the cigarette palletizing is located at the middle position of the platform, so that the centre-of-gravity shift cannot be caused, and the stack has good stability.
Description
Technical field
The present invention relates to sorting cigarette technical field, particularly a kind of bar cigarette piling control method and system.
Background technology
In existing sorting cigarette technical field, the piling of bar cigarette is left and right order piling, and this piling mode can cause
In palletization, pile, in a direction, so can cause to be formed high, low on one side buttress heap by the bar cigarette of piling, make all the time
Become the centre-of gravity shift of buttress heap, pile up neatly heap less stable.
Content of the invention
The present invention provides a kind of bar cigarette piling control method and system, inclined with the buttress heap center of gravity that solves above-mentioned bar cigarette piling
Move, buttress heap stablizes poor technical problem.
In order to solve above-mentioned technical problem, the present invention provides a kind of bar cigarette piling control method, including for placing bar cigarette
Platform and the conveyer belt for transfer bar cigarette, described platform vertical with described conveyer belt for berm width direction, institute
State and the first stack position, the second stack position, the 3rd stack position and the 4th stack position are divided in order on berm width direction, described second stack position
It is central platform line and described 3rd stack position between, also include for capturing on described conveyer belt bar cigarette and placing described bar cigarette
Bar cigarette grabbing device on described stack position, described control method includes described bar cigarette grabbing device and described bar cigarette is placed on institute
State the sequencing on stack position be the second stack position, the platform piling rate-determining steps of the first stack position, the 3rd stack position and the 4th stack position.
The invention has the beneficial effects as follows：Due to platform is divided into four stack positions, bar cigarette piling stack position is carried out on platform
Sequencing be the second stack position, the first stack position, the 3rd stack position and the 4th stack position；Because the second stack position and the 3rd stack position are located at and put down
Platform centre position, the override position piled up every time is also the second stack position and the 3rd stack position, and the first stack position and the 4th stack position do not conform to
Suitable when piling up, the buttress heap center of gravity of bar cigarette piling is in the centre position of platform all the time, does not result in the centre-of gravity shift of buttress heap, piles up neatly heap
Stable very good.
Further, on described platform, the palletization step of the second stack position is：
Bar cigarette width W2 on measurement conveyer belt, the bar cigarette of bar cigarette width W2 is placed into described by described bar cigarette grabbing device
On second stack position, and aliging the bar cigarette of described bar cigarette width W2 with described central platform line, execution the first stack position
Piling；
On described platform, the palletization step of the first stack position is：
Bar cigarette width W1 in described first stack position, as Σ W1 ＜ W/2, described bar cigarette are needed to pile up on measurement conveyer belt
The bar cigarette of bar cigarette width W1 is placed on described first stack position grabbing device, and executes the piling of the 3rd stack position；Otherwise execute
The piling of the 3rd stack position, wherein, W is described berm width, Σ W1=W1+W2；
On described platform, the palletization step of the 3rd stack position is：
When bar cigarette is not placed in described first stack position, by described, a carton carton cigarette of cigarette width W1 is placed into described 3rd buttress
On position, the piling of execution four stack positions；
When described first stack position is placed with bar cigarette, measurement conveyer belt needs to pile up article cigarette width in described 3rd stack position
Degree W3, a carton carton cigarette of cigarette width W3 is placed into described 3rd stack position from conveyer belt by described article of cigarette grabbing device, and will be described
Bar cigarette width W3 bar cigarette while aliging with described central platform line, execution four stack positions piling；
On described platform, the palletization step of the 4th stack position is：
When bar cigarette is not placed in described first stack position, as Σ W2 ＜ W/2, the bar cigarette of described bar cigarette width W3 is placed
To on described 4th stack position, wherein, Σ W2=W1+W3；
When described first stack position is placed with bar cigarette, measurement conveyer belt needs to pile up article cigarette width in described 4th stack position
Degree W4, as Σ W3 ＜ W/2, a carton carton cigarette of cigarette width W4 is placed on described 4th stack position described article of cigarette grabbing device；No
Then not pile up a carton cigarette on described 4th stack position, wherein, Σ W3=W3+W4.
Beneficial effect using above-mentioned further scheme is：When carton cigarette is piled up on the first stack position and the 4th stack position, pass through
The width of setting bar cigarette limits, and improves the stability that bar cigarette piles up neatly heap.
Further, the bar cigarette upper surface of each stack position be corresponding piling datum level, described platform piling rate-determining steps it
Also include datum level palletization operations step afterwards, in described datum level palletization operations step, the sequencing of piling is the second stack position base
Quasi- face, the first stack position datum level, the 3rd stack position datum level and the 4th stack position datum level；
The palletization step of described second stack position datum level is：
Measure the first stack position datum level with respect to described platform surface corresponding height H1, the second stack position datum level with respect to
The corresponding height H2 of described platform surface, the bar cigarette width W2 ' of the second stack position datum level and needs are piled up in described second stack position
Bar cigarette width W2,
As △ H1≤Hoffset1；Or,
As H2 ＞ H1, and △ W2≤Woffset；Or,
As H2 ＜ H1, and W2≤W2 '；
Described bar cigarette grabbing device piles up the bar cigarette of bar cigarette width W2 on described second stack position datum level；Otherwise execute
First stack position datum level piling；Wherein, △ H1=| H1-H2 |, △ W2=| W2 '-W1 |, Hoffset1 are the first preset height,
Woffset is predetermined width.
Beneficial effect using above-mentioned further scheme is：By limiting the upper surface of each stack position bar cigarette as piling benchmark
Face, every time when piling up next layer of bar cigarette, just with the upper surface of last layer bar cigarette for piling datum level；And, piling datum level
The sequencing of upper article of cigarette piling stack position is the second stack position datum level, the first stack position datum level, the 3rd stack position datum level and the 4th
Stack position datum level, be also bar cigarette good stability on each layer of bar cigarette, center of gravity is placed in the middle；Meanwhile, in the second stack position datum level
During piling, by limiting the difference in height of first and second stack position datum level and different width, to determine whether on the second stack position
Pile up bar cigarette it is ensured that the stability piled up.
Further, as △ H1 ＜ Hoffset2, the first stack position datum level palletization operations are executed；Otherwise execute the 3rd stack position base
Quasi- face piling, wherein, Hoffset2 is the second preset height；
The palletization step of described first stack position datum level is：Bar in described first stack position is needed to pile up on measurement conveyer belt
The bar cigarette width W1 ' of cigarette width W1 and the first stack position datum level；
When not piled up bar cigarette on described second stack position datum level, and △ W1≤Woffset, then described bar cigarette crawl dress
Put and the bar cigarette of bar cigarette width W2 is piled up on datum level on described first stack position, wherein, △ W1=| W1 '-W2 |；
When having piled up bar cigarette on described second stack position datum level, and during Σ W1 ＜ W/2；Then described bar cigarette grabbing device is by bar
The bar cigarette of cigarette width W1 is piled up on datum level on described first stack position；
Otherwise, execute the piling of the 3rd stack position datum level.
Beneficial effect using above-mentioned further scheme is：Guaranteed on the first stack position by setting the second preset height
Whether last layer has piled up bar cigarette, and improve bar cigarette piles up accuracy；Whether pile up bar cigarette on the second stack position datum level
Situation, execution difference piles up condition and rule so that bar cigarette pile up neatly heap stability increase.
Further, the step of described 3rd stack position datum level piling is：
Measure the 3rd stack position datum level with respect to described platform surface corresponding height H3, the 4th stack position datum level with respect to
Article cigarette width W3 on the corresponding height H4 of described platform surface, article the cigarette width W3 ' and conveyer belt of the 3rd stack position datum level；
When all not piled up bar cigarette on described second stack position datum level and on described first stack position datum level,
As △ H2≤Hoffset1；Or,
As H3 ＞ H4, and △ W3≤Woffset；Or,
As H3 ＜ H4, and W2≤W3 '；
Described article cigarette grabbing device piles up a carton cigarette of described article of cigarette width W2 on described 3rd stack position datum level；Its
In, △ H2=| H3-H4 |, △ W3=| W2-W3 ' |；
When having piled up bar cigarette on described second stack position datum level or on described first stack position datum level,
As △ H2≤Hoffset1；Or,
As H3 ＞ H4, and △ W4≤Woffset；Or,
As H3 ＜ H4, and W1≤W3 '；
Described article cigarette grabbing device piles up a carton cigarette of described article of cigarette width W1 on described 3rd stack position datum level；Its
In, △ H2=| H3-H4 |, △ W4=| W1-W3 ' |；
When all having piled up bar cigarette on described second stack position datum level and on described first stack position datum level,
As △ H2≤Hoffset1；Or,
As H3 ＞ H4, and △ W5≤Woffset；Or,
As H3 ＜ H4, and W3≤W3 '；
Described article cigarette grabbing device piles up described Article 3 cigarette on described 3rd stack position datum level；Otherwise execute the 4th
Stack position datum level piling；Wherein, △ H2=| H3-H4 |, △ W5=| W3-W3 ' |.
