Automatic stacker crane

Abstract

The invention discloses an automatic stacking machine, and belongs to the field of stacking machines. Comprising a belt conveying line, and the discharging end of the belt conveying line is connected with a roller conveying line; a stacking tray is arranged beside the tail end of the roller conveying line, a stand column mechanical arm is correspondingly arranged on one side of the tray, and a mechanical head is integrated at the tail end of the stand column mechanical arm. A storage assembly is arranged on the side of the stand column mechanical arm. And an air blowing assembly and a transmission assembly linked with the mechanical head are integrated in the storage assembly. According to the automatic stacking machine, the storage assembly is integrated with a transmission and air blowing assembly linked with a mechanical head, the problem of electrostatic adhesion of annular paperboards is solved, and abnormal material taking and waste are avoided; lifting and adjusting assemblies are matched to adapt to paperboards of different specifications, accurate grabbing and transferring are achieved through the stand column mechanical arm, manual assistance is not needed, and the cost is reduced; the integrated operation table is convenient to regulate and control, the stacking precision and efficiency are improved, the stacking hidden danger is avoided, and the development requirement of large-scale continuous production of the intelligent manufacturing equipment industry can be efficiently met.

Description

Technical Field

[0001] This invention relates to the field of palletizing machine technology, and more particularly to an automatic palletizing machine. Background Technology

[0002] In the material packaging and warehousing stages of industrial production, automatic palletizers, as key equipment for improving operational efficiency and reducing manual labor intensity, have been widely used in various fields such as food, chemicals, and building materials, and are one of the indispensable core equipment in the intelligent manufacturing equipment industry. Existing automatic palletizers typically include core components such as conveyor lines, robotic arms, storage mechanisms, and control systems. Their working logic generally involves transferring materials to be palletized to designated picking positions via the conveyor line, where the robotic arm picks up the materials and stacks them onto pallets according to a preset trajectory. To avoid problems such as wear, displacement, or insufficient protection during material stacking, some palletizers are also equipped with cardboard storage and automatic feeding structures. The robotic arm simultaneously picks up cardboard and materials, laying or covering the cardboard on the material surface to improve stacking stability.

[0003] In palletizing scenarios where cardboard is used to protect or separate materials, existing technologies suffer from the problem of circular cardboard rings sticking together due to electrostatic adhesion. Since cardboard is primarily made of paper, friction between the rings and contact with the surrounding environment during stacking, transport, and material handling generates static electricity. This electrostatic attraction causes adjacent rings to adhere tightly, making them difficult to separate. This problem directly leads to situations where robotic arms handle too much, too little, or unstable material handling, resulting in cardboard waste and potentially affecting the accuracy of material-cardboard assembly, leading to potential stacking tilting or collapse. Furthermore, to address the cardboard adhesion problem, some production scenarios require manual separation, increasing labor costs and making it difficult to adapt to the demands of large-scale continuous production.

[0004] It should be noted that the information disclosed in this background section is only for understanding the background technology of this application concept, and therefore may include information that does not constitute prior art. Summary of the Invention

[0005] This invention provides an automatic palletizing machine to solve the problem in cardboard palletizing scenarios where paperboards are easily stuck together due to static electricity, causing abnormal material handling by the robotic arm, requiring manual assistance, increasing costs, and having poor adaptability.

[0006] This invention adopts the following technical solution: an automatic palletizing machine. It includes a belt conveyor for detecting the material's position, and a roller conveyor connected to the discharge end of the belt conveyor for conveying the material to the picking position. A palletizing tray is arranged beside the end of the roller conveyor, and a column robotic arm is correspondingly provided on one side of the tray. The end of the column robotic arm integrates a mechanical head with adsorption and clamping functions. A storage component for stacking multiple sets of annular cardboard is arranged on the side of the column robotic arm. The storage component integrates an air-blowing component for separating the interlayer adhesion of the annular cardboard and a transmission component linked to the mechanical head. When the mechanical head presses down to a preset position on the top of the storage component to pick up the annular cardboard and moves upward, the transmission component is triggered, and the air-blowing component sprays air into the gaps between the annular cardboard layers.

