CN106564763A

CN106564763A - Cigarette carton stacking control method and system

Info

Publication number: CN106564763A
Application number: CN201610883605.9A
Authority: CN
Inventors: 陈发忠; 杨旭东; 董维付; 靳志强; 胡蝶; 陈思顺; 潘开礼
Original assignee: Guizhou Huilian Technology Ltd Co
Current assignee: Guizhou Huilian Technology Ltd Co
Priority date: 2016-10-10
Filing date: 2016-10-10
Publication date: 2017-04-19
Anticipated expiration: 2036-10-10
Also published as: CN106564763B

Abstract

The invention provides a cigarette carton stacking control method. A platform used for storing cigarette cartons and a conveyor belt used for conveying the cigarette cartons are involved. The side, perpendicular to the conveyor belt, of the platform is the width direction of the platform, and four stacking stations are evenly distributed in the width direction of the platform in sequence. The method includes the step of platform stacking operations, and the platform stacking operations are sequentially conducted at the second stacking station, the first stacking station, the third stacking station and the fourth stacking station. According to the stacking operation at the second stacking station, different quantities of cigarette cartons are grabbed simultaneously according to the height difference of cigarette carton needing stacking at the tail end of the conveyor belt and the relation between the cigarette carton width and the platform width W. According to the cigarette carton stacking control method, through control over the stacking operations at the stacking stations, a large quantity of cigarette cartons can be grabbed each time, and cigarette carton stacking efficiency is improved; and meanwhile, by controlling the cigarette carton height difference and widths, the stability of cigarette carton stacks is improved.

Description

A kind of bar cigarette piling control method and system

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 usually that wall scroll cigarette order is captured, this bar cigarette piling Method cause the inefficiency of bar cigarette piling, simultaneously as being the crawl of wall scroll cigarette, platform can be caused during piling up The difference in height of the same layer bar cigarette of upper pile heap is larger, causes bar cigarette pile heap unstable.

The content of the invention

The present invention provides a kind of bar cigarette piling control method and system, to solve the piling inefficiency of above-mentioned bar cigarette piling With the technical problem of less stable.

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, platform one side vertical with the conveyer belt be berm width direction, institute State and be divided in order on berm width direction the first stack position, the second stack position, the 3rd stack position and the 4th stack position, second stack position It is central platform line and the 3rd stack position between, methods described includes platform palletization operations, and the platform palletization operations include First stack position palletization operations, the second stack position palletization operations, the 3rd stack position palletization operations and the 4th stack position palletization operations, the stack position The sequencing of palletization operations is the second stack position palletization operations, the first stack position palletization operations, the 3rd stack position palletization operations and the 4th Stack position palletization operations, wherein, second stack position palletization operations are specially：According to the bar that the end of the conveyer belt needs to pile up Cigarette difference in height and bar cigarette width perform the palletization operations for capturing varying number bar cigarette simultaneously with the relation of the berm width W.

The invention has the beneficial effects as follows：In bar cigarette palletization on the platform of the present invention, according to the end need of conveyer belt The bar cigarette difference in height to be piled up and bar cigarette width perform the piling for capturing varying number bar cigarette simultaneously with the relation of berm width W Operation, it is possible to achieve single captures larger amt, improves the piling efficiency of bar cigarette；Meanwhile, by bar cigarette difference in height and width The control of degree, improves the stability of bar cigarette pile heap.

Further, second stack position palletization operations are specifically included：

Near described transmission four cigarettes of belt end relative to the height for transmitting belt surface, four cigarettes height are successively for measurement Respectively H1, H2, H3 and H4；The width of four cigarettes of measurement, four cigarette width respectively are W1, W2, W3 and W4；

As △ H1≤Hoffset1, also, Σ W1 ＜ W/2 and Σ W2 ＜ W/2, then four cigarettes are captured simultaneously, and will Width aligns for the bar cigarette of W3 with second stack position, wherein, △ H1=| MAX (H1, H2, H3, H4)-MIN (H1, H2, H3, H4) |, Σ W1=W1+W2, Σ W2=W3+W4, Hoffset1 are that bar cigarette preset height is poor；

Otherwise,

As △ H2≤Hoffset1, also, Σ W1 ＜ W/2, then simultaneously grasp width be the bar cigarette of W1, width for W2 bar Cigarette and width are piled up on first stack position, second stack position and the 3rd stack position for a carton cigarette of W3, and by the width Spend the bar cigarette for W2 to align with second stack position (012), wherein, △ H2=| MAX (H1, H2, H3)-MIN (H1, H2, H3) |；

Otherwise,

As △ H3≤Hoffset1, also, Σ W1 ＜ W/2, then simultaneously grasp width for W1 bar cigarette and width for W2's Bar cigarette is piled up on first stack position and second stack position, and the bar cigarette for W1 and second stack position pair by the width Together, wherein, △ H3=| H1-H2 |；

Otherwise,

Grasp width is the bar cigarette of W1, and the bar cigarette that the width is W1 is alignd with second stack position.

It is using the beneficial effect of above-mentioned further scheme：Preset with first by the difference in height of adjacent strip cigarette on conveyer belt The comparison of height Hoffset1, the reliability for being easy to bar cigarette to capture, it is to avoid crawl failure.

Further, first stack position palletization operations are specifically included：

If having piled up bar cigarette on first stack position, the 3rd stack position palletization operations are performed；

If not piling up bar cigarette on first stack position, as Σ W1 ＜ W/2, bar cigarette of the width for W2 is placed To on first stack position；Bar cigarette is not piled up on otherwise described first stack position, the 3rd stack position palletization operations are performed；

The 3rd stack position palletization operations are specifically included：

If having piled up a carton cigarette on the 3rd stack position, the 4th stack position palletization operations are performed；

If all not piling up a carton cigarette on first stack position and on the 3rd stack position, as △ H4≤Hoffset1, and And, Σ W3 ＜ W/2 then capture the bar cigarette that the bar cigarette and width that the width is W2 is W3 simultaneously, and by the width for W2's Carton cigarette aligns with the 3rd stack position, wherein, Σ W3=W2+W3, △ H4=| H3-H4 |；

If having piled up bar cigarette on first stack position, on the 3rd stack position a carton cigarette is not piled up, when △ H4≤ Hoffset1, also, Σ W2 ＜ W/2, then capture the bar cigarette that the bar cigarette and width that the width is W3 is W4 simultaneously, and will be described Width aligns for carton cigarette of W3 with the 3rd stack position, wherein, Σ W2=W3+W4, △ H4=| H3-H4 |；

Otherwise, it is W3 to capture the width, and the width is alignd for W3 with the 3rd stack position；

The 4th stack position palletization operations are specifically included：

If having piled up a carton cigarette on the 4th stack position, datum level palletization operations are performed；

If not piling up bar cigarette on first stack position, and during Σ W2 ＜ W/2, bar cigarette of the width for W4 is placed To on the 4th stack position；A carton cigarette is not piled up on otherwise described 4th stack position, datum level palletization operations are performed.

It is using the beneficial effect of above-mentioned further scheme：Different stack position palletization operations arrange different conditions, it is ensured that The stability of bar cigarette piling.