Beneficial effect using above-mentioned further scheme is：In the piling of the 3rd stack position datum level, by limit the 3rd,
The difference in height of four stack position datum levels and different width, to determine whether to pile up carton cigarette it is ensured that piling up on the 3rd stack position
Stability.
Further, the palletization step of described 4th stack position datum level is：
As △ H2 ＜ Hoffset2, execute the 4th stack position datum level palletization operations；Otherwise piling is refused in the 4th stack position, its
In, Hoffset2 is the second preset height；
The described concrete behaviour of 4th stack position piling concretely comprises the following steps：
Need to pile up in article cigarette width W4 of described 4th stack position and carton cigarette of the 4th stack position datum level on measurement conveyer belt
Width W4 ',
When all not having on described second stack position datum level, on described first stack position datum level and on described 3rd stack position datum level
When piling up bar cigarette, and △ W6≤Woffset, then described bar cigarette grabbing device piles up the bar cigarette of described bar cigarette width W2 in institute
State on the 4th stack position datum level；Otherwise not pile up, terminate；Wherein, △ W6=| W2-W4 ' |；
When having piled up bar cigarette, described 3rd stack position base on described second stack position datum level or on described first stack position datum level
When not piling up bar cigarette on quasi- face, and △ W7≤Woffset, then described bar cigarette grabbing device is by the bar cigarette of described bar cigarette width W1
Pile up on described 4th stack position datum level；Wherein, △ W7=| W1-W4 ' |；
When having piled up bar cigarette, described 3rd stack position base on described second stack position datum level or on described first stack position datum level
When also having piled up bar cigarette on quasi- face, and during Σ W3 ＜ W/2, described article of cigarette grabbing device piles up an article cigarette width W3 the described 4th
On datum level on stack position；Wherein, Σ W3=W1+W3；
When do not pile up described first stack position datum level on bar cigarette, described threeth stack position on described second stack position datum level and
When having piled up bar cigarette on datum level, and during Σ W1 ＜ W/2, described article of cigarette grabbing device piles up an article cigarette width W1 the described 4th
On datum level on stack position；Wherein, Σ W1=W1+W2；
When all code on described second stack position datum level, on described first stack position datum level and on described 3rd stack position datum level
When being placed with bar cigarette, and during Σ W3 ＜ W/2, an article cigarette width W4 is piled up benchmark on described 4th stack position by described article of cigarette grabbing device
On face；Wherein, Σ W3=W3+W4.
Beneficial effect using above-mentioned further scheme is：Guaranteed on the first stack position by setting the second preset height
Whether last layer has piled up bar cigarette, and improve bar cigarette piles up accuracy；Whether pile up a carton cigarette on the 3rd stack position datum level
Situation, execution difference piles up condition and rule so that bar cigarette pile up neatly heap stability increase.
Further, when described first stack position datum level is with respect to described platform surface corresponding height H1, described second buttress
Position datum level is with respect to described platform surface corresponding height H2, described 3rd stack position datum level with respect to described platform surface pair
The height H3 or described 4th stack position datum level answered is more than default buttress stack height with respect to described platform surface corresponding height H4,
Then refuse piling, terminate.
Beneficial effect using above-mentioned further scheme is：By setting default buttress stack height height, it is to avoid bar cigarette piles up neatly heap
Too high, improve the stability of buttress heap.
The present invention also provides a kind of bar cigarette piling control system, including for placing the platform of bar cigarette and being used for transfer bar cigarette
Conveyer belt, described platform vertical with described conveyer belt be berm width direction, on described berm width direction press suitable
Sequence is divided into the first stack position, the second stack position, the 3rd stack position and the 4th stack position, between described second stack position and described 3rd stack position is
Central platform line, also includes grabbing for the bar cigarette capturing bar cigarette on described conveyer belt and described bar cigarette is placed on described stack position
Take device, described system also includes platform piling control unit, for described bar cigarette grabbing device, described bar cigarette is placed on institute
Stating the sequencing on stack position is the second stack position, the first stack position, the 3rd stack position and the 4th stack position.
The beneficial effect of bar cigarette piling control system of the present invention is：Control bar cigarette platform piling by piling control module
The sequencing of stack position is the second stack position, the first stack position, the 3rd stack position and the 4th stack position, so, the override bit piled up every time
Putting is also the second stack position and the 3rd stack position, the first stack position and the 4th stack position is improper when piling up, and the buttress heap center of gravity of bar cigarette piling begins
It is in the centre position of platform eventually, does not result in the centre-of gravity shift of buttress heap, buttress heap is stably very good.
Further, also include measurement apparatus, described platform piling control unit include the first stack position piling control unit,
Two stack position piling control units, the 3rd stack position piling control unit and the 4th stack position piling control unit,
Described second stack position piling control unit, measures the bar cigarette width W2 on conveyer belt, described bar for measurement apparatus
The bar cigarette of bar cigarette width W2 is placed on described second stack position cigarette grabbing device, and by the bar cigarette of described bar cigarette width W2
Being alignd with described central platform line in side, calls described first stack position piling control unit；
Described first stack position piling control unit, needs to pile up in the described first buttress on measurement apparatus measurement conveyer belt
The bar cigarette width W1 of position, as Σ W1 ＜ W/2, the bar cigarette of bar cigarette width W1 is placed into described first by described bar cigarette grabbing device
On stack position, and call described 3rd stack position piling control unit；Otherwise call described 3rd stack position piling control unit, wherein, W
For described berm width, Σ W1=W1+W2；
Described 3rd stack position piling control unit, for when bar cigarette is not placed in described first stack position, by described by bar
A carton cigarette of cigarette width W1 is placed on described 3rd stack position, calls the 4th stack position piling control unit；
When described first stack position is placed with bar cigarette, measurement conveyer belt needs to pile up article cigarette width in described 3rd stack position
Degree W3, a carton carton cigarette of cigarette width W3 is placed into described 3rd stack position from conveyer belt by described article of cigarette grabbing device, and will be described
Bar cigarette width W3 bar cigarette while aliging with described central platform line, and call the 4th stack position piling control unit；
Described 4th stack position piling control unit, for when bar cigarette is not placed in described first stack position, as Σ W2 ＜ W/2
When, a carton cigarette of described article of cigarette width W3 is placed on described 4th stack position, wherein, Σ W2=W1+W3；
When described first stack position is placed with bar cigarette, measurement conveyer belt needs to pile up article cigarette width in described 4th stack position
Degree W4, as Σ W3 ＜ W/2, a carton carton cigarette of cigarette width W4 is placed on described 4th stack position described article of cigarette grabbing device；No
Then not pile up a carton cigarette on described 4th stack position, wherein, Σ W3=W3+W4.
Beneficial effect using above-mentioned further scheme is：By the 4th stack position piling control unit and the 4th stack position piling
Control unit, when piling up carton cigarette on the first stack position and the 4th stack position, is limited by arranging the width of bar cigarette, improves bar cigarette buttress
The stability of heap.