[0007] Furthermore, the storage assembly includes a cardboard box, inside which are arranged multiple sets of symmetrically distributed guide posts. These guide posts are adapted to the inner wall of the annular cardboard and form radial limits thereon. An annular support plate is disposed at the bottom of the cardboard box, with a gap between the support plate and the bottom surface of the inner wall of the cardboard box. The support plate is simultaneously sleeved on the multiple sets of guide posts. A door is hinged to one side of the cardboard box, and the door is locked to the cardboard box by a latch. An equipment box is integrated on the side of the cardboard box, and a lifting mechanism is provided inside the equipment box. The lifting mechanism is drivenly connected to the support plate and is used to drive the support plate to move the stacked annular cardboard upward.

[0008] Furthermore, the transmission assembly includes a contact member disposed at the center inside the cardboard box, and two sides of the contact member are connected to sliding arc members via connecting rods; the sliding arc members slide on the guide post and can slide linearly along the guide post; the surface of the guide post is provided with an opening groove, the sliding arc member is provided with a protrusion embedded in the opening groove, a support spring is connected between the protrusion and the bottom surface of the inner wall of the opening groove, and a right-angle bracket is connected to one side of the contact member, the right-angle bracket being connected to the ventilation pipe via a linkage unit.

[0009] Furthermore, the linkage unit includes a gear two fixed to one end of two sets of ventilation pipes, a guide frame two fixed to the bottom surface of the inner wall of the cardboard box, and the gear two meshing with a rack three slidably engaged with the side of the guide frame two; an arc-shaped rod is connected between the two sets of racks three, and a rack one is fixed to the bottom surface of the arc-shaped rod, and the rack one slidably engages with the guide frame one fixed to the bottom surface of the inner wall of the cardboard box; A guide rod is threaded through the arc-shaped rod, and a frustum is sleeved at the center of the guide rod. A return spring is connected between the frustum and the bottom surface of the arc-shaped rod, and the return spring provides elastic support to the arc-shaped rod. The rack one meshes with the gear one, which is movably supported on the inner wall of the cardboard box by a support column; the gear one meshes with the rack two, which is fixed to the vertical end side of the right-angle frame, and the rack two is arranged opposite to the rack one.

[0010] Furthermore, the column robotic arm includes a base, on which a support arm is erected; a rotating unit is mounted on the support arm via a displacement unit, one end of the rotating unit is connected to a clamping unit, and the rotating unit can move up and down along the support arm with the displacement unit; the clamping unit includes a fixed frame, on which a hinged arm is hinged, and a rotary motor is fixed on the fixed frame, the rotary motor driving the hinged arm to rotate horizontally.

[0011] Furthermore, the displacement unit includes two sets of slide rails fixed to the side of the support arm, and sliding plates are slidably connected to the two sets of slide rails; a sprocket is mounted on the top of the support arm through a bearing seat, and a chain is meshed on the sprocket. One end of the chain is fixedly connected to the sliding plate, and the other end is fixedly connected to the bottom of the support arm; a gearbox is coaxially fixed to the sprocket, and a drive motor is also fixed on the top of the support arm. The drive motor is connected to the gearbox for transmission, so as to drive the sprocket to rotate and drive the chain to pull the sliding plate up and down along the slide rails.

[0012] Furthermore, the clamping unit includes a first clamping mechanism and multiple sets of second clamping mechanisms; the first clamping mechanism includes a T-shaped platform fixed to the end of the hinged arm, suction cups are evenly distributed around the outer periphery of the T-shaped platform via a bracket, and an air pump is mounted on the T-shaped platform, the suction cups being connected to the negative pressure end of the air pump via hoses; multiple sets of second clamping mechanisms are radially distributed along the bottom surface of the T-shaped platform, each second clamping mechanism including a cylinder fixed to the bottom surface of the T-shaped platform, the telescopic end of the cylinder being fixed with a flexible abutment block, the flexible abutment block being adapted to abut against the inner ring of the material.