Further, the bar cigarette upper surface of each stack position is corresponding piling datum level, after the platform palletization operations also Including datum level palletization operations, the sequencing of the datum level palletization operations piling stack position be the second stack position datum level, first Stack position datum level, the 3rd stack position datum level and the 4th stack position datum level；

The second stack position datum level palletization operations are specifically included：

Measure the first stack position datum level relative relative to the corresponding height H1 ' of the platform surface, the second stack position datum level In the corresponding height H2 ' of the platform surface, the 3rd stack position datum level relative to the corresponding height H3 ' of the platform surface and Four stack position datum levels are relative to the corresponding height H4 ' of the platform surface；And first stack position datum level bar cigarette width W2 ', Article cigarette width W1 ', article cigarette width W3 ' of the 3rd stack position datum level of the second stack position datum level and carton cigarette of the 4th stack position datum level Width W4 '；

As △ H1≤Hoffset1, △ H1 '≤Hoffset1 ', also, Σ W1 ＜ W/2 and Σ W2 ＜ W/2, then grab simultaneously Four cigarettes are taken, and the bar cigarette by width for W3 aligns with second stack position, wherein, △ H1=| MAX (H1, H2, H3, H4)-MIN (H1, H2, H3, H4) |, Σ W1=W1+W2, Σ W2=W3+W4, △ H1 '=| MAX (H1 ', H2 ', H3 ', H4 ')- MIN (H1 ', H2 ', H3 ', H4 ') |, face preset height is poor on the basis of Hoffset1 '；

Otherwise,

As △ H2≤Hoffset1, △ H2 '≤Hoffset1 ', also, Σ W1 ＜ W/2, then simultaneously grasp width is W1's Bar cigarette, width are piled up in the first stack position datum level, the second stack position datum level and described for the bar cigarette and width of W2 for the bar cigarette of W3 On 3rd stack position datum level, and the bar cigarette by the width for W2 aligns with second stack position, wherein, △ H2=| MAX (H1, H2, H3)-MIN (H1, H2, H3) |, △ H2 '=| MAX (H1 ', H2 ', H3 ')-MIN (H1 ', H2 ', H3 ') |；

Otherwise,

As △ H3≤Hoffset1, △ H3 '≤Hoffset1 ', also, Σ W1 ＜ W/2, then simultaneously grasp width is W1's Bar cigarette and width are piled up on the first stack position datum level and the first stack position datum level for the bar cigarette of W2, and by the width for W1's Bar cigarette aligns with second stack position, wherein, △ H3=| H1-H2 |, △ H3 '=| H1 '-H2 ' |；

Otherwise,

As △ H3 '≤Hoffset1 ',

Work as H2 ' ＞ H1 ', and △ W1≤Woffset；Or,

Work as H2 ' ＜ H1 ', and W1≤W2 '；Grasp width for W1 bar cigarette, and by the width for W1 bar cigarette with it is described Second stack position is alignd, wherein, △ W1=| W2 '-W1 |；

Otherwise perform the first stack position datum level palletization operations.

It is using the beneficial effect of above-mentioned further scheme：Second stack position datum level palletization operations are guaranteeing that every time crawl is most A plurality of cigarette, and place it on corresponding stack position datum level to improve piling efficiency.

Further, as △ H3 ' ＜ Hoffset2, the first stack position datum level palletization operations are performed；Otherwise perform the 3rd stack position Datum level palletization operations, wherein, Hoffset2 is the second preset height；

The first stack position datum level palletization operations are concretely comprised the following steps：

If having piled up bar cigarette on the datum level of first stack position, the 3rd stack position palletization operations are performed；

When having piled up bar cigarette on the datum level of second stack position, and during Σ W1 ＜ W/2, by the width for W2 bar cigarette code It is placed on first stack position on datum level；

When not piled up bar cigarette, and △ W1≤Woffset on the datum level of second stack position；It is W1 codes by the width It is placed on first stack position on datum level, wherein, △ W1=| W2 '-W1 |；

Otherwise perform the 3rd stack position datum level palletization operations；

3rd stack position datum level palletization operations are concretely comprised the following steps：

If having piled up a carton cigarette on the 3rd stack position datum level, the 4th stack position palletization operations are performed；

When all not having on the datum level of first stack position, on the datum level of second stack position and on the datum level of second stack position When piling up bar cigarette, as △ H4≤Hoffset1, also, Σ W1 ＜ W/2, then capturing bar cigarette and width that the width is W1 is A carton cigarette of W2 is piled up on the 3rd stack position datum level and on the 4th stack position datum level, wherein, Σ W1=W1+W2, △ H4=| H3-H4 |；

When having piled up bar cigarette, the 3rd stack position base on the datum level of first stack position or on the datum level of second stack position When not piling up bar cigarette on quasi- face, as △ H4≤Hoffset1, also, also, Σ W3 ＜ W/2, then the width is captured for W2 Carton cigarette and width for a carton cigarette of W3 pile up on the 3rd stack position datum level and the 4th stack position datum level on；

When all having piled up bar cigarette, the 3rd stack position on the datum level of first stack position and on the datum level of second stack position When all not piling up bar cigarette on datum level, as △ H4≤Hoffset1, also, also, Σ W2 ＜ W/2, then capture the width Carton cigarette and width for W3 is piled up on the 3rd stack position datum level and on the 4th stack position datum level for a carton cigarette of W4；

Otherwise perform the 4th stack position datum level palletization operations；

As △ H4 ' ＜ Hoffset2, the 4th stack position datum level palletization operations are performed；Otherwise not pile up, wherein, △ H4 ' =| H3 '-H4 ' |；

4th stack position datum level palletization operations are concretely comprised the following steps：

If having piled up a carton cigarette on the 4th stack position datum level, not pile up；

When all not having on the datum level of second stack position, on the datum level of first stack position and on the 3rd stack position datum level When piling up bar cigarette, and △ W2≤Woffset；A carton cigarette of the width for W1 is piled up into the datum level on the 4th stack position On, wherein, △ W2=| W4 '-W1 |；Otherwise, not pile up, terminate；

When having piled up bar cigarette, the 3rd stack position base on the datum level of second stack position or on the datum level of first stack position When not piling up bar cigarette on quasi- face, and △ W3≤Woffset, then the bar cigarette grabbing device by the bar cigarette width for W2 bar Cigarette is piled up on the 4th stack position datum level；Wherein, △ W3=| W4 '-W2 |；

When having piled up bar cigarette, the 3rd stack position base on the datum level of second stack position or on the datum level of first stack position When also having piled up bar cigarette on quasi- face, and during Σ W3 ＜ W/2, bar cigarette of the bar cigarette grabbing device by bar cigarette width for W3 is piled up On 4th stack position on datum level；Wherein, Σ W3=W2+W3；

When not piling up on the datum level of second stack position and bar cigarette, the 3rd stack position on the datum level of first stack position When bar cigarette has been piled up on datum level, and during Σ W1 ＜ W/2, bar cigarette of the bar cigarette grabbing device by bar cigarette width for W2 is piled up On 4th stack position on datum level；Wherein, Σ W1=W1+W2；

When all code on the datum level of second stack position, on the datum level of first stack position and on the 3rd stack position datum level When being placed with bar cigarette, and during Σ W2 ＜ W/2, a carton cigarette of the described article of cigarette grabbing device by article cigarette width for W4 is piled up in the 4th pile On position on datum level；Wherein, Σ W2=W3+W4.