Further, the bar cigarette upper surface of each stack position is corresponding piling datum level, bar cigarette code on described piling datum level
The sequencing of buttress stack position is the second stack position datum level, the first stack position datum level, the 3rd stack position datum level and the 4th stack position benchmark
Face；Described control system also includes piling datum level piling control unit, and described piling datum level piling control unit includes
One stack position datum level piling control unit, the second stack position datum level piling control unit, the 3rd stack position datum level piling control single
Unit and the 4th stack position datum level piling control unit；
As △ H1 ＜ Hoffset2, call described second stack position datum level piling control unit；Otherwise call the described 3rd
Stack position datum level piling control unit, wherein, Hoffset2 is the second preset height；
Described second stack position datum level piling control unit, needs on conveyer belt to pile up in described first stack position for measuring
Bar cigarette width W1 and the first stack position datum level bar cigarette width W1 '；
When not piled up bar cigarette on described second stack position datum level, and △ W1≤Woffset, then described bar cigarette crawl dress
Put and the bar cigarette of bar cigarette width W2 is piled up on datum level on described first stack position, wherein, △ W1=| W1 '-W2 |；
When having piled up bar cigarette on described second stack position datum level, and during Σ W1 ＜ W/2；Then described bar cigarette grabbing device is by bar
The bar cigarette of cigarette width W1 is piled up on datum level on described first stack position；
Otherwise, call described 3rd stack position datum level piling control unit；
Described 3rd stack position datum level piling control unit, for measurement the 3rd stack position datum level with respect to described platform table
Face corresponding height H3, the 4th stack position datum level are with respect to described platform surface corresponding height H4, the 3rd stack position datum level
Bar cigarette width W3 on bar cigarette width W3 ' and conveyer belt；
When all not piled up bar cigarette on described second stack position datum level and on described first stack position datum level,
As △ H2≤Hoffset1；Or,
As H3 ＞ H4, and △ W3≤Woffset；Or,
As H3 ＜ H4, and W2≤W3 '；
Described article cigarette grabbing device piles up a carton cigarette of described article of cigarette width W2 on described 3rd stack position datum level；Its
In, △ H2=| H3-H4 |, △ W3=| W2-W3 ' |；
When having piled up bar cigarette on described second stack position datum level or on described first stack position datum level,
As △ H2≤Hoffset1；Or,
As H3 ＞ H4, and △ W4≤Woffset；Or,
As H3 ＜ H4, and W1≤W3 '；
Described article cigarette grabbing device piles up a carton cigarette of described article of cigarette width W1 on described 3rd stack position datum level；Its
In, △ H2=| H3-H4 |, △ W4=| W1-W3 ' |；
When all having piled up bar cigarette on described second stack position datum level and on described first stack position datum level,
As △ H2≤Hoffset1；Or,
As H3 ＞ H4, and △ W5≤Woffset；Or,
As H3 ＜ H4, and W3≤W3 '；
Described article cigarette grabbing device piles up described Article 3 cigarette on described 3rd stack position datum level；Otherwise call described
4th stack position datum level piling control unit；Wherein, △ H2=| H3-H4 |, △ W5=| W3-W3 ' |；
As △ H2 ＜ Hoffset2, call the 4th stack position datum level piling control unit；Otherwise piling is refused in the 4th stack position,
Wherein, Hoffset2 is the second preset height；
Described 4th stack position datum level piling control unit, needs on conveyer belt to pile up in described 4th stack position for measuring
Article cigarette width W4 and the 4th stack position datum level article cigarette width W4 ',
When all not having on described second stack position datum level, on described first stack position datum level and on described 3rd stack position datum level
When piling up bar cigarette, and △ W6≤Woffset, then described bar cigarette grabbing device piles up the bar cigarette of described bar cigarette width W2 in institute
State on the 4th stack position datum level；Otherwise not pile up, terminate；Wherein, △ W6=| W2-W4 ' |；
When having piled up bar cigarette, described 3rd stack position base on described second stack position datum level or on described first stack position datum level
When not piling up bar cigarette on quasi- face, and △ W7≤Woffset, then described bar cigarette grabbing device is by the bar cigarette of described bar cigarette width W1
Pile up on described 4th stack position datum level；Wherein, △ W7=| W1-W4 ' |；
When having piled up bar cigarette, described 3rd stack position base on described second stack position datum level or on described first stack position datum level
When also having piled up bar cigarette on quasi- face, and during Σ W3 ＜ W/2, described article of cigarette grabbing device piles up an article cigarette width W3 the described 4th
On datum level on stack position；Wherein, Σ W3=W1+W3；
When do not pile up described first stack position datum level on bar cigarette, described threeth stack position on described second stack position datum level and
When having piled up bar cigarette on datum level, and during Σ W1 ＜ W/2, described article of cigarette grabbing device piles up an article cigarette width W1 the described 4th
On datum level on stack position；Wherein, Σ W1=W1+W2；
When all code on described second stack position datum level, on described first stack position datum level and on described 3rd stack position datum level
When being placed with bar cigarette, and during Σ W3 ＜ W/2, an article cigarette width W4 is piled up benchmark on described 4th stack position by described article of cigarette grabbing device
On face；Wherein, Σ W3=W3+W4.
Beneficial effect using above-mentioned further scheme is：By four controls in piling datum level piling control unit
Unit, controls the piling condition of the piling datum level on different mostly being respectively it is ensured that the center of gravity of bar cigarette buttress heap does not offset, improves
Bar cigarette piles up neatly the stability of heap.
Brief description
Fig. 1 is stacking structure embodiment schematic diagram in bar cigarette piling control method of the present invention；
Fig. 2 is platform piling embodiment control flow chart in bar cigarette piling control method of the present invention；
Fig. 3 is the embodiment control flow chart of piling datum level piling in bar cigarette piling control method of the present invention；
Fig. 4 is the structured flowchart of bar cigarette piling control system embodiment of the present invention.
In accompanying drawing, the list of parts representated by each label is as follows：
01st, platform, the 011, first stack position, the 012, second stack position, the 013, the 3rd stack position, the 014, the 4th stack position, 015, platform
Centrage, 02, conveyer belt
Specific embodiment
The present invention is further illustrated with embodiment below in conjunction with the accompanying drawings.
In bar cigarette piling control method of the present invention, piling example structure schematic diagram is referring to Fig. 1, including for placing bar cigarette
Platform 01 and the conveyer belt 02 for transfer bar cigarette, platform 01 vertical with conveyer belt 02 for platform 01 width,
The direction of in figure arrow is the direction of transfer of bar cigarette 05 on conveyer belt 02, and platform 01 width is divided into the first buttress in order
Position the 011, second stack position 012, the 3rd stack position 013 and the 4th stack position 014, are platform between the second stack position 012 and the 3rd stack position 013
Centrage 015, also includes for capturing bar cigarette on conveyer belt and bar cigarette being placed into bar cigarette grabbing device on stack position, controlling party
It is the second stack position 012, the first stack position the 011, the 3rd that carton cigarette include article cigarette grabbing device to be placed on sequencing on stack position by method
The platform piling rate-determining steps of stack position 013 and the 4th stack position 014.
Due to platform is divided into four stack positions, the sequencing carrying out bar cigarette cigarette piling stack position on platform is the second buttress
Position, the first stack position, the 3rd stack position and the 4th stack position；Because the second stack position and the 3rd stack position are located at platform centre position, every subcategory number
The override position put is also the second stack position and the 3rd stack position, the first stack position and the 4th stack position is improper when piling up, bar cigarette piling
Buttress heap center of gravity be in the centre position of platform all the time, do not result in the centre-of gravity shift of buttress heap, buttress heap is stably very good.
In bar cigarette piling control method of the present invention, platform bar cigarette piling embodiment control flow chart is referring to Fig. 2,
On platform 01, the palletization step of the second stack position 012 is：
Bar cigarette width W2 on measurement conveyer belt 02, the bar cigarette of bar cigarette width W2 is placed into the second buttress by bar cigarette grabbing device
On position 012, and aliging the bar cigarette of bar cigarette width W2 with central platform line 015, the piling of execution the first stack position 011；
On platform 01, the palletization step of the first stack position 011 is：
Bar cigarette width W1 in the first stack position 011 is needed to pile up on measurement conveyer belt 02, as Σ W1 ＜ W/2, bar cigarette is grabbed
Take device that the bar cigarette of bar cigarette width W1 is placed on the first stack position 011, and execute the piling of the 3rd stack position 013；Otherwise execute
The piling of the 3rd stack position 013, wherein, W is platform 01 width, Σ W1=W1+W2；
On platform 01, the palletization step of the 3rd stack position 013 is：
When bar cigarette is not placed in the first stack position 011, a carton cigarette of just article cigarette width W1 is placed on the 3rd stack position 013,
Execute the piling of four stack positions 014；
When the first stack position 011 is placed with bar cigarette, measurement conveyer belt 02 needs to pile up article cigarette width in the 3rd stack position 013
Degree W3, a carton carton cigarette of cigarette width W3 is placed into the 3rd stack position 013 from conveyer belt by article cigarette grabbing device, and by bar cigarette width W3
Bar cigarette while aliging with central platform line 015, execution four stack positions 014 piling；
On platform 01, the palletization step of the 4th stack position 014 is：
When bar cigarette is not placed in the first stack position 011, as Σ W2 ＜ W/2, a carton carton cigarette of cigarette width W3 is placed into
On four stack positions 014, Σ W3=W1+W3；
When the first stack position 011 is placed with bar cigarette, measurement conveyer belt 02 needs to pile up article cigarette width in the 4th stack position 014
Degree W4, as Σ W3 ＜ W/2, a carton carton cigarette of cigarette width W4 is placed on the 4th stack position 014 article cigarette grabbing device；Otherwise the 4th
Bar cigarette, wherein, Σ W3=W3+W4 are not piled up on stack position 014.