[0013] Furthermore, two sets of air-blowing components are symmetrically arranged. Each air-blowing component includes a support tube supported by a bracket. The brackets of the two sets of air-blowing components are respectively fixed to the inner side of the cardboard box and the inner side of the box door. A venting pipe is rotatably inserted inside the support tube. One end of the venting pipe is connected to an arc-shaped air supply pipe through a flexible tube. The surface of the air supply pipe is connected to multiple sets of downward-sloping air nozzles, which are oriented by default toward the stacking gap between the top and bottom ring cardboard. A pipe joint is connected to the surface of the support tube, and the pipe joint is connected to an external air supply device through a flexible hose. A semi-circular venting groove is opened on the surface of the venting pipe corresponding to the pipe joint, and a plug for sealing the pipe joint is provided at one end of the venting groove.

[0014] Furthermore, it also includes adjustment components, with two sets of adjustment components corresponding to the air blowing components. The two sets of adjustment components each include a mounting plate embedded in the inner side of the cardboard box and the inner side of the box door. The mounting plate extends outward to form a protrusion, and a horizontal T-groove is provided on the protrusion. An arc-shaped component is connected to the T-groove through an adjustment unit. It is located above the uppermost annular cardboard, and its inner wall is integrally formed with multiple sets of flexible convex balls that have a small contact area with the annular cardboard. The arc-shaped components of the two sets of adjustment components are symmetrically distributed on both sides of the annular cardboard. The arc-shaped components are fixedly connected to the air supply pipe, and the air nozzle is set through the arc-shaped component. The inner side of the mounting plate is also fixedly connected with a pipe clamp for supporting the flexible tube.

[0015] Furthermore, the adjustment unit includes a sliding block that slides within a T-groove. A screw is connected to the side of the sliding block via a bearing. One end of the screw passes through a protrusion and is fixed to a turntable. An L-shaped seat is fixed to the side of the sliding block. A support member is rotatably connected to the vertical end of the L-shaped seat. The support member can overlap the horizontal end of the L-shaped seat. A protrusion extends integrally from one side of the horizontal end of the L-shaped seat. A horizontally arranged fixing rod is threaded onto the protrusion. One end of the fixing rod is threaded to an arc-shaped component. Laser sensors and receivers are respectively provided on the sliding blocks of the two sets of adjustment components. They are symmetrically distributed and used to accurately detect the distance between the two sets of arc-shaped components.

[0016] The above-mentioned at least one technical solution adopted in this invention can achieve the following beneficial effects: An automatic palletizing machine integrates a transmission component and an air-blowing component linked to the mechanical head within the storage assembly. This solves the problem of sticking of ring-shaped cardboard caused by electrostatic adhesion. When the mechanical head presses down to pick up material, it triggers the transmission component, driving the air pipe to rotate and temporarily close the air passage, preventing airflow interference during material picking. When the mechanical head moves up, the transmission component resets, and the air-blowing component sprays air between the cardboard layers, effectively separating the sticking cardboard and preventing the robotic arm from picking up too much, missing, or unstable material, thus reducing cardboard waste. Simultaneously, the storage assembly is equipped with a lifting mechanism that automatically adjusts the cardboard picking height. Combined with the adjustment component and adjustment unit, it can adapt to different specifications of ring-shaped cardboard, improving equipment adaptability. The column-mounted robotic arm, through the coordinated actions of the displacement unit, rotation unit, and clamping unit, achieves precise gripping and transfer of cardboard and materials, eliminating the need for manual assistance in separating cardboard and reducing labor costs. Furthermore, the integrated operating table facilitates equipment control, and the overall structural design is reasonable, improving palletizing accuracy and efficiency, avoiding the risks of stacking misalignment and collapse, and adapting to the needs of large-scale continuous production. Attached Figure Description

[0017] The accompanying drawings, which are provided to further illustrate the invention and constitute a part of this invention, are illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention.

