Automatic stacker is an industrial machine which has been widely used in recent years. It consists of three parts: chassis, stacker main body and conveyor. The position of the equipment can be adjusted freely according to the user's site conditions, from the initial step of the product to the offline. The appearance of automatic stacker represents a great progress in industrial automation, and also provides a great opportunity for social development and labor liberation. As an important auxiliary equipment for industrial assembly line production, its existence can reduce the total number of workers needed on the assembly line and improve industrial efficiency.

With the accelerated development of industry, intelligent devices represented by industrial robots are facing unprecedented development opportunities. For many years, China has been the main consumer market of intelligent robots.

Collaborative robots are used in the process of sorting out enterprise related emergencies, and can complete collaborative work that can only be completed by multiple people at a faster speed. This kind of robot is suitable for enterprises with gradual development of industrialization and scale, and can solve many difficult and complex problems. So what should enterprises pay attention to in the early stage of selecting cooperative robots?

Stacking robot is a common automation equipment to improve the production efficiency of enterprises. In recent years, the aging problem of China's population is serious, and the development of manufacturing enterprises is faced with the problems of difficult recruitment and high cost of employment management. Therefore, more and more enterprises begin to turn their attention to robots, hoping to use industrial robots to solve the production problems of Chinese enterprises. It used to take more than ten people to complete the stacking work, but now only one stacking robot can complete it.

The food manufacturers attending the meeting paid special attention to cooperation and robots to minimize the dependence on human capital and achieve more convenient food solutions. A packaging engineer in charge of large and medium-sized food companies said in the report that about one fifth of the company's plants in North America use cooperative robots, "mainly for loading and stacking. We are ready to invest again in areas that can replace labor.

The definition of collaboration is more widely used in industrial scenarios. The cooperative mobile palletizing robot has replaced and improved the existing industrial robots, and has become the leading technology genre in the robot field with its higher safety factor, reliability and human coordination ability.

Most of the operations performed by the cooperative palletizing robot are grasping and placing operations, that is, the robot grabs materials from the conveyor belt and places them on the designated position on the pallet along the motion path. Therefore, according to the position relationship between the robot and the conveyor belt and tray when it completes stacking, and considering the obstacles in the movement process, the "door" shaped movement track is selected. It should be noted that when the robot end effector completes the stacking of cartons at different positions on the pallet, the trajectory is in the shape of a "door", and the coordinates of the trajectory end point are different only because the positions of cartons on the pallet are different.

In recent years, a variety of warehouse automation machines and equipment have appeared in China. How to use automated machines to improve the efficiency of warehousing operations and reduce labor seems to be the concern of the warehousing industry at this stage. From process planning to software and hardware design, the specific conditions of the construction site should be fully considered. The invention can improve the limit under complex scenes and achieve efficient operation