When carton cigarette is piled up on the first stack position and the 4th stack position, limited by arranging the width of bar cigarette, improve bar cigarette buttress
The stability of heap.
On piling datum level in bar cigarette piling control method of the present invention, the control flow chart of bar cigarette piling embodiment is referring to figure
3,
The bar cigarette upper surface of each stack position is corresponding piling datum level, also includes benchmark after platform piling rate-determining steps
Face palletization operations step, in datum level palletization operations step, the sequencing of piling is the second stack position 012 datum level, the first stack position
011 datum level, the 3rd stack position 013 datum level and the 4th stack position 014 datum level；
The palletization step of the second stack position 012 datum level is：
Measure the first stack position 011 datum level height H1 corresponding with respect to platform 01 surface, the second stack position 012 datum level phase
For platform 01 surface, corresponding height H2, the bar cigarette width W2 ' of the second stack position 012 datum level and needs are piled up in the second stack position
012 bar cigarette width W2,
As △ H1≤Hoffset1；Or,
As H2 ＞ H1, and △ W2≤Woffset；Or,
As H2 ＜ H1, and W2≤W2 '；
Bar cigarette grabbing device piles up the bar cigarette of bar cigarette width W2 on the datum level of the second stack position 012；Otherwise execute first
Stack position datum level 011 piling；Wherein, △ H1=| H1-H2 |, △ W2=| W2 '-W1 |, Hoffset1 are the first preset height,
Woffset is predetermined width.
As △ H1 ＜ Hoffset2, execute the first stack position 011 datum level palletization operations；Otherwise execution the 3rd stack position 013 base
Quasi- face piling, wherein, Hoffset2 is the second preset height；
The palletization step of the first stack position 011 datum level is：Bar in the first stack position 011 is needed to pile up on measurement conveyer belt 02
The bar cigarette width W1 ' of cigarette width W1 and the first stack position 011 datum level；
When not piled up bar cigarette on the datum level of the second stack position 012, and △ W1≤Woffset, then bar cigarette grabbing device will
The bar cigarette of bar cigarette width W2 is piled up on datum level on the first stack position 011, wherein, △ W1=| W1 '-W2 |；
When having piled up bar cigarette on the datum level of the second stack position 012, and during Σ W1 ＜ W/2；Then bar cigarette grabbing device is by bar cigarette width
The bar cigarette of degree W1 is piled up on datum level on the first stack position 011；
Otherwise, the piling of execution the 3rd stack position 013 datum level.
The step of the 3rd stack position 013 datum level piling is：
Measure the 3rd stack position 013 datum level height H3 corresponding with respect to platform 01 surface, the 4th stack position 014 datum level phase
The 3rd stack position 013 datum level of article cigarette width on article the cigarette width W3 ' and conveyer belt of corresponding height H4, to(for) platform 01 surface
W3；
When all not piled up bar cigarette on the datum level of the second stack position 012 and on the datum level of the first stack position 012,
As △ H2≤Hoffset1；Or,
As H3 ＞ H4, and △ W3≤Woffset；Or,
As H3 ＜ H4, and W2≤W3 '；
Article cigarette grabbing device piles up a carton carton cigarette of cigarette width W2 on the datum level of the 3rd stack position 013；Wherein, △ H2=|
H3-H4 |, △ W3=| W2-W3 ' |；
When having piled up bar cigarette on the datum level of the second stack position 012 or on the datum level of the first stack position 012,
As △ H2≤Hoffset1；Or,
As H3 ＞ H4, and △ W4≤Woffset；Or,
As H3 ＜ H4, and W1≤W3 '；
Article cigarette grabbing device piles up a carton carton cigarette of cigarette width W1 on the datum level of the 3rd stack position 013；Wherein, △ H2=|
H3-H4 |, △ W4=| W1-W3 ' |；
When all having piled up bar cigarette on the datum level of the second stack position 012 and on the datum level of the first stack position 012,
As △ H2≤Hoffset1；Or,
As H3 ＞ H4, and △ W5≤Woffset；Or,
As H3 ＜ H4, and W3≤W3 '；
Article cigarette grabbing device piles up Article 3 cigarette on the datum level of the 3rd stack position 013；Otherwise execution the 4th stack position 014 base
Quasi- face piling；Wherein, △ H2=| H3-H4 |, △ W5=| W3-W3 ' |.
The palletization step of the 4th stack position 014 datum level is：
As △ H2 ＜ Hoffset2, execute the 4th stack position 014 datum level palletization operations；Otherwise the 4th stack position 014 not code
Buttress, wherein, Hoffset2 is the second preset height；
Piling concrete behaviour in 4th stack position 014 concretely comprises the following steps：
Article cigarette width W4 in the 4th stack position 014 and the 4th stack position 014 datum level are needed to pile up on measurement conveyer belt 02
Bar cigarette width W4 ',
When all not having on the datum level of the second stack position 012, on the datum level of the first stack position 011 and on the datum level of the 3rd stack position 013
When piling up bar cigarette, and △ W6≤Woffset, then article cigarette grabbing device piles up a carton carton cigarette of cigarette width W2 in the 4th stack position 014
On datum level；Otherwise not pile up, terminate；Wherein, △ W6=| W2-W4 ' |；
When having piled up bar cigarette, the 3rd stack position 013 benchmark on the datum level of the second stack position 012 or on the datum level of the first stack position 011
When not piling up bar cigarette on face, and △ W7≤Woffset, then article cigarette grabbing device piles up a carton carton cigarette of cigarette width W1 the 4th
On the datum level of stack position 014；Wherein, △ W7=| W1-W4 ' |；
When having piled up bar cigarette, the 3rd stack position 013 benchmark on the datum level of the second stack position 012 or on the datum level of the first stack position 011
When also having piled up bar cigarette on face, and during Σ W3 ＜ W/2, article cigarette grabbing device piles up an article cigarette width W3 on the 4th stack position 014
On datum level；Wherein, Σ W3=W1+W3；
When do not pile up first stack position 011 datum level on bar cigarette, threeth stack position 013 base on the datum level of the second stack position 012 and
When having piled up bar cigarette on quasi- face, and during Σ W1 ＜ W/2, article cigarette grabbing device piles up an article cigarette width W1 on the 4th stack position 014
On datum level；Wherein, Σ W1=W1+W2；
When all piling up on the datum level of the second stack position 012, on the datum level of the first stack position 011 and on the datum level of the 3rd stack position 013
When having bar cigarette, and during Σ W3 ＜ W/2, article cigarette grabbing device piles up an article cigarette width W4 on datum level on the 4th stack position 014；Its
In, Σ W3=W3+W4.
By limiting the upper surface of each stack position bar cigarette as piling datum level, every time when piling up next layer of bar cigarette, just with
The upper surface of last layer bar cigarette is piling datum level；And, the sequencing of bar cigarette piling stack position is second on piling datum level
Stack position datum level, the first stack position datum level, the 3rd stack position datum level and the 4th stack position datum level, be also on each layer of bar cigarette
Bar cigarette good stability, center of gravity is placed in the middle；Meanwhile, in the piling of the second stack position datum level, by limiting first and second stack position datum level
Difference in height and different width, to determine whether to pile up bar cigarette on the second stack position the stability it is ensured that piling up.
Guarantee that whether last layer has piled up bar cigarette on the first stack position, improves bar cigarette by setting the second preset height
Pile up accuracy；When whether piling up bar cigarette on the second stack position datum level, execution difference piles up condition and rule, makes
Obtain the stability increase that bar cigarette piles up neatly heap.
In the piling of the 3rd stack position datum level, by limiting the difference in height of third and fourth stack position datum level and different
Width, to determine whether to pile up carton cigarette on the 3rd stack position the stability it is ensured that piling up.
Guarantee that whether last layer has piled up bar cigarette on the first stack position, improves bar cigarette by setting the second preset height
Pile up accuracy；When whether piling up carton cigarette on the 3rd stack position datum level, execution difference piles up condition and rule, makes
Obtain the stability increase that bar cigarette piles up neatly heap.
In the present embodiment, when the first stack position 011 datum level height H1 corresponding with respect to platform 01 surface, the second stack position
012 datum level height H2 corresponding with respect to platform 01 surface, the 3rd stack position 013 datum level are corresponding with respect to platform 01 surface
Height H3 or the 4th stack position 014 datum level height H4 corresponding with respect to platform 01 surface is more than default buttress stack height, then refuse
Piling, terminates.