[0018] In the attached diagram: Figure 1 This is an overall schematic diagram of an automatic palletizing machine according to this application; Figure 2 for Figure 1 Schematic diagram of the central column robotic arm structure; Figure 3 for Figure 2 Schematic diagram of the bottom structure of the central column robotic arm; Figure 4 for Figure 1 Schematic diagram of the storage and refrigeration module structure; Figure 5 for Figure 4 A schematic diagram of the top structure; Figure 6 for Figure 5 Enlarged view of point A; Figure 7 for Figure 4 Schematic diagram of the unfolding structure of the middle box door; Figure 8 for Figure 7 Enlarged view of point B; Figure 9 This is a partial cross-sectional view of the storage components; Figure 10 for Figure 9 Enlarged view of point C; Figure 11 for Figure 9 Enlarged view of point D; Figure 12 for Figure 9 Enlarged view of point E; Figure 13 This is a detailed view of the interior of the support tube; Figure label: 1. Belt conveyor line; 2. Roller conveyor line; 8. Pallet; 3. Storage assembly; 31. Equipment box; 32. Cardboard box; 33. Box door; 34. Support plate; 35. Guide column; 36. Mounting frame; 37. End; 38. Lead screw; 39. Sliding seat; 310. Connecting plate; 311. Servo motor; 312. Ring cardboard; 313. Lock; 4. Column robotic arm; 41. Base; 42. 43. Support arm; 44. Slide rail; 45. Sliding plate; 46. Sprocket; 47. Chain; 48. Gearbox; 49. Drive motor; 410. Fixing frame; 411. Hinge arm; 412. Rotary motor; 413. Air pump; 414. T-shaped platform; 415. Suction cup; 416. Cylinder; 417. Abutment block; 50. Adjustment assembly; 51. Mounting plate; 52. Protrusion; 521. T-slide groove; 5 3. Sliding block; 54. Turntable; 55. Screw; 56. L-shaped seat; 57. Support component; 58. Protruding block; 59. Arc-shaped component; 591. Flexible convex ball; 593. Fixing rod; 6. Air blowing assembly; 61. Support tube; 601. Pipe joint; 621. Flexible tube; 64. Pipe clamp; 65. Vent tube; 651. Vent groove; 652. Blocking component; 66. Bracket; 67. Air supply pipe; 671. Air nozzle; 7. Transmission assembly; 71. Contact element; 72. Opening slot; 73. Support spring; 74. Sliding arc element; 75. Guide rod; 76. Return spring; 77. Arc rod; 78. Guide frame one; 79. Rack one; 710. Support column; 711. Gear one; 712. Right angle frame; 713. Rack two; 714. Guide frame two; 715. Rack three; 716. Gear two. Detailed Implementation

[0019] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0020] The technical solutions provided by the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0021] Reference Figures 1-3As shown, this invention provides an automatic palletizing machine, including a belt conveyor line 1 for detecting the material's in-situ status, and a roller conveyor line 2 for conveying the material to a picking position connected to the discharge end of the belt conveyor line 1; a palletizing tray 8 is arranged beside the end of the roller conveyor line 2, and a column robotic arm 4 is correspondingly provided on one side of the tray 8, with a mechanical head integrating adsorption and clamping functions at the end of the column robotic arm 4; a storage component 3 for stacking multiple sets of annular cardboard 312 is arranged on the side of the column robotic arm 4, and the mechanical head... It is adapted to pick up the annular cardboard 312 from the storage component 3 and transfer it to the top of the material on the roller conveyor line 2, and simultaneously grab and stack the material loaded with the annular cardboard 312 onto the pallet 8; the storage component 3 integrates an air blowing component 6 for separating the interlayer adhesion of the annular cardboard 312 and a transmission component 7 linked with the mechanical head; when the mechanical head presses down to the preset position on the top of the storage component 3 to pick up the annular cardboard 312 and moves upward, it triggers the transmission component 7, and the air blowing component 6 sprays air into the interlayer gap of the annular cardboard 312.

