TW202246160A - Stacking system capable of stacking materials of random sizes - Google Patents

Abstract

A stacking system capable of stacking materials of random sizes, which includes a feeding area for receiving materials from the outside, a temporary storage area for temporary storage of materials, a stacking area for stacking the materials from the feeding area or the temporary storage area, a grasping member moves between the feeding area, the temporary storage area and the stacking area and clips or places the materials, a central processing module having a three-dimensional image detector for detecting the size of the materials in the feeding area, a recording unit connected to the three-dimensional image detector and a control unit connected to the grasping member and the recording unit, by setting the temporary storage area and utilizing the central processing module to record the size of the materials in the feeding area and the temporary storage area and the recording unit to select the most suitable material for the stacking area, the central processing module can select the most suitable material for the current remaining space of the stacking area in each stacking process, making the stacking results more tight and stable.

Description

Stacking system capable of stacking random sized materials and method of use thereof

The invention relates to the technical field of automation equipment, in particular to a stacking system capable of stacking random-sized materials.

The present invention also relates to a method of using the aforementioned stacking system capable of stacking materials of random sizes.

In the general manufacturing industry, transportation industry, etc., in order to minimize the volume of multiple materials stacked when storing materials in the storage area, manual judgment is usually used to stack the materials by the workers themselves. However, as With the gradual development of the manufacturing and transportation industries, the number of materials entering and leaving the storage area increases every day. The speed of manual stacking cannot quickly consume a large amount of materials entering and leaving the storage area. The size of the materials that need to be processed in the general logistics and packaging industries cannot be unified. It is difficult to stack by machinery, so it is mostly arranged manually.

However, manual stacking of materials is not only inefficient, but also more likely to produce different stacking results due to the experience of different people. In view of this, it is necessary to provide a technical means to solve the problem of inefficiency or waste of storage space caused by manual stacking.

The first object of the present invention is to solve the problem of inefficient manual stacking.

The second purpose of the present invention is to solve the problem that the traditional automatic stacker can only judge the stacking position of objects with a predefined specific size, but cannot solve the problem of stacking diversified objects in the industry.

In order to achieve the aforementioned purpose, the present invention is a stacking system capable of stacking random-sized materials, including:

a feeding area for receiving materials from the outside;

A temporary storage area for temporary storage of materials;

A stacking area for stacking materials from the input area or the temporary storage area, and its size is defined as a space information by default;

A gripping element, which moves between the material feeding area, the temporary storage area and the stockpiling area and grabs or places materials;

A central processing module has a stereoscopic image detector for detecting the size of the material in the feeding area, a recording unit connected to the stereoscopic image detector signal, and the grasping element and the recording unit The unit control is connected to a control unit.

In a preferred embodiment, the size of the material is not limited, and the number of materials entering the feeding area and the temporary storage area is at least one at a time.

In order to achieve the aforementioned purpose, the present invention further proposes a method of using the aforementioned stacking system capable of stacking random-sized materials, including:

In an initialization step, the material enters the feeding area, and the control unit drives the grabbing element to move the material in the feeding area to the temporary storage area;

An initial judgment step, the stereoscopic image detector detects that materials are stored in the feeding area, and transmits the material sizes of the feeding area and the temporary storage area to the recording unit;

A spatial judgment step, transmitting the spatial information to the recording unit for storage;

A placement point judgment step, defining one point in the space information as the origin, comparing the material size of the feeding area with the space information to generate a feeding placement point, and comparing the area with the material in the temporary storage area The size and the space information generate a temporary storage point, and the recording unit takes out the closest one between the incoming material placement point and the temporary storage point from the origin;

In a driving step, the control unit drives the grabbing element to grip and move the material at the material-input placement point or the temporary storage placement point closest to the origin to the stockpiling area.

In a preferred embodiment, after the materials are stacked in the stockpiling area, the central processing module records the storage layer covered by the materials, and removes the area covered by the materials in the storage layer in the recording unit.

In a preferred embodiment, after the materials are stacked in the stockpiling area, when the step difference between the top surfaces of adjacent materials is less than a distance, the recording unit judges that the top surfaces of the adjacent materials that are smaller than the distance are located at the same layer.

In a preferred embodiment, after the three-dimensional image detector detects the size of the material in the feeding area, it increases the length, width and height of the material by an expansion distance respectively.