In a particular embodiment, the width of platform 01 is 500mm, such first stack position 011, the second stack position the 012, the 3rd buttress
The width of position 013 and the 4th stack position 014 is all 125mm, and Hoffset1 is 3mm, and Woffset is 5mm, and Hoffset2 is 10mm.
Measurement apparatus measure the bar cigarette width W2=80mm needing to pile up on conveyer belt 02 in the second stack position 012, and bar cigarette is grabbed
Take device that the bar cigarette of bar cigarette width W2 is placed into from conveyer belt 02 the second stack position 012, and by bar cigarette width W2 with
Central platform line 015 aligns.
Measurement apparatus measure the bar cigarette width W1=80mm needing to pile up on conveyer belt 02 in the first stack position 011, wherein, Σ
W1=W1+W2=80mm+125mm=205mm ＜ W/2=250mm, so, the bar cigarette of bar cigarette width W1 is piled up in the first buttress
On 011 position of position.
Measurement apparatus measure article cigarette width W3=125mm needing to pile up on conveyer belt 02 in the 3rd stack position 013, and bar cigarette is grabbed
Take device that a carton carton cigarette of cigarette width W3 is placed into from conveyer belt the 3rd stack position 013, and by the bar cigarette of bar cigarette width W3
Alignd with central platform line 015 in side.
Measurement apparatus measure article cigarette width W4=100mm needing to pile up on conveyer belt 02 in the 4th stack position 014, wherein,
Σ W3=W3+W4=125mm+100mm=225mm ＜ W/2=250mm, so, a carton cigarette for W4 for the width is piled up in the 4th buttress
On 014 position of position.
System executes bar cigarette piling on piling datum level again, and measurement apparatus measurement the first stack position 011 datum level is with respect to flat
Platform 01 surface corresponding height H1=18mm, the second stack position 012 datum level height H2=corresponding with respect to platform 01 surface
The bar cigarette width W2 in the second stack position 012 piled up by 20mm, bar cigarette width the W2 '=125mm of the second stack position 012 datum level and needs
=100mm, first carries out the piling of the second stack position 012 datum level, due to △ H1=| H1-H2 |=| 18mm-20mm |=2mm ＜
Hoffset1=3mm, so, the bar cigarette of bar cigarette width W2 is piled up on the datum level of the second stack position 012.
Due to △ H1=| H1-H2 |=| 18mm-20mm |=2mm ＜ Hoffset2=10mm, what that is, last layer was piled up has
Bar cigarette, so, execution the first stack position 011 palletization operations.
Due to bar cigarette having been piled up on the datum level of the second stack position 012, measurement apparatus measurement conveyer belt 02 needs to pile up the
The bar cigarette width W1=125mm of one stack position 011 and bar cigarette width the W1 '=80mm of the first stack position 011 datum level, its Σ W1=W1
+ W2=125mm+100mm=225mm ＜ W/2=250mm, so, the bar cigarette of bar cigarette width W1 is piled up in the first stack position 011
On upper datum level.
Execute the piling of the 3rd stack position 013 datum level, measurement apparatus measurement the 3rd stack position 012 datum level is with respect to platform 01
Surface corresponding height H3=20mm, the 4th stack position 014 datum level height H4=17mm corresponding with respect to platform 01 surface,
Need to pile up article cigarette width in the 3rd stack position 013 on article cigarette width W3 '=125 of three stack position 012 datum level and conveyer belt 02
W3=125mm；Due to △ H2=| H3-H4 |=| 20mm-17mm |=3mm=Hoffset1=3mm, so, by bar cigarette width
A carton cigarette of W3 is piled up on the datum level of the 3rd stack position 013.
Measurement apparatus measure article cigarette width W4=125 and the 4th buttress needing to pile up on conveyer belt 02 in the 4th stack position 014
Bar cigarette width the W4 '=100mm of position 014 datum level, due to △ H2=| H3-H4 |=| 20mm-17mm |=3mm ＜ Hoffset2
=10mm, what that is, last layer was piled up has bar cigarette, so, article cigarette grabbing device piles up an article cigarette width W4 on the 4th stack position 014
On datum level.
Pile up a carton cigarette due on the datum level of the 3rd stack position 013, its Σ W3=W4+W3=150mm+125mm=275mm ＞
W/2=250mm, so, a carton cigarette is piled up carton cigarette is not placed on the datum level of the 4th stack position 014.
In a particular embodiment, Hoffset1, Woffset and Hoffset1 can set restriction according to actual needs
Scope.
The structured flowchart of bar cigarette piling control system of the present invention is eaten referring to Fig. 4, a kind of bar cigarette piling control system, including use
Conveyer belt 02 in the platform 01 placing bar cigarette with for transfer bar cigarette, what platform 01 was vertical with conveyer belt 02 is platform 01
Width, platform 01 width is divided into the first stack position 011, the second stack position 012, the 3rd stack position 013 and in order
Four stack positions 014, are central platform line 015 between the second stack position 012 and the 3rd stack position 013, also include for capturing conveyer belt
Bar cigarette is simultaneously placed into bar cigarette grabbing device on stack position by bar cigarette, and system also includes platform piling control unit 03, for bar cigarette
Grabbing device by carton cigarette be placed on sequencing on stack position be the second stack position 012, the first stack position 011, the 3rd stack position 013 and the
Four stack positions 014.
Also include measurement apparatus, platform piling control unit 03 includes the first stack position piling control unit 031, the second stack position
Piling control unit 032, the 3rd stack position piling control unit 033 and the 4th stack position piling control unit 034,
Second stack position piling control unit 032, measures the bar cigarette width W2 on conveyer belt 02 for measurement apparatus, and bar cigarette is grabbed
Take device that the bar cigarette of bar cigarette width W2 is placed on the second stack position 012, and the bar cigarette and platform by bar cigarette width W2
Centrage 015 aligns, and calls the first stack position piling control unit 031；
First stack position piling control unit 031, measuring for measurement apparatus needs to pile up in the first stack position on conveyer belt 02
011 bar cigarette width W1, as Σ W1 ＜ W/2, the bar cigarette of bar cigarette width W1 is placed into the first stack position 011 by bar cigarette grabbing device
On, and call the 3rd stack position piling control unit 033；Otherwise call the 3rd stack position piling control unit 033, wherein, W is platform
01 width, Σ W1=W1+W2；
3rd stack position piling control unit 033, for when bar cigarette is not placed in the first stack position 011, just bar cigarette width
A carton cigarette of W1 is placed on the 3rd stack position 013, calls the 4th stack position piling control unit 034；
When the first stack position 011 is placed with bar cigarette, measurement conveyer belt 02 needs to pile up article cigarette width in the 3rd stack position 013
Degree W3, a carton carton cigarette of cigarette width W3 is placed into the 3rd stack position 013 from conveyer belt by article cigarette grabbing device, and by bar cigarette width W3
Bar cigarette while aliging with central platform line 015, and call the 4th stack position piling control unit 034；
4th stack position piling control unit 034, for when bar cigarette is not placed in the first stack position 011, by bar cigarette width W3
A carton cigarette be placed on the 4th stack position 014；
When the first stack position 011 is placed with bar cigarette, measurement conveyer belt 02 needs to pile up article cigarette width in the 4th stack position 014
Degree W4, as Σ W3 ＜ W/2, a carton carton cigarette of cigarette width W4 is placed on the 4th stack position 014 article cigarette grabbing device；Otherwise the 4th
Bar cigarette, wherein, Σ W3=W3+W4 are not piled up on stack position 014.
