Parameters Influencing Stacking Position Accuracy in Automated Palletizing of Bagged Finished Grain

LI Yuanjie; XU Xuemeng; CHEN Lin; LIU Chenglong; ZHANG Jingjie; LI Yaru

doi:10.19554/j.cnki.1001-3563.2026.09.023

PDF(1767 KB)

Packaging Engineering ›› 2026, Vol. 47 ›› Issue (9) : 223-230. DOI: 10.19554/j.cnki.1001-3563.2026.09.023

Automatic and Intelligent Technology

Parameters Influencing Stacking Position Accuracy in Automated Palletizing of Bagged Finished Grain

LI Yuanjie¹, XU Xuemeng^1,*, CHEN Lin², LIU Chenglong¹, ZHANG Jingjie¹, LI Yaru¹

Author information +

History +

Abstract

The work aims to address the issue of low stacking position accuracy in the automated palletizing of bagged finished grain inside containers. Based on the flexible body dynamics theory, equivalent modeling and simulation was conducted on the palletizing process in a containerized intelligent handling system using ANSYS/LS-DYNA, and experiments were carried out on a prototype. Using this model, the rotation tendency induced by geometric asymmetry during the stacking process and its influence mechanism on stacking deviation were analyzed. The effects of equivalent resultant velocity, plate retraction velocity, and stacking drop height on stacking position accuracy were investigated, and the grey relational analysis method was employed to evaluate the relative effect of each parameter. The research results showed that optimal stacking performance was achieved when the plate retraction velocity, drop height, and equivalent resultant velocity were 500 mm/s, 250 mm, and 590 mm/s, respectively. Within the studied parameter range, the equivalent resultant velocity exhibited the highest grey relational degree, making it the most direct and controllable parameter for adjusting stacking position. Therefore, it should be used as the primary adjustment variable, coordinated with the optimization of plate retraction velocity and drop height, to achieve high-precision automated palletizing. The findings provide a technical basis for motion parameter matching and precise control in this type of automated palletizing equipment.

Key words

bagged finished grain / automated palletizing / dynamic simulation / position accuracy / grey relational degree

Cite this article

EndNote

Ris (Procite)

Bibtex

Download Citations

LI Yuanjie, XU Xuemeng, CHEN Lin, LIU Chenglong, ZHANG Jingjie, LI Yaru. Parameters Influencing Stacking Position Accuracy in Automated Palletizing of Bagged Finished Grain[J]. Packaging Engineering. 2026, 47(9): 223-230 https://doi.org/10.19554/j.cnki.1001-3563.2026.09.023

