堆码机（也称为码垛机）进行码垛作业时，通常会遵循以下步骤：

物料输入

：首先，包装好的物品（如箱体、袋装产品或桶装货物等）通过输送线或其他自动化设备被送至堆码机的进料区域。

定位与识别

：堆码机采用传感器和/或视觉系统对物料进行实时定位和识别，确保其准确到达预定抓取位置。

抓取物料

：根据物料的不同类型和形状，堆码机会配备相应的末端执行器，如机械手爪、真空吸盘等。当物料到位后，执行器按照预设程序将物料从输送线上精确抓取起来。

空间定位

：抓取物料后，堆码机通过自身的多轴伺服驱动系统调整执行器的空间位置，包括上下升降、前后左右移动以及可能的旋转动作，以便于将物料放置在托盘上的正确位置。

码放物料

：堆码机按照行业标准或客户定制的码垛模式，逐层将物料平稳、整齐地码放在托盘上。每放置一层物料后，可能会有自动调整托盘高度或更换新托盘的功能。

重复操作

：堆码机不断地循环上述过程，直到托盘上的物料达到设定层数或者满足其他预先编程的要求为止。

结束与输出

：完成一个托盘的码垛任务后，堆码机会将满载的托盘移出工作区域，并准备开始下一个托盘的码垛工作。同时，空托盘会被自动引入到堆码区等待新的码垛循环开始。

When a stacker (also known as a palletizer) performs a palletizing operation, it usually follows the following steps:

Material entry

First, the packaged items (e.g. boxes, bagged products or drums) are transported to the infeed area of the stacker via conveyor lines or other automated equipment.

Positioning and identification

The stacker uses sensors and/or vision systems to locate and identify the material in real time to ensure that it accurately arrives at the predetermined gripping position.

Gripping the material

According to the different types and shapes of materials, the stacker will be equipped with corresponding end effectors, such as manipulator claws, vacuum suction cups, etc. When the material is in place, the actuator picks up the material from the conveyor line precisely according to the preset program.

Spatial positioning

After grabbing the material, the stacker adjusts the spatial position of the actuator through its own multi-axis servo drive system, including up and down, forward, backward, left and right, and possible rotational movements, so as to facilitate the placement of the material in the correct position on the pallet.

Stacking materials

: The stacker stacks the materials on the pallet layer by layer according to the industry standard or customer-customized palletizing mode. After each layer of material, there may be a function to automatically adjust the height of the pallet or replace it with a new pallet.

Repeat the operation

The stacker continuously cycles through this process until the material on the pallet reaches a set number of layers or meets other pre-programmed requirements.

End & Output

: After completing the palletizing task of one pallet, the stacker moves the fully loaded pallet out of the work area and prepares to start the palletizing work for the next pallet. At the same time, empty pallets are automatically introduced into the stacking area and wait for the start of a new palletizing cycle.