The bar cigarette upper surface of each stack position is corresponding piling datum level, the priority of bar cigarette piling stack position on piling datum level
Order is the second stack position 012 datum level, the first stack position 011 datum level, the 3rd stack position 013 datum level and the 4th stack position 014 benchmark
Face；Control system also includes piling datum level piling control unit 04, and piling datum level piling control unit 04 includes the first buttress
Position datum level piling control unit 041, the second stack position datum level piling control unit 042, the 3rd stack position datum level piling control
Unit 043 and the 4th stack position datum level piling control unit 044；
As △ H1 ＜ Hoffset2, call the second stack position datum level piling control unit 042；Otherwise call the 3rd stack position base
Quasi- face piling control unit 043, wherein, Hoffset2 is the second preset height；
Second stack position datum level piling control unit 042, needs to pile up on conveyer belt 02 in the first stack position 011 for measuring
Bar cigarette width W1 and the first stack position 011 datum level bar cigarette width W1 '；
When not piled up bar cigarette on the datum level of the second stack position 012, and △ W1≤Woffset, then bar cigarette grabbing device will
The bar cigarette of bar cigarette width W2 is piled up on datum level on the first stack position 011, wherein, △ W1=| W1 '-W2 |；
When having piled up bar cigarette on the datum level of the second stack position 012, and during Σ W1 ＜ W/2；Then bar cigarette grabbing device is by bar cigarette width
The bar cigarette of degree W1 is piled up on datum level on the first stack position 011；
Otherwise, call the 3rd stack position datum level piling control unit 043；
3rd stack position datum level piling control unit 043, for measurement the 3rd stack position 013 datum level with respect to platform 01 table
Face corresponding height H3, the 4th stack position 014 datum level height H4 corresponding with respect to platform 01 surface, the 3rd stack position 013 benchmark
Bar cigarette width W3 on the bar cigarette width W3 ' in face and conveyer belt；
When all not piled up bar cigarette on the datum level of the second stack position 012 and on the datum level of the first stack position 012,
As △ H2≤Hoffset1；Or,
As H3 ＞ H4, and △ W3≤Woffset；Or,
As H3 ＜ H4, and W2≤W3 '；
Article cigarette grabbing device piles up a carton carton cigarette of cigarette width W2 on the datum level of the 3rd stack position 013；Wherein, △ H2=|
H3-H4 |, △ W3=| W2-W3 ' |；
When having piled up bar cigarette on the datum level of the second stack position 012 or on the datum level of the first stack position 012,
As △ H2≤Hoffset1；Or,
As H3 ＞ H4, and △ W4≤Woffset；Or,
As H3 ＜ H4, and W1≤W3 '；
Article cigarette grabbing device piles up a carton carton cigarette of cigarette width W1 on the datum level of the 3rd stack position 013；Wherein, △ H2=|
H3-H4 |, △ W4=| W1-W3 ' |；
When all having piled up bar cigarette on the datum level of the second stack position 012 and on the datum level of the first stack position 012,
As △ H2≤Hoffset1；Or,
As H3 ＞ H4, and △ W5≤Woffset；Or,
As H3 ＜ H4, and W3≤W3 '；
Article cigarette grabbing device piles up Article 3 cigarette on the datum level of the 3rd stack position 013；Otherwise call the 4th stack position benchmark
Face piling control unit 044；Wherein, △ H2=| H3-H4 |, △ W5=| W3-W3 ' |；
As △ H2 ＜ Hoffset2, call the 4th stack position datum level piling control unit 044；Otherwise the 4th stack position 014 is not
Give piling, wherein, Hoffset2 is the second preset height；
4th stack position datum level piling control unit 044, needs to pile up in the 4th stack position 014 on conveyer belt 02 for measuring
Article cigarette width W4 and the 4th stack position 014 datum level article cigarette width W4 ',
When all not having on the datum level of the second stack position 012, on the datum level of the first stack position 011 and on the datum level of the 3rd stack position 013
When piling up bar cigarette, and △ W6≤Woffset, then article cigarette grabbing device piles up a carton carton cigarette of cigarette width W2 in the 4th stack position 014
On datum level；Otherwise not pile up, terminate；Wherein, △ W6=| W2-W4 ' |；
When having piled up bar cigarette, the 3rd stack position 013 benchmark on the datum level of the second stack position 012 or on the datum level of the first stack position 011
When not piling up bar cigarette on face, and △ W7≤Woffset, then article cigarette grabbing device piles up a carton carton cigarette of cigarette width W1 the 4th
On the datum level of stack position 014；Wherein, △ W7=| W1-W4 ' |；
When having piled up bar cigarette, the 3rd stack position 013 benchmark on the datum level of the second stack position 012 or on the datum level of the first stack position 011
When also having piled up bar cigarette on face, and during Σ W3 ＜ W/2, article cigarette grabbing device piles up an article cigarette width W3 on the 4th stack position 014
On datum level；Wherein, Σ W3=W1+W3；
When do not pile up first stack position 011 datum level on bar cigarette, threeth stack position 013 base on the datum level of the second stack position 012 and
When having piled up bar cigarette on quasi- face, and during Σ W1 ＜ W/2, article cigarette grabbing device piles up an article cigarette width W1 on the 4th stack position 014
On datum level；Wherein, Σ W1=W1+W2；
When all piling up on the datum level of the second stack position 012, on the datum level of the first stack position 011 and on the datum level of the 3rd stack position 013
When having bar cigarette, and during Σ W3 ＜ W/2, article cigarette grabbing device piles up an article cigarette width W4 on datum level on the 4th stack position 014；Its
In, Σ W3=W3+W4.
By the 4th stack position piling control unit and the 4th stack position piling control unit, on the first stack position and the 4th stack position
When piling up bar cigarette, limited by arranging the width of bar cigarette, improve the stability that bar cigarette piles up neatly heap；By piling datum level piling control
Four control units in unit processed, the piling condition of the piling datum level that control is different mostly to be is it is ensured that bar cigarette piles up neatly heap respectively
Center of gravity do not offset, improve bar cigarette pile up neatly heap stability.
In describing the invention it is to be understood that term " " center ", " length ", " width ", " on ", D score, " perpendicular
Directly ", the orientation of instruction such as " level ", " top ", " bottom ", " interior " or position relationship are to be closed based on orientation shown in the drawings or position
System, is for only for ease of the description present invention and simplifies description, rather than the device of instruction or hint indication or element must have
Specific orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；It can be direct phase
Even it is also possible to be indirectly connected to by intermediary, can be the connection of two element internals or the interaction pass of two elements
System.For the ordinary skill in the art, above-mentioned term in the present invention concrete can be understood as the case may be
Implication.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or D score
The first and second feature directly contacts can be included not to be directly contact but passes through it is also possible to include the first and second features
Between other characterisation contact.And, fisrt feature second feature " on ", that " top " and " above " include first is special
Levy directly over second feature and oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " below " include fisrt feature immediately below second feature and obliquely downward, or be merely representative of
Fisrt feature level height is less than second feature.
Above bar cigarette piling control method of the present invention and system are described in detail, specific case used herein
The principle and embodiment of the present invention is set forth.The explanation of above example is only intended to help understand the core of the present invention
Thought is thought；Simultaneously for one of ordinary skill in the art, according to the thought of the present invention, in specific embodiment and application model
Place and all will change, in sum, this specification content should not be construed as limitation of the present invention.
Claims (10)
1. a kind of cigarette piling control method is it is characterised in that including the platform (01) for placing bar cigarette and being used for transfer bar
The conveyer belt (02) of cigarette, what described platform (01) was vertical with described conveyer belt (02) is platform (01) width, described
First stack position (011), the second stack position (012), the 3rd stack position (013) and the 4th are divided in order on platform (01) width
Stack position (014), is central platform line (015) between described second stack position (012) and described 3rd stack position (013), also includes using
In capturing bar cigarette on described conveyer belt and described bar cigarette be placed into bar cigarette grabbing device on described stack position, described control method
Including described bar cigarette grabbing device by described bar cigarette be placed on sequencing on described stack position be the second stack position (012), first
The platform piling rate-determining steps of stack position (011), the 3rd stack position (013) and the 4th stack position (014).
2. bar cigarette piling control method according to claim 1 is it is characterised in that upper second stack position of described platform (01)
(012) palletization step is：
Bar cigarette width W2 in measurement conveyer belt (02), the bar cigarette of bar cigarette width W2 is placed into described by described bar cigarette grabbing device
On second stack position (012), and aliging the bar cigarette of described bar cigarette width W2 with described central platform line (015), execution
The piling of the first stack position (011)；
The palletization step of upper first stack position (011) of described platform (01) is：
Bar cigarette width W1 in described first stack position (011), as Σ W1 ＜ W/2, institute are needed to pile up on measurement conveyer belt (02)
State bar cigarette grabbing device the bar cigarette of bar cigarette width W1 is placed on described first stack position (011), and execute the 3rd stack position (013)
Piling；Otherwise execute the piling of the 3rd stack position (013), wherein, W is described platform (01) width, Σ W1=W1+W2；
The palletization step of upper 3rd stack position (013) of described platform (01) is：
When described first stack position (011) does not place bar cigarette, by described, a carton carton cigarette of cigarette width W1 is placed into the described 3rd
On stack position (013), the piling of execution four stack positions (014)；
When described first stack position (011) is placed with bar cigarette, measures and need to pile up in described 3rd stack position on conveyer belt (02)
(013) bar cigarette width W3, a carton carton cigarette of cigarette width W3 is placed into the described 3rd from conveyer belt by described article of cigarette grabbing device
Stack position (013), and aliging the bar cigarette of described bar cigarette width W3 with described central platform line (015), execute four stack positions
(014) piling；
The palletization step of upper 4th stack position (014) of described platform (01) is：
When described first stack position (011) does not place bar cigarette, as Σ W2 ＜ W/2, the bar cigarette of described bar cigarette width W3 is put
Put on described 4th stack position (014), wherein, Σ W2=W1+W3；
When described first stack position (011) is placed with bar cigarette, measures and need to pile up in described 4th stack position on conveyer belt (02)
(014) bar cigarette width W4, as Σ W3 ＜ W/2, the bar cigarette of bar cigarette width W4 is placed into described by described bar cigarette grabbing device
On 4th stack position (014)；Otherwise not pile up a carton cigarette on described 4th stack position (014), wherein, Σ W3=W3+W4.