References

[1] 李朝阳, 申聪, 李升宇, 等. 中国粮食物流政策的三十年转型研究:演进逻辑、阶段特征与创新路径[J/OL]. 粮油食品科技, 1-9[2026-01-14]. https://link.cnki.net/urlid/11.3863.TS.20260108.1734.011.
LI C Y, SHEN C, LI S Y, et al. Study on the Thirty-Year Transformation of China's Grain Logistics Policy: Evolutionary Logic, Stage Characteristics and Innovation Path[J/OL]. Science and Technology of Cereals, Oils and Foods, 1-9[2026-01-14]. https://link.cnki.net/urlid/11.3863.TS.20260108.1734.011
[2] 周慧超, 党文谦, 刘涛, 等. 中国粮食物流体系的发展现状与趋势[J]. 粮食科技与经济, 2025, 50(4): 81-86.
ZHOU H C, DANG W Q, LIU T, et al.Development Status and Trends of Grain Logistics in China[J]. Grain Science and Technology and Economy, 2025, 50(4): 81-86.
[3] JIN L, LING L, WANG C, et al.Design and Development of a Robotic System for Automatic Loading with Belt-Combined Robot Arm[J]. Journal of Mechanical Science and Technology, 2026, 40(1): 1-11.
[4] 张建强, 陈星, 刘智鹏. 基于同步带传动的高位袋装码垛机设计[J]. 食品与机械, 2020, 36(5): 111-115.
ZHANG J Q, CHEN X, LIU Z P.Design of High Bag Palletizing Machine Based on Synchronized Belt Drive[J]. Food and Machinery, 2020, 36(5): 111-115.
[5] 李颍鹏, 徐雪萌, 徐永森, 等. 袋装成品粮集装箱自动装卸装备末端落袋位姿仿真分析[J]. 包装工程, 2024, 45(19): 256-264.
LI Y P, XU X M, XU Y S, et al.Simulation Analysis of Bag Drop Positions at the End of Automatic Loading and Unloading Equipment for Bagged Finished Grain Containers[J]. Packaging Engineering, 2024, 45(19): 256-264.
[6] 王博士. 成品粮集装箱内智能码放装卸装备设计及关键技术研究[D]. 郑州: 河南工业大学, 2024.
WANG B S.Design and Key Technology Research of Intelligent Loading and Unloading Equipment in Refined Grain Containers[D]. Zhengzhou: Henan University of Technology, 2024.
[7] ZHANG H S, LI Y X, XU X M, et al.Research on Fluidizing of Swirling Transport of Bulk Grain Based on Gas-Solid Coupled Bin Pump[J]. Journal of Food Process Engineering, 2024, 47(11): e14750.
[8] ZHANG H S, LI Y X, XU X M, et al.Research on the Contact Dynamics of Binary Non-Spherical Particles Based on Hertz Theory[J]. Journal of Food Process Engineering, 2025, 48(3): e70070.
[9] XU K, GUO J X, LIU B, et al.Multilevel Modelling and Analysis of Rigid-Flexible Coupling Effects in Floating Offshore Wind Turbines[J]. Ocean Engineering, 2026, 347: 123862.
[10] GAO S J, GAO C, HU C X, et al.Rigid-Flexible Coupling Modeling and Gravity Compensation Design for the Cable Suspension System of Circular Solar Arrays[J]. Acta Astronautica, 2026, 239: 672-684.
[11] 刘中孚. 高速柔性转子系统多体动力学建模与仿真[D]. 哈尔滨: 哈尔滨工业大学, 2025.
LIU Z F.Multibody Dynamic Modeling and Simulation of High-Speed Flexible Rotor Systems[D]. Harbin: Harbin Institute of Technology, 2025.
[12] LIU W B, WANG Y S.Improved Multi-Body Dynamic Simulation of Landing Gear Drop Test Incorporating Structural Flexibility and Bearing Contact[J]. Aerospace, 2024, 11(7): 543.
[13] 陈世业. 自行火炮弹炮多体发射系统动力学仿真研究[D]. 南京: 南京理工大学, 2013.
CHEN S Y.Dynamics Simulation for the Projectile-Barrel Multi-Body Launching System of the Self-Propelled Artillery[D]. Nanjing: Nanjing University of Science and Technology, 2013.
[14] 刘铸永. 刚—柔耦合系统动力学建模理论与仿真技术研究[D]. 上海: 上海交通大学, 2008.
LIU Z Y.Study on Modeling Theory and Simulation Technique for Rigid-Flexible Coupling Systems Dynamics[D]. Shanghai: Shanghai Jiao Tong University, 2008.
[15] 陈硕, 江礼坚, 林谢昭, 等. 基于离散元法的面粉颗粒接触参数标定试验[J]. 农业工程学报, 2024, 40(11): 69-76.
CHEN S, JIANG L J, LIN X Z, et al.Calibration Tests for the Contact Parameters of Flour Particle Using Discrete Element Method[J]. Transactions of the Chinese Society of Agricultural Engineering, 2024, 40(11): 69-76.
[16] 陈奎. PP、PMMA/MMT复合材料的力学、摩擦学性能及稳定性研究[D]. 兰州: 兰州理工大学, 2006.
CHEN K.The Research of Mechanics, Tribology and Stability on PP/MMT and PMMA/MMT Nanocomposites[D]. Lanzhou: Lanzhou University of Technology, 2006.
[17] 陈盼, 陆露, 郭川东, 等. 废弃PVC/CPE复合材料的力学和摩擦磨损性能研究[J]. 塑料科技, 2023, 51(12): 1-5.
CHEN P, LU L, GUO C D, et al.Study on Mechanical and Friction and Wear Properties of Waste PVC/CPE Composites[J]. Plastics Science and Technology, 2023, 51(12): 1-5.
[18] 蔡妹姝. 基于ANSYS Workbench的玻璃杯缓冲包装跌落仿真分析[J]. 福建技术师范学院学报, 2025, 43(5): 47-52.
CAI M S.Drop Simulation Analysis of Cushioning Packaging for a Glass CUP Based on ANSYS Workbench[J]. Journal of FuJian Polytechnic Normal University, 2025, 43(5): 47-52.
[19] HUANG F, GENG Z Q, PENG Y M, et al.Numerical Simulation Analysis of the High-Speed Impact of the Flying Piece Against the Target Based on LS-DYNA[J]. Journal of Physics: Conference Series, 2025, 2977(1): 012089.
[20] 张浩添, 刘文杰, 朱煜, 等. 基于灰色关联度与熵权法的车机垫板注塑成型工艺参数优化[J]. 塑料工业, 2025, 53(11): 79-85.
ZHANG H T, LIU W J, ZHU Y, et al.Optimizations of Injection Molding Process Parameters for Car Console Pads Based on the Grey Relational Degree and Entropy Weight Method[J]. China Plastics Industry, 2025, 53(11): 79-85.