It is using the beneficial effect of above-mentioned further scheme：Piled up by different stack position datum levels and different piling up is set Condition piles up the stability of efficiency and pile heap to improve.

Further, when first stack position datum level is relative to the corresponding height H1 ' of the platform surface, second pile Position datum level is relative to the corresponding height H2 ' of the platform surface, the 3rd stack position datum level relative to the platform surface The corresponding stack position datum levels of height H3 ' or described 4th are relative to the corresponding height H4 ' of the platform surface more than default pile heap Highly, then not piling, terminates.

It is using the beneficial effect of above-mentioned further scheme：By arranging default pile stack height, it is to avoid bar cigarette pile heap is too high, Improve the stability of pile heap.

The present invention also provides a kind of including for placing the platform and the conveyer belt for transfer bar cigarette of bar cigarette, the platform One side vertical with the conveyer belt be berm width direction, be divided in order on the berm width direction the first stack position, Second stack position, the 3rd stack position and the 4th stack position, are central platform line between second stack position and the 3rd stack position, including flat Platform piling control module, the platform piling control module includes the first stack position piling control module, the second stack position piling control Module, the 3rd stack position piling control module and the 4th stack position piling control module, the sequencing of the stack position palletization operations is Second stack position palletization operations, the first stack position palletization operations, the 3rd stack position palletization operations and the 4th stack position palletization operations, wherein, institute State the second stack position piling control module：For the bar cigarette difference in height and the bar cigarette width that need to pile up according to the end of the conveyer belt Spend and the palletization operations for capturing varying number bar cigarette simultaneously are performed with the relation of the berm width W.

The beneficial effect of control system of the present invention is：In bar cigarette palletization on the platform of the present invention, according to conveyer belt End need the bar cigarette difference in height piled up and bar cigarette width to perform with the relation of berm width W capture simultaneously varying number bar The palletization operations of cigarette, it is possible to achieve single captures larger amt, improves the piling efficiency of bar cigarette；Meanwhile, by high to bar cigarette The control of degree difference and width, improves the stability of bar cigarette pile heap.

Further, the concrete operations of the second stack position piling control module include：

As △ H1≤Hoffset1, also, Σ W1 ＜ W/2 and Σ W2 ＜ W/2, then four cigarettes are captured simultaneously, and will Width aligns for the bar cigarette of W3 with second stack position, wherein, △ H1=| MAXH1, H2, H3, H4-MINH1, H2, H3, H4 |, Σ W1=W1+W2, Σ W2=W3+W4, Hoffset1 are that bar cigarette preset height is poor；

Otherwise,

As △ H2≤Hoffset1, also, Σ W1 ＜ W/2, then simultaneously grasp width be the bar cigarette of W1, width for W2 bar Cigarette and width are piled up on first stack position, second stack position and the 3rd stack position for a carton cigarette of W3, and by the width Spend the bar cigarette for W2 to align with second stack position, wherein, △ H2=| MAX (H1, H2, H3)-MIN (H1, H2, H3) |；

Otherwise,

Grasp width is the bar cigarette of W1, and the bar cigarette that the width is W1 is alignd with second stack position；

The first stack position piling control module：For,

3rd stack position piling control module：For,

4th stack position piling control module：For,

Further, the bar cigarette upper surface of each stack position is corresponding piling datum level, after the platform palletization operations also Including datum level palletization operations, the system also includes datum level palletization operations module, the datum level palletization operations module bag Include the first stack position datum level control module, the second stack position datum level control module, the 3rd stack position datum level control module and the 4th Stack position datum level control module, the sequencing of the datum level palletization operations module piling stack position be the second stack position datum level, First stack position datum level, the 3rd stack position datum level and the 4th stack position datum level；

The second stack position datum level piling grasps module：For,

As △ H1≤Hoffset1, △ H1 '≤Hoffset1 ', also, Σ W1 ＜ W/2 and Σ W2 ＜ W/2, then grab simultaneously Four cigarettes are taken, and the bar cigarette by width for W3 aligns with second stack position, wherein, △ H1=| MAXH1, H2, H3, H4- MINH1, H2, H3, H4 |, Σ W1=W1+W2, Σ W2=W3+W4, △ H1 '=| MAXH1 ', H2 ', H3 ', H4 '-MINH1 ', H2 ', H3 ', H4 ' |, face preset height is poor on the basis of Hoffset1 '；

Otherwise,

As △ H3 '≤Hoffset1 ',

Work as H2 ' ＞ H1 ', and △ W1≤Woffset；Or,

Otherwise call the first stack position datum level palletization operations module；

As △ H3 ' ＜ Hoffset2, the first stack position datum level palletization operations module is called；Otherwise call the described 3rd Stack position datum level palletization operations module, wherein, Hoffset2 is the second preset height；

The first stack position datum level palletization operations module：For,

Otherwise call the 3rd stack position datum level palletization operations module；

The 3rd stack position datum level palletization operations module：For,

If having piled up a carton cigarette on the 3rd stack position datum level, the 4th stack position piling control module is called；

Otherwise call the 4th stack position datum level palletization operations module；

The 4th stack position datum level palletization operations module：For,

Further, also it is used for including piling finishing control module

When first stack position datum level is relative to the corresponding height H1 ' of the platform surface, second stack position benchmark Face is corresponding relative to the platform surface relative to the corresponding height H2 ' of the platform surface, the 3rd stack position datum level The stack position datum levels of height H3 ' or described 4th are more than default pile stack height relative to the corresponding height H4 ' of the platform surface, then Not piling, terminates.

Description of the drawings

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 datum level piling embodiment control flow chart in bar cigarette piling control method of the present invention,

Fig. 4 is the structured flowchart of bar cigarette piling control system 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

Below in conjunction with the accompanying drawings the present invention is further illustrated with embodiment.

Stacking structure embodiment schematic diagram is referring to Fig. 1 in bar cigarette piling control method of the present invention, including for placing bar cigarette Platform 01 and the conveyer belt 02 for transfer bar cigarette 05, the one side vertical with conveyer belt 02 of platform 01 be the width side of platform 01 To being divided into the first stack position 011, the second stack position 012, the 3rd stack position 013 and the 4th stack position on the width of platform 01 in order 014, it is central platform line 015 between the second stack position 012 and the 3rd stack position 013.

Referring to Fig. 2, method includes platform to platform piling embodiment control flow chart in bar cigarette piling control method of the present invention Palletization operations, platform palletization operations include the first stack position palletization operations, the second stack position palletization operations, the 3rd stack position palletization operations and 4th stack position palletization operations, the sequencing of stack position palletization operations be the second stack position palletization operations, the first stack position palletization operations, the Three stack position palletization operations and the 4th stack position palletization operations, wherein, the second stack position palletization operations are specially：According to the end of conveyer belt 02 End needs the bar cigarette difference in height piled up and bar cigarette width to perform with the relation of the width W of platform 01 while capturing varying number bar cigarette Palletization operations.