[0022] Reference Figure 2 , Figures 4-5 and Figure 7 As shown, the storage component 3 in this invention is mainly used for orderly stacking and positioning of the annular cardboard 312, and works with the mechanical head to achieve a stable supply of cardboard. Preferably, the storage component 3 includes a cardboard box 32 adapted to the shape of the annular cardboard 312. The central area inside the cardboard box 32 is provided with multiple sets of symmetrically distributed guide posts 35 (in conjunction with...). Figure 7 The layout (guide posts 35 are arranged in a ring array) allows the outer walls of multiple sets of guide posts 35 to match the inner wall contour of the ring cardboard 312, which can form a radial limit on the stacked ring cardboard 312 and prevent the cardboard from shifting during stacking or lifting. The bottom of the cardboard box 32 is equipped with an annular support plate 34 that is compatible with the guide post 35. The support plate 34 and the bottom of the inner wall of the cardboard box 32 are provided with a lifting space. The support plate 34 is also movably sleeved on multiple sets of guide posts 35, and can be stably lifted and lowered along the guide posts 35. A door 33 is hinged to one side of the cardboard box 32. The edge of the door 33 is provided with a latch 313, which can be locked with the cardboard box 32 after closing to ensure the internal sealing. When it is necessary to replenish the cardboard, the door 33 can be opened to stack the annular cardboard 312 into the cardboard box 32 on the support plate 34. The operation is convenient. The side of the cardboard box 32 is integrated with the equipment box 31, which is equipped with a lifting mechanism. The power output end of the lifting mechanism is connected to the support plate 34. When the mechanical head picks up a ring cardboard 312, the lifting mechanism drives the support plate 34 to move upward along the guide post 35. Each upward movement distance is precisely adapted to the thickness of a single ring cardboard 312, ensuring that the top cardboard is always at the picking height of the mechanical head.

[0023] The lifting mechanism in this invention is mainly used to drive the support plate 34 to lift stably, so as to ensure that the picking height of the annular cardboard 312 is uniform. As a preferred lifting mechanism, it includes a mounting frame 36 fixed inside the equipment box 31. The mounting frame 36 has end heads 37 at both ends. A lead screw 38 is supported between the two sets of end heads 37 by bearings. At the same time, a guide shaft is fixed between the two sets of end heads 37. A sliding seat 39 is threadedly connected to the lead screw 38. The sliding seat 39 is also movably sleeved with the guide shaft. The guide shaft can guide and limit the movement of the sliding seat 39. A connecting plate 310 is assembled on the side of the sliding seat 39. The connecting plate 310 passes through the side walls of the equipment box 31 and the cardboard box 32 in sequence and is fixedly connected to the support plate 34. A servo motor 311 is fixed on one set of end heads 37. The servo motor 311 is connected to the lead screw 38 for transmission.

[0024] During operation, the servo motor 311 drives the lead screw 38 to rotate. With the cooperation of the guide shaft, the sliding seat 39 moves linearly along the lead screw 38, and then drives the support plate 34 to rise and fall through the connecting plate 310. With the precise control of the servo motor 311, the upward movement distance of the support plate 34 can be consistent with the thickness of a single ring cardboard 312, ensuring stable material picking height.

