垛码机（码垛机器人）进行码垛的过程通常遵循以下步骤：

接收指令

：首先，码垛机通过计算机或控制器接收相关的码垛任务指令，包括需要码垛的产品类型、数量、排列顺序以及目标托盘的位置等信息。

物料定位与检测

：当包装好的物品（如袋装产品、箱体、桶装货物等）到达指定位置时，码垛机器人通过传感器和视觉系统对物料进行检测，确定其准确位置和姿态。

抓取物料

：机器人根据预设的程序控制末端执行器（通常是定制设计的夹具或吸盘）移动到物料上方，并精确地抓取物料。抓取过程中可能包括张开夹具、吸住物料或者闭合夹具以确保物料稳固。

搬运与转向

：抓取物料后，机器人通过多轴联动的方式将物料搬运至目标码垛区域，并在必要时进行转向或旋转，以满足不同堆叠模式的要求。

定位放置

：在码垛位上方，机器人通过伺服电机控制夹具的升降，将物料放到预定的层数和位置上，同时保证堆垛稳定且整齐。

重复动作

：以上步骤循环进行，直到完成一个托盘的码垛作业，然后根据程序设定切换至下一个空托盘继续码垛，或者触发托盘更换系统自动更换新的托盘。

栈板满载处理

：当托盘上的物料码垛达到预设层数或重量时，码垛机会停止工作，并通知输送线或其他设备将满载的托盘运走，同时准备下一轮的码垛作业。

整个过程体现了现代自动化技术与机械工程的高度融合，使得码垛机器人能够实现高效、精准、灵活的码垛操作，大大提升了生产线的自动化程度和生产效率。

The process of palletizing by a palletizing machine (palletizing robot) usually follows the following steps:

Receive instructions

First, the palletizer receives relevant palletizing task instructions through the computer or controller, including information such as the type of product to be palletized, the quantity, the order of arrangement, and the position of the target pallet.

Material Positioning & Detection

When the packaged items (such as bagged products, boxes, barreled goods, etc.) arrive at the designated position, the palletizing robot detects the material through sensors and vision systems to determine its accurate position and posture.

Gripping the material

The robot controls the end effector (usually a custom-designed gripper or suction cup) to move over the material according to a preset program and grips the material with precision. The gripping process may include opening the gripper, sucking up the material, or closing the gripper to ensure the material is secure.

Handling & Steering

After grabbing the material, the robot will move the material to the target palletizing area through multi-axis linkage, and turn or rotate if necessary to meet the requirements of different stacking modes.

Positioning and placement

Above the palletizing position, the robot controls the lifting of the fixture through the servo motor, and puts the material on the predetermined number of layers and positions, while ensuring that the stacking is stable and neat.

Repeat the action

The above steps are carried out in a cycle until the palletizing operation of one pallet is completed, and then the next empty pallet is switched to continue palletizing according to the program setting, or the pallet changing system is triggered to automatically replace the new pallet.

Pallet handling at full load

When the palletizing of material on a pallet reaches a preset number of layers or weight, the palletizer stops working and notifies the conveyor line or other equipment to transport the fully loaded pallet away while preparing for the next round of palletizing operations.

The whole process reflects the high degree of integration of modern automation technology and mechanical engineering, so that the palletizing robot can achieve efficient, accurate and flexible palletizing operations, and greatly improve the automation degree and production efficiency of the production line.