Second stack position palletization operations are specifically included：

The height relative to the surface of conveyer belt 02 near the conveyer belt cigarette of 02 termination four is measured, four cigarettes height are distinguished successively For H1, H2, H3 and H4；The width of four cigarettes of measurement, four cigarette width respectively are W1, W2, W3 and W4；

As △ H1≤Hoffset1, also, Σ W1 ＜ W/2 and Σ W2 ＜ W/2, then four cigarettes are captured simultaneously, and by width Bar cigarette for W3 aligns with the second stack position 012, wherein, △ H1=| MAX (H1, H2, H3, H4)-MIN (H1, H2, H3, H4) |, Σ W1=W1+W2, Σ W2=W3+W4, Hoffset1 are that bar cigarette preset height is poor；

Otherwise,

As △ H2≤Hoffset1, also, Σ W1 ＜ W/2, then simultaneously grasp width be the bar cigarette of W1, width for W2 bar Cigarette and width are piled up on the first stack position 011, the second stack position 012 and the 3rd stack position 013 for a carton cigarette of W3, and by width for W2's Bar cigarette aligns with the second stack position 012, wherein, △ H2=| MAX (H1, H2, H3)-MIN (H1, H2, H3) |；

Otherwise,

As △ H3≤Hoffset1, also, Σ W1 ＜ W/2, then simultaneously grasp width for W1 bar cigarette and width for W2's Bar cigarette is piled up on the first stack position 011 and the second stack position 012, and the bar cigarette by width for W1 aligns with the second stack position 012, its In, △ H3=| H1-H2 |；

Otherwise,

Grasp width is the bar cigarette of W1, and the bar cigarette that width is W1 is alignd with the second stack position 012.

First stack position palletization operations are specifically included：

If having piled up bar cigarette on the first stack position 011, the 3rd stack position palletization operations are performed；

If not piling up bar cigarette on the first stack position 011, as Σ W1 ＜ W/2, width is placed into into for a carton cigarette of W2 On one stack position 011；Bar cigarette is not piled up on otherwise the first stack position 011, the 3rd stack position palletization operations are performed；

3rd stack position palletization operations are specifically included：

If having piled up a carton cigarette on the 3rd stack position 013, the 4th stack position palletization operations are performed；

If all not piling up a carton cigarette on the first stack position 011 and on the 3rd stack position 013, as △ H4≤Hoffset1, also, Σ W3 ＜ W/2, then simultaneously grasp width for W2 bar cigarette and width for W3 bar cigarette, and by width for W2 carton cigarette and the 3rd pile Position 013 is alignd, wherein, Σ W3=W2+W3, △ H4=| H3-H4 |；

If having piled up bar cigarette on the first stack position 011, on the 3rd stack position 013 a carton cigarette is not piled up, when △ H4≤ Hoffset1, also, Σ W2 ＜ W/2, then simultaneously grasp width is the bar cigarette that the bar cigarette and width of W3 are W4, and is W3 by width Carton cigarette align with the 3rd stack position 013, wherein, Σ W2=W3+W4, △ H4=| H3-H4 |；

Otherwise, grasp width is W3, and width is alignd for W3 with the 3rd stack position 013；

4th stack position palletization operations are specifically included：

If having piled up a carton cigarette on the 4th stack position 014, datum level palletization operations are performed；

If bar cigarette is not piled up on the first stack position 011, and during Σ W2 ＜ W/2, width is placed into into for a carton cigarette of W4 On four stack positions 014；A carton cigarette is not piled up on otherwise the 4th stack position 014, datum level palletization operations are performed.

By the comparison of the difference in height of adjacent strip cigarette on conveyer belt and the first preset height Hoffset1, it is easy to bar cigarette to capture Reliability, it is to avoid crawl failure.Different stack position palletization operations arrange different conditions, it is ensured that the stability of bar cigarette piling.

Datum level piling embodiment control flow chart is referring to Fig. 3 in bar cigarette piling control method of the present invention, each stack position Bar cigarette upper surface is corresponding piling datum level, and datum level palletization operations, datum level piling are also included after platform palletization operations The sequencing of operation 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 pile Position datum level；

Second stack position datum level palletization operations are specifically included：

Measure the first stack position datum level relative to the corresponding height H1 ' in the surface of platform 01, the second stack position datum level relative to The corresponding height H2 ' in the surface of platform 01, the 3rd stack position datum level are relative to the corresponding height H3 ' in the surface of platform 01 and the 4th stack position Datum level is relative to the corresponding height H4 ' in the surface of platform 01；And first stack position datum level bar cigarette width W2 ', the second stack position Article cigarette width W4 ' of article the cigarette width W1 ', article cigarette width W3 ' of the 3rd stack position datum level and the 4th stack position datum level of datum level；

As △ H1≤Hoffset1, △ H1 '≤Hoffset1 ', also, Σ W1 ＜ W/2 and Σ W2 ＜ W/2, then grab simultaneously Four cigarettes are taken, and the bar cigarette by width for W3 aligns with the second stack position 012, wherein, △ H1=| MAX (H1, H2, H3, H4)-MIN (H1, H2, H3, H4) |, Σ W1=W1+W2, Σ W2=W3+W4, △ H1 '=| MAX (H1 ', H2 ', H3 ', H4 ')-MIN (H1 ', H2 ', H3 ', H4 ') |, face preset height is poor on the basis of Hoffset1 '；

Otherwise,

As △ H2≤Hoffset1, △ H2 '≤Hoffset1 ', also, Σ W1 ＜ W/2, then simultaneously grasp width is W1's Carton cigarette, width are piled up in the first stack position datum level, the second stack position datum level and the 3rd for carton cigarette and width of W2 for a carton cigarette of W3 On the datum level of stack position, and the bar cigarette by width for W2 aligns with the second stack position 012, wherein, △ H2=| MAX (H1, H2, H3)- MIN (H1, H2, H3) |, △ H2 '=| MAX (H1 ', H2 ', H3 ')-MIN (H1 ', H2 ', H3 ') |；

Otherwise,

As △ H3≤Hoffset1, △ H3 '≤Hoffset1 ', also, Σ W1 ＜ W/2, then simultaneously grasp width is W1's Bar cigarette and width are piled up on the first stack position datum level and the first stack position datum level for the bar cigarette of W2, and by width for W1 bar cigarette Align with the second stack position 012, wherein, △ H3=| H1-H2 |, △ H3 '=| H1 '-H2 ' |；

Otherwise,

As △ H3 '≤Hoffset1 ',

Work as H2 ' ＞ H1 ', and △ W1≤Woffset；Or,

Work as H2 ' ＜ H1 ', and W1≤W2 '；Grasp width is the bar cigarette of W1, and the bar cigarette for W1 and the second stack position by width 012 alignment, wherein, △ W1=| W2 '-W1 |；

As △ H3 ' ＜ Hoffset2, the first stack position datum level palletization operations are performed；Otherwise perform the 3rd stack position datum level code Pile is operated, wherein, Hoffset2 is the second preset height；

If having piled up bar cigarette on the first stack position datum level, the 3rd stack position palletization operations are performed；

When having piled up bar cigarette on the second stack position datum level, and during Σ W1 ＜ W/2, bar cigarette of the width for W2 is piled up first On stack position 011 on datum level；

When not piled up bar cigarette, and △ W1≤Woffset on the datum level of the second stack position 012；Width is piled up for W1 On first stack position 011 on datum level, wherein, △ W1=| W2 '-W1 |；