In a preferred embodiment, the recording unit records the top surface area of the lowest layer arrangement, and when the recording unit is expected to stack new materials on another material in the storage area, it will determine the area in the storage area. The difference between the top area of the material and the bottom area of the newly stacked material, when the difference between the top area of the material in the stacking area and the bottom area of the newly stacked material is less than a gap area, it is judged that the newly stacked material can be stacked in the stack The top surface of the material in the material area.

In a preferred embodiment, the recording unit calculates the cutting direction of the material that is about to enter the stockpiling area. After recording the position of the material placed in the stockpiling area, and when the material is about to enter between the two materials, select the grab The material on the component enters in the direction that causes the least interference between the two materials.

In a preferred embodiment, the central processing module divides the stockpiling area into a plurality of placement layers along the vertical direction, and in the central processing unit, the materials in the feeding area and the materials in the temporary storage area When matching with the vacant volume in the stockpiling area, if no storage point is generated, the central processing unit will start to search for the next storage layer, and match storage points from another adjacent storage layer.

In a preferred embodiment, when one of the spaces in the stacking area is surrounded by more than two materials, and other materials are stacked above the space, so that the surroundings of the space are blocked by multiple materials at the same time, the recording unit will Blocked void spaces are ignored.

In a preferred embodiment, there are multiple temporary storage areas.

In this case, a temporary storage area is set up, and the central processing module records the size of the materials in the feeding area and temporary storage area, and then the recording unit of the central processing module selects the most suitable materials for stacking in the stacking area, so that the central The processing unit can select the material size that is most suitable for the current remaining space in the stacking area during each stacking process, making the stacking result more compact and stable, not only making the stacked materials in the stacking area more compact and stable, because each material There are fewer gaps between them, which saves more stacking space and achieves the effect of saving storage costs, and greatly improves the utilization rate of the overall space.

Please refer to Fig. 1 and Fig. 2, the present invention is a kind of stacking that can stack the material of random size, mainly has a feeding area 10, a temporary storage area 20, a stacking area 30, a grasping element 40 and a central processing Module 50, of which:

The feeding area 10 is used to receive material A from the outside. The size of the aforementioned material A is not limited, and the size of the material A entering the feeding area 10 is also different each time. A is at least one; in this embodiment, the feeding area 10 is a platform or a space, and the size of the feeding area 10 is sufficient to accommodate materials A of various sizes.

The temporary storage area 20 is used for temporarily storing material A. The size of the aforementioned material A is not limited, and the size of the material A stored in the temporary storage area 20 is also different each time. The material A stored in the temporary storage area 20 each time A at least one; in the present embodiment, the temporary storage area 20 is a platform or an open space, the size of the temporary storage area 20 is sufficient to accommodate materials A of various sizes, and the number of the temporary storage area 20 is not limited to one, There can also be more than one.

The stacking area 30 is used for stacking the material A from the feeding area 10 or the temporary storage area 20; in this embodiment, the stacking area 30 is the position for stacking the material A, and the plurality of materials A are finally all stacked Placed in the stacking area 30 for storage, and the stacking area 30 has a vertical height space through which materials A can be stacked, and multiple layers of materials A can be stacked according to different stacking methods of materials A.

The gripping element 40 moves between the feeding area 10, the temporary storage area 20 and the stacking area 30 and grips or places the material A; in this embodiment, the gripping element 40 uses a FANUC Robot model M - 20iD/25 mechanical arm, the aforementioned mechanical arm can carry material A with a weight of 12-35kg, however, the type of the grasping element 40 is not limited to this, of course other linear arms, SCARA can be used Arms, multi-axis robotic arms with joints, etc.

The central processing module 50 has a stereoscopic image detector 51 for detecting the size of the material A in the feeding area 10, a recording unit 53 connected with the stereoscopic image detector 51, and the gripper Get a control unit 54 connected to the control unit 40 and the recording unit 53; The image detector 51 is not limited to the aforementioned examples, and of course other types of stereoscopic image detectors 51 can be used to complete the same detection function, and the recording unit 53 is a processor (Central Processing Unit, abbreviated: CPU), The recording unit 53 is enabled to perform functions such as storage, calculation, and comparison.