3. bar cigarette piling control method according to claim 2 is it is characterised in that the bar cigarette upper surface of each stack position is right
The piling datum level answered, also includes datum level palletization operations step, described datum level code after described platform piling rate-determining steps
In buttress operating procedure, the sequencing of piling is the second stack position (012) datum level, the first stack position (011) datum level, the 3rd stack position
(013) datum level and the 4th stack position (014) datum level；
The palletization step of described second stack position (012) datum level is：
Measure the first stack position (011) datum level height H1 corresponding with respect to described platform (01) surface, the second stack position (012) base
Quasi- face height H2 corresponding with respect to described platform (01) surface, the bar cigarette width W2 ' of the second stack position (012) datum level and needs
Pile up the bar cigarette width W2 in described second stack position (012),
As △ H1≤Hoffset1；Or,
As H2 ＞ H1, and △ W2≤Woffset；Or,
As H2 ＜ H1, and W2≤W2 '；
Described bar cigarette grabbing device piles up the bar cigarette of bar cigarette width W2 on described second stack position (012) datum level；Otherwise hold
Row the first stack position datum level (011) piling；Wherein, △ H1=| H1-H2 |, △ W2=| W2 '-W1 |, Hoffset1 are pre- for first
If height, Woffset is predetermined width.
4. bar cigarette piling control method according to claim 3 it is characterised in that
As △ H1 ＜ Hoffset2, execute the first stack position (011) datum level palletization operations；Otherwise execute the 3rd stack position (013) base
Quasi- face piling, wherein, Hoffset2 is the second preset height；
The palletization step of described first stack position (011) datum level is：Need to pile up in measurement conveyer belt (02) in the described first buttress
The position bar cigarette width W1 of (011) and the bar cigarette width W1 ' of the first stack position (011) datum level；
When not piled up bar cigarette on described second stack position (012) datum level, and △ W1≤Woffset, then described bar cigarette crawl
The bar cigarette of bar cigarette width W2 is piled up on the upper datum level of described first stack position (011) by device, wherein, △ W1=| W1 '-W2 |；
When having piled up bar cigarette on described second stack position (012) datum level, and during Σ W1 ＜ W/2；Then described bar cigarette grabbing device will
The bar cigarette of bar cigarette width W1 is piled up on the upper datum level of described first stack position (011)；
Otherwise, execute the piling of the 3rd stack position (013) datum level.
5. according to claim 4 article of cigarette piling control method is it is characterised in that described 3rd stack position (013) datum level
The step of piling is：
Measure the 3rd stack position (013) datum level height H3 corresponding with respect to described platform (01) surface, the 4th stack position (014) base
Quasi- face height H4 corresponding with respect to described platform (01) surface, article cigarette width W3 ' of the 3rd stack position (013) datum level and transmission
Bar cigarette width W3 on band；
When all not piled up bar cigarette on described second stack position (012) datum level and on described first stack position (012) datum level,
As △ H2≤Hoffset1；Or,
As H3 ＞ H4, and △ W3≤Woffset；Or,
As H3 ＜ H4, and W2≤W3 '；
Described article cigarette grabbing device piles up a carton cigarette of described article of cigarette width W2 on described 3rd stack position (013) datum level；Its
In, △ H2=| H3-H4 |, △ W3=| W2-W3 ' |；
When having piled up bar cigarette on described second stack position (012) datum level or on described first stack position (012) datum level,
As △ H2≤Hoffset1；Or,
As H3 ＞ H4, and △ W4≤Woffset；Or,
As H3 ＜ H4, and W1≤W3 '；
Described article cigarette grabbing device piles up a carton cigarette of described article of cigarette width W1 on described 3rd stack position (013) datum level；Its
In, △ H2=| H3-H4 |, △ W4=| W1-W3 ' |；
When all having piled up bar cigarette on described second stack position (012) datum level and on described first stack position (012) datum level,
As △ H2≤Hoffset1；Or,
As H3 ＞ H4, and △ W5≤Woffset；Or,
As H3 ＜ H4, and W3≤W3 '；
Described article cigarette grabbing device piles up described Article 3 cigarette on described 3rd stack position (013) datum level；Otherwise execution the
Four stack positions (014) datum level piling；Wherein, △ H2=| H3-H4 |, △ W5=| W3-W3 ' |.
6. bar cigarette piling control method according to claim 5 it is characterised in that
The palletization step of described 4th stack position (014) datum level is：
As △ H2 ＜ Hoffset2, execute the 4th stack position (014) datum level palletization operations；Otherwise code is refused in the 4th stack position (014)
Buttress, wherein, Hoffset2 is the second preset height；
The described concrete behaviour of 4th stack position (014) piling concretely comprises the following steps：
Article cigarette width W4 and the 4th stack position (014) base in described 4th stack position (014) is needed to pile up on measurement conveyer belt (02)
The bar cigarette width W4 ' in quasi- face,
When on described second stack position (012) datum level, on described first stack position (011) datum level and described 3rd stack position (013)
When all not piling up bar cigarette on datum level, and △ W6≤Woffset, then described bar cigarette grabbing device is by described bar cigarette width W2's
Carton cigarette is piled up on described 4th stack position (014) datum level；Otherwise not pile up, terminate；Wherein, △ W6=| W2-W4 ' |；
When having piled up bar cigarette on described second stack position (012) datum level or on described first stack position (011) datum level, the described 3rd
When not piling up bar cigarette on stack position (013) datum level, and △ W7≤Woffset, then described bar cigarette grabbing device is by described bar cigarette
A carton cigarette of width W1 is piled up on described 4th stack position (014) datum level；Wherein, △ W7=| W1-W4 ' |；
When having piled up bar cigarette on described second stack position (012) datum level or on described first stack position (011) datum level, the described 3rd
When also having piled up bar cigarette on stack position (013) datum level, and during Σ W3 ＜ W/2, described bar cigarette grabbing device is by bar cigarette width W3 code
It is placed on the upper datum level in described 4th stack position (014)；Wherein, Σ W3=W1+W3；
When not piling up bar cigarette on described second stack position (012) datum level and on described first stack position (011) datum level, described the
When having piled up bar cigarette on three stack positions (013) datum level, and during Σ W1 ＜ W/2, described bar cigarette grabbing device is by bar cigarette width W1 code
It is placed on the upper datum level in described 4th stack position (014)；Wherein, Σ W1=W1+W2；
When on described second stack position (012) datum level, on described first stack position (011) datum level and described 3rd stack position (013)
When all having piled up bar cigarette on datum level, and during Σ W3 ＜ W/2, described article of cigarette grabbing device piles up an article cigarette width W4 described
On the upper datum level in four stack positions (014)；Wherein, Σ W3=W3+W4.
7. the bar cigarette piling control method according to claim 5 or 6 is it is characterised in that work as described first stack position (011) base
Quasi- face height H1 corresponding with respect to described platform (01) surface, described second stack position (012) datum level are with respect to described platform
(01) the corresponding height in surface H2, described 3rd stack position (013) datum level are with respect to the corresponding height in described platform (01) surface
It is high that H3 or described 4th stack position (014) datum level height H4 corresponding with respect to described platform (01) surface is more than default buttress heap
Degree, then not piling, terminates.
8. a kind of cigarette piling control system is it is characterised in that including the platform (01) for placing bar cigarette and being used for transfer bar
The conveyer belt (02) of cigarette, what described platform (01) was vertical with described conveyer belt (02) is platform (01) width, described
First stack position (011), the second stack position (012), the 3rd stack position (013) and the 4th are divided in order on platform (01) width
Stack position (014), is central platform line (015) between described second stack position (012) and described 3rd stack position (013), also includes using
In capturing bar cigarette on described conveyer belt and described bar cigarette being placed into bar cigarette grabbing device on described stack position, described system is also wrapped
Include platform piling control unit (03), the priority being placed on described stack position by described bar cigarette for described bar cigarette grabbing device is suitable
Sequence is the second stack position (012), the first stack position (011), the 3rd stack position (013) and the 4th stack position (014).