When all not piling up bar cigarette on the first stack position datum level, on the second stack position datum level and on the second stack position datum level When, as △ H4≤Hoffset1, also, Σ W1 ＜ W/2, then grasp width is piled up for the bar cigarette and width of W1 for the bar cigarette of W2 On 3rd stack position datum level and on the 4th stack position datum level, wherein, Σ W1=W1+W2, △ H4=| H3-H4 |；

When bar cigarette has been piled up on the first stack position datum level or on the second stack position datum level, without code on the 3rd stack position datum level When putting bar cigarette, as △ H4≤Hoffset1, also, also, Σ W3 ＜ W/2, then grasp width is W3 for the bar cigarette and width of W2 A carton cigarette pile up on the 3rd stack position datum level and the 4th stack position datum level on；

When bar cigarette has all been piled up on the first stack position datum level and on the second stack position datum level, all do not have on the 3rd stack position datum level When piling up bar cigarette, as △ H4≤Hoffset1, also, also, Σ W2 ＜ W/2, then grasp width is the bar cigarette and width of W3 A carton cigarette for W4 is piled up on the 3rd stack position datum level and on the 4th stack position datum level；

When all not piling up a carton cigarette on the second stack position datum level, on the first stack position datum level and on the 3rd stack position datum level When, and △ W2≤Woffset；A carton cigarette of the width for W1 is piled up on datum level on the 4th stack position, wherein, △ W2=| W4 '- W1|；Otherwise, not pile up, terminate；

When bar cigarette has been piled up on the second stack position datum level or on the first stack position datum level, without code on the 3rd stack position datum level When putting bar cigarette, and △ W3≤Woffset, then a carton cigarette of article cigarette grabbing device by article cigarette width for W2 is piled up in the 4th stack position benchmark On face；Wherein, △ W3=| W4 '-W2 |；

When bar cigarette has been piled up on the second stack position datum level or on the first stack position datum level, also pile up on the 3rd stack position datum level When having bar cigarette, and during Σ W3 ＜ W/2, a carton cigarette of article cigarette grabbing device by article cigarette width for W3 piles up the datum level on the 4th stack position On；Wherein, Σ W3=W2+W3；

When bar cigarette is not piled up on the second stack position datum level and on the first stack position datum level, pile up on the 3rd stack position datum level When having bar cigarette, and during Σ W1 ＜ W/2, a carton cigarette of article cigarette grabbing device by article cigarette width for W2 piles up the datum level on the 4th stack position On；Wherein, Σ W1=W1+W2；

When carton cigarette has all been piled up on the second stack position datum level, on the first stack position datum level and on the 3rd stack position datum level, And during Σ W2 ＜ W/2, a carton cigarette of article cigarette grabbing device by article cigarette width for W4 is piled up on datum level on the 4th stack position；Wherein, Σ W2=W3+W4.

Second stack position datum level palletization operations place it in corresponding stack position base guaranteeing the every time most a plurality of cigarette of crawl Piling efficiency is improved on quasi- face.Pile up to arrange by different stack position datum levels and different pile up condition and pile up effect to improve The stability of rate and pile heap.

In a particular embodiment, the width of platform 01 be 500mm, such first stack position 011, the second stack position 012, the 3rd pile The width of the stack position 014 of position 013 and the 4th is all 125mm, and Hoffset1 is 3mm, and Woffset is 5mm, and Hoffset2 is 10mm.

Perform platform palletization operations：Measurement apparatus measurement is near the conveyer belt cigarette of 02 termination four relative to the surface of conveyer belt 02 Height, four cigarettes respectively highly are H1=18mm, H2=20mm, H3=17mm and H4=20mm；Four cigarettes of measurement Width, four cigarette width respectively are W1=80mm, W2=125mm, W3=125mm and W4=100mm.

△ H1=| MAX (H1, H2, H3, H4)-MIN (H1, H2, H3, H4) |=20-17=3mm, Σ W1=W1+W2=80 + 125=205mm, Σ W2=W3+W4=125+100=225mm.

Due to △ H1=3mm=Hoffset1=3mm, so, then capture four cigarettes simultaneously, and by width for W3 bar cigarette Align with the second stack position 012.

Due to having piled up a carton cigarette on the first stack position 011, on the 3rd stack position 013 and the 4th stack position 014, so the first stack position Palletization operations, the 3rd stack position palletization operations and the 4th stack position palletization operations are not performed.

Datum level palletization operations are performed, the second stack position datum level palletization operations are first carried out,

The height relative to the surface of conveyer belt 02 near the conveyer belt cigarette of 02 termination four is measured, four cigarettes height are distinguished successively For H1=20mm, H2=16mm, H3=18mm and H4=20mm；The width of four cigarettes of measurement, four cigarette width respectively are W1=80mm, W2=110mm, W3=110mm and W4=125mm；

The first stack position datum level is measured relative to corresponding height the H1 '=18mm in the surface of platform 01, the second stack position datum level Relative to corresponding height the H2 '=20mm in the surface of platform 01, the 3rd stack position datum level relative to the corresponding height in the surface of platform 01 H3 '=17mm and the 4th stack position datum level are relative to corresponding height the H4 '=20mm in the surface of platform 01；And the first stack position benchmark Article cigarette width the W2 '=80mm in face, carton cigarette width W1 '=125mm, carton cigarette of the 3rd stack position datum level of the second stack position datum level Article cigarette width the W4 '=100mm of width W3 '=125mm and the 4th stack position datum level；

△ H1=| MAX (H1, H2, H3, H4)-MIN (H1, H2, H3, H4) |=20-16=4mm, Σ W1=W1+W2= 190mm, Σ W2=W3+W4=235mm, △ H1 '=| MAX (H1 ', H2 ', H3 ', H4 ')-MIN (H1 ', H2 ', H3 ', H4 ') |= 20-17=3mm, Hoffset1 ' it is 3mm.

△ H2=| MAX (H1, H2, H3)-MIN (H1, H2, H3) |=20-16=4mm, △ H2 '=| MAX (H1 ', H2 ', H3 ')-MIN (H1 ', H2 ', H3 ') |=20-17=3mm.

△ H3=| H1-H2 |=20-16=4mm, △ H3 '=| H1 '-H2 ' |=20-18=2mm.

△ H4=| H3-H4 |=2mm.

Due to △ H1=△ H2=△ H3=4mm ＞ Hoffset1=3mm, △ H3 '=2mm≤Hoffset1 '=3mm, So bar cigarette of the grasp width for W1, and the bar cigarette that width is W1 is alignd with the second stack position 012.

Due to △ H3 '=2mm ＜ Hoffset2=10mm, the first stack position datum level palletization operations are performed；Due to the second pile Bar cigarette is piled up on the datum level of position, and during Σ W1=190mm ＜ W/2=225mm, bar cigarette of the width for W2 has been piled up in the first pile On position 011 on datum level.

Due to all having piled up bar cigarette on the first stack position datum level and on the second stack position datum level, on the 3rd stack position datum level all Bar cigarette is not piled up, as △ H4=2mm ＜ Hoffset1=3mm, also, Σ W2=W3+W4=235mm ＜ W/2=250mm, Then grasp width is piled up on the 3rd stack position datum level and on the 4th stack position datum level for carton cigarette and width of W3 for a carton cigarette of W4.

Due to having piled up a carton cigarette on the 4th stack position datum level, then not pile up.