Please refer to Fig. 3 and Fig. 4, in another embodiment, the stacking system capable of stacking random-sized materials includes the feeding area 10, the stacking area 30, the grabbing element 40 and the central processing module 50:

The feeding area 10 is used to receive material A from the outside. The size of the aforementioned material A is not limited, and the size of the material A entering the feeding area 10 is also different each time. A is at least one; in this embodiment, the feeding area 10 is a platform or a space, and the size of the feeding area 10 is sufficient to accommodate materials A of various sizes.

The stacking area 30 is used for stacking the material A from the feeding area 10; in this embodiment, the stacking area 30 is a position for stacking the material A, and a plurality of materials A are finally all stacked in the stacking area 30 for storage, and the stacking area 30 has a vertical height space through which the materials A can be stacked, and multiple layers of materials A can be stacked according to the different stacking methods of the materials A.

The gripping element 40 moves between the feeding area 10 and the stacking area 30 and grips or places the material A; in this embodiment, the gripping element 40 uses a FANUC Robot model M-20iD/25 machine Arm, the aforementioned mechanical arm can carry the material A with a weight of 12-35kg, however, the type of the grasping element 40 is not limited to this, of course other linear arms, SCARA arms, joint multi-axis machines can be used arm etc.

The central processing module 50 has a stereoscopic image detector 51 for detecting the size of the material A in the feeding area 10, a recording unit 53 connected with the stereoscopic image detector 51, and the gripper Get a control unit 54 connected to the control unit 40 and the recording unit 53; The image detector 51 is not limited to the aforementioned examples, and of course other types of stereoscopic image detectors 51 can be used to complete the same detection function, and the recording unit 53 is a processor (Central Processing Unit, abbreviated: CPU), The recording unit 53 is enabled to perform functions such as storage, calculation, and comparison.

Please refer to Figure 5, the core usage method of the aforementioned stacking that can stack materials of random sizes is as follows:

In an initialization step S1, the material A enters the feeding area 10, and the control unit 54 drives the grabbing element 40 to move the material A in the feeding area 10 to the temporary storage area 20; in this embodiment, the initialization step S1 will continue to move the material A to the feeding area 10 from the outside, and each time the feeding area 10 will place at least one material A, and the central processing module 50 will judge whether there is material A placed in the temporary storage area 20 according to the records , if no material A is placed, the central processing unit drives the grasping element 40 to move the material A in the feeding area 10 to the empty temporary storage area 20, and repeats until a material A is stored in the temporary storage area 20 , then the initialization step S1 stops and enters the next step.

In an initial judgment step S2, the three-dimensional image detector 51 detects that the material A is stored in the feeding area 10, and records that there is material A stored in the temporary storage area 20, and compares the material A in the feeding area 10 and the temporary storage area. The material A size of 20 is transmitted to the recording unit 53; in this embodiment, the initial judgment step S2 stores and calculates the material A size of the feeding area 10 and the temporary storage area 20 at the same time.

A spatial judgment step S3, transmitting the spatial information to the recording unit 53 for storage; in this embodiment, the recording unit 53 vertically divides the spatial information into a plurality of placement layers 31 .

A placement point judgment step S4, defining one point in the space information as the origin, comparing the size of the material A in the feeding area 10 with the space information to generate a feeding placement point, and comparing the area with the temporarily stored The size of the material A in the area 20 and the spatial information generate a temporary storage point, and the recording unit 53 takes out the closest one between the incoming material placement point and the temporary storage point from the origin; in this embodiment, the placement point In the judgment step S4, through the recording unit 53, the position of the material A that can be placed in the feeding area 10 is gradually searched from the origin along the long side, until the first position is found, it is regarded as the feeding placement point, and similarly Through the recording unit 53, the position of the material A that can be placed in the temporary storage area 20 is gradually searched from the origin along the long side until the first position is found, which is regarded as the temporary storage placement point.

A driving step S5, the control unit 54 drives the grabbing element 40 to grip and move the material A at the feeding placement point or the temporary storage placement point closest to the origin to the stockpiling area 30; In the example, the recording unit 53 judges that the temporary storage placement point is closer to the origin than the feeding placement point, so the control unit 54 drives the mechanical arm of the FANUC Robot model M-20iD/25 to grab the temporary storage area 20, and move the material A in the temporary storage area 20 to the temporary storage placement point.

