堆垛机（或码垛机）进行码垛的过程大致如下：

进料定位

：堆垛机首先通过输送线将待码垛的产品（如袋装、箱装或其他包装形式的物料）送至指定位置，通常有光电传感器或其它识别装置来确保物料准确到位。

抓取物料

：根据物料的不同类型和包装方式，堆垛机配备有相应的抓取装置，例如机械手爪、吸盘或夹具等。当物料到达设定位置后，堆垛机的末端执行器会按照预设程序抓取物料。

空间定位与转向

：抓取物料后，堆垛机会通过自身的三维运动系统（包括横移、升降、旋转等动作）精确地将物料搬运到托盘上方，并根据预先设定好的堆叠模式进行精准的空间定位。

放置物料

：在确定好物料在托盘上的正确位置后，堆垛机将其放置于托盘上，每个新放置的物料都会严格按照设定好的层数和排列顺序堆叠。

层与层之间的加固

（可选）：某些堆垛机还会在每层物料之间插入隔板或进行捆扎以增强堆垛的稳定性和安全性。

重复操作

：堆垛机按照上述步骤不断重复操作，直到托盘上的物料达到预设层数或者满足其他停止条件。

托盘更换

：一旦完成一个托盘的码垛，堆垛机会自动触发托盘更换机制，新的空托盘会被传送至码垛区域，开始新一轮的码垛作业。

在整个过程中，堆垛机的操作由PLC（可编程逻辑控制器）或更先进的控制系统进行控制，实现自动化、高效率和精准化的码垛工作。同时，为了保证安全，堆垛机周围通常设置有防护栏和各类安全传感器，防止意外发生。

The process of palletizing by a stacker crane (or palletizer) is roughly as follows:

Feed positioning

The stacker crane first sends the products to be stacked (such as bagged, boxed or other packaging materials) to the designated position through the conveyor line, usually with photoelectric sensors or other identification devices to ensure that the materials are accurate and in place.

Gripping the material

Depending on the type of material and the way it is packed, the stacker crane is equipped with a corresponding gripping device, such as a gripper, a suction cup or a clamp. When the material reaches the set position, the end effector of the stacker crane will grab the material according to the preset program.

Spatial positioning and steering

After grabbing the material, the stacker will accurately move the material to the top of the pallet through its own three-dimensional motion system (including traversing, lifting, rotating, etc.), and carry out precise spatial positioning according to the pre-set stacking mode.

Place the item

After determining the correct position of the material on the pallet, the stacker crane places it on the pallet, and each newly placed material is stacked in strict accordance with the set number of layers and arrangement order.

Reinforcement between layers

(Optional): Some stacker cranes also insert partitions or bundles between each layer of material to enhance the stability and safety of the stack.

Repeat the operation

: The stacker crane repeats the operation according to the above steps until the material on the pallet reaches the preset number of layers or meets other stopping conditions.

Pallet replacement

Once a pallet has been palletized, the stacker automatically triggers the pallet change mechanism and the new empty pallet is transferred to the palletizing area to start a new palletizing operation.

During the whole process, the operation of the stacker crane is controlled by a PLC (programmable logic controller) or a more advanced control system to achieve automated, efficient and accurate palletizing work. At the same time, in order to ensure safety, protective fences and various safety sensors are usually set around the stacker crane to prevent accidents.