Recirculation perform datum level palletization operations, until, when the first stack position datum level it is corresponding relative to the surface of platform 01 Height H1 ', the second stack position datum level are relative to the corresponding height H2 ' in the surface of platform 01, the 3rd stack position datum level relative to platform The corresponding height H3 ' in 01 surface or the 4th stack position datum level are relative to the corresponding height H4 ' in the surface of platform 01 more than default pile heap Highly, then not piling, terminates.

In a particular embodiment, wherein bar cigarette preset height difference Hoffset1, datum level preset height difference Hoffset1 ', Second preset height Hoffset2 and predetermined width difference Woffset can be according to design parameters such as actual pile heap width, height Different numerical value are set, optimum efficiency has been reached.

Meanwhile, preset the limit value of pile stack height, it is also possible to arrange as the case may be.

Embodiments of the invention also provide the structured flowchart of a kind of cigarette piling control system, referring to Fig. 3, including for putting The platform 01 and the conveyer belt 02 for transfer bar cigarette of bar cigarette are put, the one side vertical with conveyer belt 02 of platform 01 is the width of platform 01 Direction, is divided in order the first stack position 011, the second stack position 012, the 3rd stack position 013 and the 4th pile on the width of platform 01 Position 014, is central platform line 015 between the second stack position 012 and the 3rd stack position 013, including platform piling control module 03, platform Piling control module 03 includes the first stack position piling control module 031, the second stack position piling control module 032, the 3rd stack position code The stack position piling control module 034 of pile control module 033 and the 4th, the sequencing of stack position palletization operations is the second stack position piling behaviour Work, the first stack position palletization operations, the 3rd stack position palletization operations and the 4th stack position palletization operations, wherein, the second stack position piling control Module 032：For needing the bar cigarette difference in height piled up and bar cigarette width with the width W's of platform 01 according to the end of conveyer belt 02 Relation performs the palletization operations for capturing varying number bar cigarette simultaneously.

The concrete operations of the second stack position piling control module 032 include：

Otherwise,

Grasp width is the bar cigarette of W1, and the bar cigarette that width is W1 is alignd with the second stack position 012；

First stack position piling control module 031：For,

3rd stack position piling control module 033：For,

4th stack position piling control module 034：For,

Different stack position palletization operations arrange different conditions, it is ensured that the stability of bar cigarette piling.

The bar cigarette upper surface of each stack position is corresponding piling datum level, and datum level code is also included after platform palletization operations Pile is operated, and system also includes datum level palletization operations module 04, and datum level palletization operations module 04 includes the first stack position datum level Control module 041, the second stack position datum level control module 042, the 3rd stack position datum level control module 043 and the 4th stack position benchmark Face control module 044, the sequencing of the piling stack position of datum level palletization operations module 04 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；

Second stack position datum level piling behaviour's module：For,

Otherwise,

As △ H2≤Hoffset1, △ H2 '≤Hoffset1 ', also, Σ W1 ＜ W/2, then simultaneously grasp width is W1's Carton cigarette, width are piled up in the first stack position datum level, the second stack position datum level and the 3rd for carton cigarette and width of W2 for a carton cigarette of W3 On the datum level of stack position, and the bar cigarette by width for W2 aligns with the second stack position (012), wherein, △ H2=| MAX (H1, H2, H3)- MIN (H1, H2, H3) |, △ H2 '=| MAX (H1 ', H2 ', H3 ')-MIN (H1 ', H2 ', H3 ') |；

Otherwise,

As △ H3 '≤Hoffset1 ' or,

Work as H2 ' ＞ H1 ', and △ W1≤Woffset；Or,

Otherwise call the first stack position datum level palletization operations module 04；

As △ H3 ' ＜ Hoffset2, the first stack position datum level palletization operations module 04 is called；Otherwise call the 3rd stack position base Quasi- face palletization operations module 04, wherein, Hoffset2 is the second preset height；

First stack position datum level palletization operations module 04：For,

Otherwise call the 3rd stack position datum level palletization operations module 04；

3rd stack position datum level palletization operations module 04：For,

If having piled up a carton cigarette on the 3rd stack position datum level, the 4th stack position piling control module 034 is called；

Otherwise call the 4th stack position datum level palletization operations module 04；

4th stack position datum level palletization operations module 04：For,

Pile up to arrange by different stack position datum levels and different pile up condition and pile up stablizing for efficiency and pile heap to improve Property.

Also include piling finishing control module, be used for

When the first stack position datum level relative to the corresponding height H1 ' in the surface of platform 01, the second stack position datum level relative to flat The corresponding height H2 ' in the surface of platform 01, the 3rd stack position datum level are relative to the corresponding height H3 ' in the surface of platform 01 or the 4th stack position base Relative to the corresponding height H4 ' in the surface of platform 01 more than default pile stack height, then not piling, terminates in quasi- face.

By arranging default pile stack height, it is to avoid bar cigarette pile heap is too high, improves the stability of pile heap.

In describing the invention, it is to be understood that term " " center ", " length ", " width ", " on ", it is D score, " perpendicular Directly ", the orientation or position relationship of the instruction such as " level ", " top ", " bottom ", " interior " is 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 indicates or imply that the device or element of indication must have Specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.

In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc. Term should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or it is integral；It can be direct phase Even, it is also possible to be indirectly connected to by intermediary, can be that the connection of two element internals or the interaction of two elements are closed System.For the ordinary skill in the art, above-mentioned term in the present invention concrete can as the case may be understood 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, it is also possible to be not directly contact but by it including the first and second features Between other characterisation contact.And, fisrt feature second feature " on ", " top " and " above " include that 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.

Bar cigarette piling control method of the present invention and system are described in detail above, specific case used herein The principle and embodiment of the present invention are set forth.The explanation of above example is only intended to the core for helping understand 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 model is applied Place and will change, in sum, this specification content should not be construed as limiting the invention.

Claims

1. a kind of bar cigarette piling control method, it is characterised in that include platform (01) for placing bar cigarette and for transfer bar The conveyer belt (02) of cigarette, the platform (01) one side vertical with the conveyer belt (02) is platform (01) width, described It is divided into the first stack position (011), the second stack position (012), the 3rd stack position (013) and the 4th on platform (01) width in order Stack position (014), is central platform line (015) between second stack position (012) and the 3rd stack position (013), methods described Including platform palletization operations, the platform palletization operations include the first stack position palletization operations, the second stack position palletization operations, the 3rd pile Position palletization operations and the 4th stack position palletization operations, the sequencing of the stack position palletization operations be the second stack position palletization operations, the One stack position palletization operations, the 3rd stack position palletization operations and the 4th stack position palletization operations, wherein, second stack position palletization operations tool Body is：According to bar cigarette difference in height and bar cigarette width and the platform (01) width that the end of the conveyer belt (02) needs to pile up The relation of degree W performs the palletization operations for capturing varying number bar cigarette simultaneously.