Next, please refer to Fig. 6A to Fig. 6C, because the height of material A is different, so material A is stacked behind the stockpiling area 30, in this embodiment, the material A1, A2 of two different heights shown in Fig. 6A is placed on In the stacking area 30, the central processing module 50 records the placement layers 31A, 31B, 31C covered by the materials A1, A2, and in the recording unit 53, the placement layers 31A, 31B, 31C are covered by the materials A1, A2 In Fig. 6B, it can be seen that since the placement layers 31A and 31B of the lowest layer and the middle layer have covered areas, the placement layer 31 recorded in the recording unit 53 will place the lowest layer and the covering area of the placement layers 31A and 31B of the middle layer are removed, and Fig. 6B shows the placement layer 31C of the highest level, since only one material A1 covers the placement layer 31C of the highest level, so the highest level is only covered by one material A1 The area is removed, so as to record the areas covered by the materials A1 and A2 in different placement layers 31A, 31B, and 31C, so as to achieve the effect of three-dimensionally stacking the materials A. Please refer to Fig. 7, it is worth mentioning that when the material A is stacked in the stockpiling area 30, the step difference between the top surfaces of adjacent materials A is less than a distance H1, then the recording unit 53 judges that it is less than the difference distance The top surface of the adjacent material A of H1 is located on the same layer, so that other materials A can be placed above the adjacent material A, thereby increasing the placement rate of material A.

Furthermore, please refer to FIG. 8, after the three-dimensional image detector 51 detects the size of the material A in the feeding area 10, it will increase the length, width and height of the material A by an expansion distance H2 respectively, and the expansion distance H2 There is no size limit, and the length, width, and height of the material A can be set with different values of the expansion distance H2. By setting the expansion distance H2, when the material A is stacked in the stacking area 30, it can be predicted. Leave space between materials A to reduce interference during placement.

Finally, please refer to Fig. 9, this recording unit 53 records the top surface area of the lowest layer arrangement, when the recording unit 53 is expected to stack new material A on another material A in the stacking area 30, it will determine the stacking area. The difference between the top area of material A in the material area 30 and the bottom area of the newly stacked material A is less than a gap H3 , it is judged that the newly stacked material A can be stacked on the top surface of the material A in the stacking area 30, and the bottom area is calculated and matched by the recording unit 53, so that the newly stacked material A can be stacked in the stacking area Material A in 30 can be more stable.

It is worth mentioning that, please refer to Fig. 10A and Fig. 10B, this case also uses the recording unit 53 to calculate the cutting direction of the material A that is about to enter the stacking area 30, in order to prevent the material A from being caught on the component 40 during the stacking process. When the material A is placed between the two materials A that already exist in the stacking area 30, in order to prevent the material A on the grabbing element 40 from entering between the two materials A vertically, causing the material A on the grabbing element 40 to Excessive interference between A and two materials A, therefore, the recording unit 53 selects the grabbing element 40 after recording the position of the material A placed in the stacking area 30, and when the material A is about to enter between the two materials A The direction of least interference between the material A on the top and the two materials A enters, thereby making the placement process more stable.

Furthermore, the central processing module 50 divides the stockpiling area 30 into a plurality of placement layers 31A, 31B, and 31C along the vertical direction, and the material A in the feeding area 10 and the temporarily stored When the material A in the area 20 is matched with the vacant volume in the stockpiling area 30, if no storage point is generated, the central processing unit will start searching for the next placement layer 31, and start from another adjacent placement layer 31. Match the storage points.

When the central processing unit matches the material A in the feeding area 10 and the material A in the temporary storage area 20 through the central processing module 50, the material A in the feeding area 10 and the temporary The material A in the storage area 20 is matched with the vacant volume in the stockpiling area 30, thus creating a storage point.

In another embodiment, during the initialization step S1, the material A enters the feeding area 10, in this embodiment, the initialization step S1 will continuously move the material A to the feeding area 10 from the outside, each time the At least one material A will be placed in the feeding area 10, and the central processing module 50 judges whether there is material A placed in the feeding area 10 according to the records. If no material A is placed, the central processing unit drives the grabbing element 40 to The external materials are moved to the vacant feeding area 10 , and the process is repeated until at least one material A is stored in the feeding area 10 , then the initialization step S1 stops and enters the next step.

In the initial judgment step S2, the stereoscopic image detector 51 detects that the material A is stored in the feeding area 10, and transmits the size of the material A in the feeding area 10 to the recording unit 53; in this embodiment, the The initial judgment step S2 simultaneously stores and calculates the size of the material A in the feeding area 10 .