9. bar cigarette piling control system according to claim 8 is it is characterised in that also include measurement apparatus, described platform
Piling control unit (03) include the first stack position piling control unit (031), the second stack position piling control unit (032), the 3rd
Stack position piling control unit (033) and the 4th stack position piling control unit (034),
Described second stack position piling control unit (032), measures the bar cigarette width W2 on conveyer belt (02), institute for measurement apparatus
State bar cigarette grabbing device the bar cigarette of bar cigarette width W2 is placed on described second stack position (012), and by described bar cigarette width W2
Bar cigarette while aliging with described central platform line (015), call described first stack position piling control unit (031)；
Described first stack position piling control unit (031), needs to pile up described in measurement apparatus measurement conveyer belt (02)
The bar cigarette width W1 of the first stack position (011), as Σ W1 ＜ W/2, the bar cigarette of bar cigarette width W1 is put by described bar cigarette grabbing device
Put on described first stack position (011), and call described 3rd stack position piling control unit (033)；Otherwise call the described 3rd
Stack position piling control unit (033), wherein, W is described platform (01) width, Σ W1=W1+W2；
Described 3rd stack position piling control unit (033), for when described first stack position (011) does not place bar cigarette, by institute
State and a carton carton cigarette of cigarette width W1 is placed on described 3rd stack position (013), call the 4th stack position piling control unit (034)；
When described first stack position (011) is placed with bar cigarette, measures and need to pile up in described 3rd stack position on conveyer belt (02)
(013) bar cigarette width W3, a carton carton cigarette of cigarette width W3 is placed into the described 3rd from conveyer belt by described article of cigarette grabbing device
Stack position (013), and aliging the bar cigarette of described bar cigarette width W3 with described central platform line (015), and call the 4th
Stack position piling control unit (034)；
Described 4th stack position piling control unit (034), when described first stack position (011) does not place bar cigarette, as Σ W2 ＜
During W/2, a carton cigarette of described article of cigarette width W3 is placed on described 4th stack position (014), wherein, Σ W2=W1+W3；
When described first stack position (011) is placed with bar cigarette, measures and need to pile up in described 4th stack position on conveyer belt (02)
(014) bar cigarette width W4, as Σ W3 ＜ W/2, the bar cigarette of bar cigarette width W4 is placed into described by described bar cigarette grabbing device
On 4th stack position (014)；Otherwise not pile up a carton cigarette on described 4th stack position (014), wherein, Σ W3=W3+W4.
10. bar cigarette piling control system according to claim 9 is it is characterised in that the bar cigarette upper surface of each stack position is
Corresponding piling datum level, on described piling datum level the sequencing of bar cigarette piling stack position be the second stack position (012) datum level,
First stack position (011) datum level, the 3rd stack position (013) datum level and the 4th stack position (014) datum level；Described control system is also wrapped
Include piling datum level piling control unit (04), described piling datum level piling control unit (04) includes the first stack position datum level
Piling control unit (041), the second stack position datum level piling control unit (042), the 3rd stack position datum level piling control unit
And the 4th stack position datum level piling control unit (044) (043)；
As △ H1 ＜ Hoffset2, call described second stack position datum level piling control unit (042)；Otherwise call the described 3rd
Stack position datum level piling control unit (043), wherein, Hoffset2 is the second preset height；
Described second stack position datum level piling control unit (042), needs to pile up on conveyer belt (02) described for measuring
The bar cigarette width W1 of one stack position (011) and the bar cigarette width W1 ' of the first stack position (011) datum level；
When not piled up bar cigarette on described second stack position (012) datum level, and △ W1≤Woffset, then described bar cigarette crawl
The bar cigarette of bar cigarette width W2 is piled up on the upper datum level of described first stack position (011) by device, wherein, △ W1=| W1 '-W2 |；
When having piled up bar cigarette on described second stack position (012) datum level, and during Σ W1 ＜ W/2；Then described bar cigarette grabbing device will
The bar cigarette of bar cigarette width W1 is piled up on the upper datum level of described first stack position (011)；
Otherwise, call described 3rd stack position datum level piling control unit (043)；
Described 3rd stack position datum level piling control unit (043), for measurement the 3rd stack position (013) datum level with respect to described
The corresponding height H3 in platform (01) surface, the 4th stack position (014) datum level are with respect to the corresponding height in described platform (01) surface
Article cigarette width W3 on H4, article the cigarette width W3 ' and conveyer belt of the 3rd stack position (013) datum level；
When all not piled up bar cigarette on described second stack position (012) datum level and on described first stack position (012) datum level,
As △ H2≤Hoffset1；Or,
As H3 ＞ H4, and △ W3≤Woffset；Or,
As H3 ＜ H4, and W2≤W3 '；
Described article cigarette grabbing device piles up a carton cigarette of described article of cigarette width W2 on described 3rd stack position (013) datum level；Its
In, △ H2=| H3-H4 |, △ W3=| W2-W3 ' |；
When having piled up bar cigarette on described second stack position (012) datum level or on described first stack position (012) datum level,
As △ H2≤Hoffset1；Or,
As H3 ＞ H4, and △ W4≤Woffset；Or,
As H3 ＜ H4, and W1≤W3 '；
Described article cigarette grabbing device piles up a carton cigarette of described article of cigarette width W1 on described 3rd stack position (013) datum level；Its
In, △ H2=| H3-H4 |, △ W4=| W1-W3 ' |；
When all having piled up bar cigarette on described second stack position (012) datum level and on described first stack position (012) datum level,
As △ H2≤Hoffset1；Or,
As H3 ＞ H4, and △ W5≤Woffset；Or,
As H3 ＜ H4, and W3≤W3 '；
Described article cigarette grabbing device piles up described Article 3 cigarette on described 3rd stack position (013) datum level；Otherwise call institute
State the 4th stack position datum level piling control unit (044)；Wherein, △ H2=| H3-H4 |, △ W5=| W3-W3 ' |；
As △ H2 ＜ Hoffset2, call the 4th stack position datum level piling control unit (044)；Otherwise the 4th stack position (014) is no
Give piling, wherein, Hoffset2 is the second preset height；
Described 4th stack position datum level piling control unit (044), needs to pile up on conveyer belt (02) described for measuring
Article cigarette width W4 of four stack positions (014) and article cigarette width W4 ' of the 4th stack position (014) datum level,
When on described second stack position (012) datum level, on described first stack position (011) datum level and described 3rd stack position (013)
When all not piling up bar cigarette on datum level, and △ W6≤Woffset, then described bar cigarette grabbing device is by described bar cigarette width W2's
Carton cigarette is piled up on described 4th stack position (014) datum level；Otherwise not pile up, terminate；Wherein, △ W6=| W2-W4 ' |；
When having piled up bar cigarette on described second stack position (012) datum level or on described first stack position (011) datum level, the described 3rd
When not piling up bar cigarette on stack position (013) datum level, and △ W7≤Woffset, then described bar cigarette grabbing device is by described bar cigarette
A carton cigarette of width W1 is piled up on described 4th stack position (014) datum level；Wherein, △ W7=| W1-W4 ' |；
When having piled up bar cigarette on described second stack position (012) datum level or on described first stack position (011) datum level, the described 3rd
When also having piled up bar cigarette on stack position (013) datum level, and during Σ W3 ＜ W/2, described bar cigarette grabbing device is by bar cigarette width W3 code
It is placed on the upper datum level in described 4th stack position (014)；Wherein, Σ W3=W1+W3；
When not piling up bar cigarette on described second stack position (012) datum level and on described first stack position (011) datum level, described the
When having piled up bar cigarette on three stack positions (013) datum level, and during Σ W1 ＜ W/2, described bar cigarette grabbing device is by bar cigarette width W1 code
It is placed on the upper datum level in described 4th stack position (014)；Wherein, Σ W1=W1+W2；
When on described second stack position (012) datum level, on described first stack position (011) datum level and described 3rd stack position (013)
When all having piled up bar cigarette on datum level, and during Σ W3 ＜ W/2, described article of cigarette grabbing device piles up an article cigarette width W4 described
On the upper datum level in four stack positions (014)；Wherein, Σ W3=W3+W4.
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| CN107499945A (en) * | 2017-06-28 | 2017-12-22 | 重庆邮电大学 | A kind of stairstepping cigarette parcel post combinations matches palletizing method |
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