2. bar cigarette piling control method according to claim 1, it is characterised in that second stack position palletization operations are concrete Including：

, relative to the height on the conveyer belt (02) surface, four cigarettes are highly for the close cigarette of the conveyer belt (02) termination four of measurement It respectively is H1, H2, H3 and H4；The width of four cigarettes of measurement, four cigarette width respectively are W1, W2, W3 and W4；

As △ H1≤Hoffset1, also, Σ W1 ＜ W/2 and Σ W2 ＜ W/2, then four cigarettes are captured simultaneously, and by width Bar cigarette for W3 aligns with second stack position (012), wherein, △ H1=| MAX (H1, H2, H3, H4)-MIN (H1, H2, H3, H4) |, Σ W1=W1+W2, Σ W2=W3+W4, Hoffset1 are that bar cigarette preset height is poor；

Otherwise,

As △ H2≤Hoffset1, also, Σ W1 ＜ W/2, then simultaneously grasp width be the bar cigarette of W1, width for W2 bar cigarette and Width is piled up on first stack position (011), second stack position (012) and the 3rd stack position (013) for a carton cigarette of W3, And the bar cigarette by the width for W2 aligns with second stack position (012), wherein, △ H2=| MAX (H1, H2, H3)-MIN (H1, H2, H3) |；

Otherwise,

As △ H3≤Hoffset1, also, Σ W1 ＜ W/2, then simultaneously grasp width for W1 bar cigarette and width for W2 bar cigarette Pile up on first stack position (011) and second stack position (012), and by the width for W1 bar cigarette and described second Stack position (012) is alignd, wherein, △ H3=| H1-H2 |；

Otherwise,

Grasp width is the bar cigarette of W1, and the bar cigarette that the width is W1 is alignd with second stack position (012).

3. bar cigarette piling control method according to claim 2, it is characterised in that first stack position palletization operations are concrete Including：

If having piled up bar cigarette on first stack position (011), the 3rd stack position palletization operations are performed；

If not piling up bar cigarette on first stack position (011), as Σ W1 ＜ W/2, bar cigarette of the width for W2 is put Put on first stack position (011)；Bar cigarette is not piled up on otherwise described first stack position (011), the 3rd stack position piling is performed Operation；

The 3rd stack position palletization operations are specifically included：

If having piled up a carton cigarette on the 3rd stack position (013), the 4th stack position palletization operations are performed；

If all not piling up on first stack position (011) and a carton cigarette on the 3rd stack position (013), when △ H4≤ Hoffset1, also, Σ W3 ＜ W/2, then capture the bar cigarette that the bar cigarette and width that the width is W2 is W3 simultaneously, and will be described Width aligns for carton cigarette of W2 with the 3rd stack position (013), wherein, Σ W3=W2+W3, △ H4=| H3-H4 |；

If having piled up bar cigarette on first stack position (011), a carton cigarette is not piled up on the 3rd stack position (013), as △ H4 ≤ Hoffset1, also, Σ W2 ＜ W/2, then capture bar cigarette and width that the width is W3 simultaneously for W4 bar cigarette, and by institute State carton cigarette that width is W3 to align with the 3rd stack position (013), wherein, Σ W2=W3+W4, △ H4=| H3-H4 |；Otherwise, It is W3 to capture the width, and the width is alignd for W3 with the 3rd stack position (013)；

The 4th stack position palletization operations are specifically included：

If having piled up a carton cigarette on the 4th stack position (014), datum level palletization operations are performed；

If not piling up bar cigarette on first stack position (011), and during Σ W2 ＜ W/2, bar cigarette of the width for W4 is put Put on the 4th stack position (014)；A carton cigarette is not piled up on otherwise described 4th stack position (014), datum level piling behaviour is performed Make.

4. bar cigarette piling control method according to claim 3, 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, the datum level palletization operations code after the platform palletization operations The sequencing of pile 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；

Measure the first stack position datum level relative to the corresponding height H1 ' in the platform (01) surface, (datum level is relative for the second stack position In the corresponding height H2 ' in the platform (01) surface, the 3rd stack position datum level relative to the corresponding height in the platform (01) surface Degree H3 ' and the 4th stack position datum level are relative to the corresponding height H4 ' in the platform (01) surface；And the first stack position datum level Article cigarette width W2 ', article cigarette width W1 ', article cigarette width W3 ' of the 3rd stack position datum level of the second stack position datum level and the 4th stack position The bar cigarette width W4 ' of datum level；

As △ H1≤Hoffset1, △ H1 '≤Hoffset1 ', also, Σ W1 ＜ W/2 and Σ W2 ＜ W/2, then institute is captured simultaneously Four cigarettes are stated, and the bar cigarette by width for W3 aligns with second stack position (012), wherein, △ H1=| MAX (H1, H2, H3, H4)-MIN (H1, H2, H3, H4) |, Σ W1=W1+W2, Σ W2=W3+W4, △ H1 '=| MAX (H1 ', H2 ', H3 ', H4 ')- MIN (H1 ', H2 ', H3 ', H4 ') |, face preset height is poor on the basis of Hoffset1 '；

Otherwise,

As △ H2≤Hoffset1, △ H2 '≤Hoffset1 ', also, Σ W1 ＜ W/2, then simultaneously grasp width is the bar of W1 Cigarette, width are piled up in the first stack position datum level, the second stack position datum level and described for carton cigarette and width of W2 for a carton cigarette of W3 On three stack position datum levels, and the bar cigarette by the width for W2 aligns with second stack position (012), wherein, △ H2=| MAX (H1, H2, H3)-MIN (H1, H2, H3) |, △ H2 '=| MAX (H1 ', H2 ', H3 ')-MIN (H1 ', H2 ', H3 ') |；

Otherwise,

As △ H3≤Hoffset1, △ H3 '≤Hoffset1 ', also, Σ W1 ＜ W/2, then simultaneously grasp width is the bar cigarette of W1 Pile up on the first stack position datum level and the first stack position datum level for the bar cigarette of W2 with width, and by the width for W1 bar cigarette Align with second stack position (012), wherein, △ H3=| H1-H2 |, △ H3 '=| H1 '-H2 ' |；

Otherwise,

As △ H3 '≤Hoffset1 ',

Work as H2 ' ＞ H1 ', and △ W1≤Woffset；Or,

Work as H2 ' ＜ H1 ', and W1≤W2 '；Grasp width for W1 bar cigarette, and by the width for W1 bar cigarette and described second Stack position (012) is alignd, wherein, △ W1=| W2 '-W1 |；

5. bar cigarette piling control method according to claim 4, it is characterised in that

As △ H3 ' ＜ Hoffset2, the first stack position datum level palletization operations are performed；Otherwise perform the 3rd stack position datum level piling behaviour Make, wherein, Hoffset2 is the second preset height；

When having piled up bar cigarette on the datum level of second stack position, and during Σ W1 ＜ W/2, bar cigarette of the width for W2 is piled up On first stack position (011) on datum level；

When not piled up bar cigarette, and △ W1≤Woffset on the second stack position (012) datum level；It is W1 by the width Pile up on datum level on first stack position (011), wherein, △ W1=| W2 '-W1 |；

When on the datum level of first stack position, on the datum level of second stack position and on the datum level of second stack position all without code When putting bar cigarette, as △ H4≤Hoffset1, also, Σ W1 ＜ W/2, then bar cigarette and width that the width is W1 are captured for W2's Carton cigarette is piled up on the 3rd stack position datum level and on the 4th stack position datum level, wherein, Σ W1=W1+W2, △ H4=| H3-H4|；

