码垛机适应不同尺寸与材质的货物主要通过以下方式实现：

可调节或自适应抓手设计

：码垛机末端执行器（抓手）可以设计成多关节或者具有伸缩、开合功能，以便适应不同大小的货物。例如，真空吸盘式抓手适用于表面平整且有一定硬度的包装箱，而夹板式抓手则可以灵活调整间距以适应不同宽度的货物。

智能识别与规划系统

：通过集成高精度的视觉识别系统，码垛机能实时识别货物的形状和尺寸，并根据识别结果自动调整抓取策略和放置位置。此外，通过先进的算法对抓取路径进行优化，确保能安全、准确地处理各种规格的货物。

模块化与可更换的抓手结构

：针对频繁更换产品种类的情况，码垛机可能配备多种类型的抓手，可以根据实际需要快速更换或调整，以适应不同尺寸、材质和形状的货物。

力控技术

：利用力传感器等装置，码垛机在抓取过程中能够精确控制力度，避免因力度过大导致易损物品受损，或力度过小导致抓取不稳的问题。

The palletizer adapts to goods of different sizes and materials mainly through the following ways:

Adjustable or adaptive gripper design

The end effector (gripper) of the palletizer can be designed with multiple joints or with telescopic, opening and closing functions in order to adapt to different sizes of goods. For example, the vacuum gripper gripper is suitable for boxes with a flat surface and a certain hardness, while the cleatboard gripper can be flexibly adjusted to accommodate different widths of goods.

Intelligent identification and planning system

By integrating a high-precision visual recognition system, the palletizer can identify the shape and size of the goods in real time, and automatically adjust the gripping strategy and placement position according to the recognition results. In addition, advanced algorithms optimize the gripping path to ensure safe and accurate handling of a wide range of cargo sizes.

Modular and replaceable gripper construction

In the case of frequent product changes, the palletizer may be equipped with multiple types of grippers, which can be quickly replaced or adjusted according to actual needs to adapt to different sizes, materials and shapes of goods.

Force control technology

Using force sensors and other devices, the palletizer can accurately control the force during the grasping process to avoid the problem of damage to vulnerable items due to excessive force or unstable grasping caused by too small force.