The space judgment step S3 is to transmit the space information to the record unit 53 for storage; in this embodiment, the record unit 53 vertically divides the space information into a plurality of placement layers 31 .

The placing point judging step S4 is to define one point in the spatial information as the origin, and generate a material placing point by comparing the area of the material A size of the feeding area 10 with the spatial information, and the recording unit 53 takes out the incoming material The material placement point is closest to the origin; in the present embodiment, in the placement point judgment step S4, through the recording unit 53, the material A that can be placed in the feeding area 10 is gradually searched from the origin along the long side position, until the first position is found, it will be regarded as the input placement point.

In the driving step S5, the control unit 54 drives the grasping element 40 to clamp and move the material A at the feeding placement point closest to the origin to the stockpiling area 30; in this embodiment, the control unit 54 drives the mechanical arm of the FANUC Robot model M-20iD/25 to grab the material A in the feeding area 10 and move the material A in the feeding area 10 to the feeding placement point.

Finally, in this embodiment, the number of the feeding area 10 can be one or multiple, although it is shown as one feeding area 10 in the drawing of this embodiment, and the stocking area 30 is only one, but through The central processing module 50 is divided into a plurality of placing layers 31, and the number of the feeding areas 10 is not limited to one or two, and the number of the feeding areas 10 can be adjusted according to requirements.

It is worth mentioning that, please refer to FIG. 11 , when the recording unit 53 records the materials A arranged in the stacking area 30, when a space is generated between the two materials A, yet another material A is stacked between the two materials Above A, the surroundings of the space are blocked by three or more materials A at the same time, causing the grasping element 40 to fail to put the material A in. At this time, the recording unit 53 will ignore the invalid space H4, by ignoring the invalid space H4 is to reduce the operation time of the recording unit 53, thereby improving the operation efficiency.

In this case, by setting the feeding area 10 or the temporary storage area 20, and letting the central processing module 50 record the size of the material A in the feeding area 10 and the temporary storage area 20, the recording unit 53 of the central processing module 50 selects the most suitable The material A stacked in the stacking area 30 allows the central processing unit to select the size of the material A that is most suitable for the remaining space in the stacking area 30 during each stacking process, making the stacking result more compact and stable, not only making the stacking complete The materials A in the stacking area 30 are more compact and stable, and because there are fewer gaps between the materials A, the stacking space is saved and the effect of saving storage costs is achieved, and the utilization rate of the overall space is greatly improved.

10: Feeding area 20: Temporary storage area 30: Stacking 31:Placing layers 31A: Place layers 31B: Place layers 31C: Placing Layers 40: Grab components 50:Central processing module 51: Stereoscopic Image Detector 53: Record unit 54: Control unit S1 step: initialization S2 step: initial judgment Step S3: Spatial Judgment S4 step: place point judgment Step S5: drive A:Material A1:Material A2: Materials H1: segment distance H2: expansion distance H3: Gap area H4: invalid space

Fig. 1 is the structural representation of the present invention in a preferred embodiment; Fig. 2 is a schematic diagram of the feeding area, temporary storage area, stockpiling area, and grabbing elements in a preferred embodiment of the present invention; Fig. 3 is the structural representation of the present invention in another preferred embodiment; Fig. 4 is a schematic diagram of the feeding area, the temporary storage area, the stacking area, and the grabbing element in another preferred embodiment of the present invention; Fig. 5 is a step diagram of the present invention in a preferred embodiment; Figure 6A is a schematic diagram of the stacking area being divided into a plurality of placement layers; Figure 6B is a schematic plan view based on the area of the middle placement layer in Figure 4A being covered by two materials; Figure 6C is a schematic plan view based on the area of the material covering the topmost placement layer in Figure 4A; Figure 7 is a schematic diagram of a distance between two materials; Figure 8 is a schematic diagram of the set expansion distance of the material; Figure 9 is a schematic diagram of the area where the gap between two materials overlaps is less than one gap; Fig. 10A is a three-dimensional schematic diagram of a material entering between two materials in a cutting direction; Figure 10B is a schematic plan view of the material entering between two materials in the cutting direction; Fig. 11 is a schematic diagram of an invalid space after the space is closed by materials.