When having piled up bar cigarette, the 3rd stack position datum level on the datum level of first stack position or on the datum level of second stack position On when not piling up bar cigarette, as △ H4≤Hoffset1, also, also, Σ W3 ＜ W/2, then capture the bar that the width is W2 Cigarette and width are piled up on the 3rd stack position datum level and on the 4th stack position datum level for a carton cigarette of W3；

When all having piled up bar cigarette, the 3rd stack position benchmark on the datum level of first stack position and on the datum level of second stack position When all not piling up bar cigarette on face, as △ H4≤Hoffset1, also, also, Σ W2 ＜ W/2, then the width is captured for W3 Carton cigarette and width for a carton cigarette of W4 pile up on the 3rd stack position datum level and the 4th stack position datum level on；

As △ H4 ' ＜ Hoffset2, the 4th stack position datum level palletization operations are performed；Otherwise not pile up, wherein, △ H4 '=| H3’-H4’|；

When on the datum level of second stack position, on the datum level of first stack position and on the 3rd stack position datum level all without code When putting bar cigarette, and △ W2≤Woffset；A carton cigarette of the width for W1 is piled up on datum level on the 4th stack position, its In, △ W2=| W4 '-W1 |；Otherwise, not pile up, terminate；

When having piled up bar cigarette, the 3rd stack position datum level on the datum level of second stack position or on the datum level of first stack position On when not piling up bar cigarette, and △ W3≤Woffset, then the bar cigarette grabbing device by the bar cigarette width for W2 bar cigarette code It is placed on the 4th stack position datum level；Wherein, △ W3=| W4 '-W2 |；

When having piled up bar cigarette, the 3rd stack position datum level on the datum level of second stack position or on the datum level of first stack position On when also having piled up bar cigarette, and during Σ W3 ＜ W/2, bar cigarette of the bar cigarette grabbing device by bar cigarette width for W3 is piled up described On 4th stack position on datum level；Wherein, Σ W3=W2+W3；

When not piling up on the datum level of second stack position and bar cigarette, the 3rd stack position benchmark on the datum level of first stack position When bar cigarette has been piled up on face, and during Σ W1 ＜ W/2, bar cigarette of the bar cigarette grabbing device by bar cigarette width for W2 is piled up described On 4th stack position on datum level；Wherein, Σ W1=W1+W2；

When all having piled up on the datum level of second stack position, on the datum level of first stack position and on the 3rd stack position datum level During bar cigarette, and during Σ W2 ＜ W/2, a carton cigarette of the described article of cigarette grabbing device by article cigarette width for W4 is piled up on the 4th stack position On datum level；Wherein, Σ W2=W3+W4.

6. bar cigarette piling control method according to claim 5, it is characterised in that datum level is relative when first stack position In the corresponding height H1 ' in the platform (01) surface, second stack position datum level relative to the platform (01) surface correspondence Height H2 ', the 3rd stack position datum level relative to the corresponding stack positions of height H3 ' or described 4th in the platform (01) surface Relative to the corresponding height H4 ' in the platform (01) surface more than default pile stack height, then not piling, terminates datum level.

7. a kind of bar cigarette piling control system, it is characterised in that include platform (01) for placing bar cigarette and for transfer bar The conveyer belt (02) of cigarette, the platform (01) one side vertical with the conveyer belt (02) is platform (01) width, described It is divided into the first stack position (011), the second stack position (012), the 3rd stack position (013) and the 4th on platform (01) width in order Stack position (014), is central platform line (015) between second stack position (012) and the 3rd stack position (013), including platform Piling control module (03), the platform piling control module (03) includes the first stack position piling control module (031), the second pile Bit code pile control module (032), the 3rd stack position piling control module (033) and the 4th stack position piling control module (034), it is described The sequencing of stack position palletization operations be the second stack position palletization operations, the first stack position palletization operations, the 3rd stack position palletization operations and 4th stack position palletization operations, wherein, the second stack position piling control module (032)：For according to the conveyer belt (02) It is different that end needs the bar cigarette difference in height piled up and bar cigarette width to perform crawl simultaneously from the relation of the platform (01) width W The palletization operations of quantity bar cigarette.

8. bar cigarette piling control system according to claim 7, it is characterised in that the second stack position piling control module (032) concrete operations include：

Otherwise,

Grasp width is the bar cigarette of W1, and the bar cigarette that the width is W1 is alignd with second stack position (012)；

The first stack position piling control module (031)：For,

3rd stack position piling control module (033)：For,

If having piled up bar cigarette on first stack position (011), a carton cigarette is not piled up on the 3rd stack position (013), as △ H4 ≤ Hoffset1, also, Σ W2 ＜ W/2, then capture bar cigarette and width that the width is W3 simultaneously for W4 bar cigarette, and by institute State carton cigarette that width is W3 to align with the 3rd stack position (013), wherein, Σ W2=W3+W4, △ H4=| H3-H4 |；

Otherwise, it is W3 to capture the width, and the width is alignd for W3 with the 3rd stack position (013)；

4th stack position piling control module (034)：For,

9. bar cigarette piling control system according to claim 8, 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 after the platform palletization operations, the system also includes datum level Palletization operations module (04), the datum level palletization operations module (04) including the first stack position datum level control module (041), Two stack positions datum level control module (042), the 3rd stack position datum level control module (043) and the 4th stack position datum level control module (044), the sequencing of datum level palletization operations module (04) the piling stack position is the second stack position datum level, the first stack position base Quasi- face, the 3rd stack position datum level and the 4th stack position datum level；

The second stack position datum level piling grasps module：For,

Measure the first stack position datum level relative relative to the corresponding height H1 ' in the platform (01) surface, the second stack position datum level In the corresponding height H2 ' in the platform (01) surface, the 3rd stack position datum level relative to the corresponding height in the platform (01) surface Degree H3 ' and the 4th stack position datum level are relative to the corresponding height H4 ' in the platform (01) surface；And the first stack position datum level Article cigarette width W2 ', article cigarette width W1 ', article cigarette width W3 ' of the 3rd stack position datum level of the second stack position datum level and the 4th stack position The bar cigarette width W4 ' of datum level；

Otherwise,

As △ H3 '≤Hoffset1 ',

Work as H2 ' ＞ H1 ', and △ W1≤Woffset；Or,

Otherwise call the first stack position datum level palletization operations module (04)；

As △ H3 ' ＜ Hoffset2, the first stack position datum level palletization operations module (04) is called；Otherwise call the described 3rd Stack position datum level palletization operations module (04), wherein, Hoffset2 is the second preset height；

First stack position datum level palletization operations module (04)：For,

Otherwise call the 3rd stack position datum level palletization operations module (04)；

3rd stack position datum level palletization operations module (04)：For,

If having piled up a carton cigarette on the 3rd stack position datum level, the 4th stack position piling control module (034) is called；

Otherwise call the 4th stack position datum level palletization operations module (04)；

4th stack position datum level palletization operations module (04)：For,

10. bar cigarette piling control system according to claim 9, it is characterised in that including piling finishing control module, uses In

When first stack position datum level is relative to the corresponding height H1 ' in the platform (01) surface, second stack position benchmark Face is relative to the corresponding height H2 ' in the platform (01) surface, the 3rd stack position datum level relative to the platform (01) table The corresponding stack position datum levels of height H3 ' or described 4th in face are relative to the corresponding height H4 ' in the platform (01) surface more than pre- If pile stack height, then not piling, terminates.