10: Feeding area

20: Temporary storage area

30: Stacking area

40: Grab components

50:Central processing module

51: Stereoscopic Image Detector

53: Record unit

54: Control unit

Claims (12)

A stacking system capable of stacking materials of random sizes, comprising: a feeding area for receiving materials from the outside; A temporary storage area for temporary storage of materials; A stacking area for stacking materials from the input area or the temporary storage area, and its size is defined as a space information by default; A gripping element, which moves between the material feeding area, the temporary storage area and the stockpiling area and grabs or places materials; A central processing module has a stereoscopic image detector for detecting the size of the material in the feeding area, a recording unit connected to the stereoscopic image detector signal, and the grasping element and the recording unit The unit control is connected to a control unit. A stacking system capable of stacking materials of random sizes, comprising: a feeding area for receiving materials from the outside; A stacking area for stacking materials from the input area, and its size is defined as a space information by default; a gripping element, which moves between the feeding area and the stacking area and grips or places materials; A central processing module has a stereoscopic image detector for detecting the size of the material in the feeding area, a recording unit connected to the stereoscopic image detector signal, and the grasping element and the recording unit The unit control is connected to a control unit. The stacking system capable of stacking random-sized materials as described in claim 1 or 2, wherein the size of the materials is not limited, and the number of materials entering the feeding area and the temporary storage area at a time is at least one. A method of using a stacking system capable of stacking random-sized materials as described in claim 1, comprising: In an initialization step, the material enters the feeding area, and the control unit drives the grabbing element to move the material in the feeding area to the temporary storage area; An initial judgment step, the stereoscopic image detector detects that materials are stored in the feeding area, and transmits the material sizes of the feeding area and the temporary storage area to the recording unit; A spatial judgment step, transmitting the spatial information to the recording unit for storage; A placement point judgment step, defining one point in the space information as the origin, comparing the material size of the feeding area with the space information to generate a feeding placement point, and comparing the area with the material in the temporary storage area The size and the space information generate a temporary storage point, and the recording unit takes out the closest one between the incoming material placement point and the temporary storage point from the origin; In a driving step, the control unit drives the grabbing element to grip and move the material at the material-input placement point or the temporary storage placement point closest to the origin to the stockpiling area. The method for using a stacking system capable of stacking random-sized materials as described in claim 4, wherein, after the materials are stacked in the stacking area, the central processing module records the placement layer covered by the material, and records the layer in the recording unit The area covered by the material in the placement layer is removed. The method of using a stacking system capable of stacking random-sized materials as described in claim 4, wherein, when the material is stacked in the stacking area, when the difference between the top surfaces of adjacent materials is less than a distance, the record The unit judges that the top surfaces of adjacent materials that are smaller than the step difference are on the same layer. The method for using a stacking system capable of stacking random-sized materials as described in claim 4, wherein, after the stereoscopic image detector detects the size of the material in the feeding area, the length, width, and height of the material are respectively Increases the swell distance by one. The use method of the stacking system capable of stacking random-sized materials as described in claim 4, wherein the recording unit records the top surface area of the bottom layer, when the recording unit is expected to stack new materials in the stacking area When another material is placed, the difference between the top area of the material in the stacking area and the bottom area of the newly stacked material will be determined. When the difference between the top area of the material in the stacking area and the bottom area of the newly stacked material is less than one When the gap area is smaller, it is judged that the newly stacked material can be stacked on the top surface of the material in the stacking area. The method for using a stacking system capable of stacking random-sized materials as described in Claim 4, wherein the recording unit calculates the cutting direction of the material that is about to enter the stacking area, and after recording the position of the material placed in the stacking area, additionally When the material is about to enter between the two materials, select the direction in which the least interference between the material on the grabbing element and the two materials occurs. The method for using a stacking system capable of stacking random-sized materials as described in claim 4, wherein the central processing module divides the stacking area into a plurality of placement layers along the vertical direction, and the central processing unit divides the When the materials in the feeding area and the materials in the temporary storage area are matched with the vacant volume in the stacking area, if there is no storage point, the central processing unit will start to search for the next storage layer, and start from the adjacent Another placement layer for matches the placement point. The method of using the stacking system capable of stacking random-sized materials as described in claim 4, wherein, when a space is generated between two materials in the stacking area, another material is stacked on top of the two materials, so that the surroundings of the space If it is blocked by three or more materials at the same time, the recording unit will ignore the blocked invalid space. The method for using a stacking system capable of stacking materials of random sizes as described in Claim 4, wherein the number of the temporary storage areas is plural.

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