[0025] Reference Figures 2-3 As shown, the column robotic arm 4 in this invention is mainly used to grasp the ring-shaped cardboard 312, clamp the material, and transfer and stack the material and cardboard. Preferably, the column robotic arm 4 includes a base 41 fixed to the equipment base, and a support arm 42 is vertically erected on the base 41. A rotating unit is assembled on the side of the support arm 42 through a displacement unit. One end of the rotating unit is connected to the clamping unit, and the rotating unit can be raised and lowered along the support arm 42 with the displacement unit to achieve height adjustment. The clamping unit includes a fixed frame 410 connected to the rotating unit. A hinged arm 411 is hinged to the fixed frame 410. A rotary motor 412 is fixed to the top of the fixed frame 410. The rotary motor 412 drives the hinged arm 411 to rotate horizontally. The end of the hinged arm 411 is connected to a T-shaped platform 414. Suction cups 415 are arranged on the outer periphery of the T-shaped platform 414. An air pump 413 is installed on the T-shaped platform 414. The suction cups 415 are connected to the air pump 413 through a hose and are used to adsorb the ring-shaped cardboard 312. At the same time, a cylinder 416 is provided on the bottom surface of the T-shaped platform 414. The telescopic end of the cylinder 416 is connected to a flexible abutment block 417, which can abut against the inner ring of the material. Together with the suction cups 415, it realizes the dual operation function of adsorption and holding.

[0026] The displacement unit in this invention is mainly used to drive the rotation unit and the clamping unit to achieve stable lifting and lowering along the support arm 42, thereby adjusting the working height of the robotic arm to adapt to different material picking and stacking requirements. Preferably, the displacement unit includes two sets of slide rails 43 fixed to the side of the support arm 42, and sliding plates 44 are slidably connected to the two sets of slide rails 43. The slide rails 43 provide guidance and limit for the movement of the sliding plates 44 to ensure the stability of their lifting trajectory. A sprocket 46 is mounted on the top of the support arm 42 through a bearing seat, and a chain 47 is meshed on the sprocket 46. One end of the chain 47 is fixedly connected to the sliding plate 44, and the other end is fixedly connected to the bottom of the support arm 42, forming a closed-loop traction structure. The sprocket 46 is coaxially fixed to the gearbox 48, and the top of the support arm 42 is also fixed to the drive motor 49, which is connected to the gearbox 48 for transmission. During operation, the drive motor 49 outputs power and transmits it to the sprocket 46 after being reduced by the gearbox 48. The sprocket 46 rotates and drives the chain 47 to move in a cycle, thereby pulling the sliding plate 44 to rise and fall smoothly along the slide rail 43, realizing the height adjustment of the clamping unit.

[0027] The clamping unit in this invention is mainly used to simultaneously achieve the adsorption and gripping of the annular cardboard 312 and the clamping and fixing of the material, adapting to the requirements of continuous operation. As a preferred clamping unit, it includes a first clamping mechanism and multiple sets of second clamping mechanisms. The first clamping mechanism includes a T-shaped platform 414 fixed to the end of the hinge arm 411. Suction cups 415 are evenly distributed on the outer periphery of the T-shaped platform 414 through a bracket, and an air pump 413 is mounted on the T-shaped platform 414. The suction cups 415 are connected to the negative pressure end of the air pump 413 through a hose. When it is necessary to grip the annular cardboard 312, the air pump 413 is started to generate negative pressure, and the suction cups 415 adhere to the surface of the annular cardboard 312 to complete the adsorption, ensuring the stability of the cardboard gripping.

[0028] Multiple sets of second clamping mechanisms are radially distributed along the bottom surface of the T-shaped platform 414. Each second clamping mechanism includes a cylinder 416 fixed to the bottom surface of the T-shaped platform 414. A flexible abutment block 417 is fixedly connected to the telescopic end of the cylinder 416. When the material is conveyed to the bottom, the cylinder 416 drives the flexible abutment block 417 to extend and abut against the inner ring of the material to clamp and fix the material. At the same time, the flexible abutment block 417 can avoid causing hard damage to the material and adapt to the clamping requirements of materials of different specifications.

[0029] Through the coordinated action of the first clamping mechanism (suction cup 415, air pump 413) and the second clamping mechanism (cylinder 416, flexible abutment block 417), the clamping unit can simultaneously carry the ring cardboard 312 and the material to the pallet 8 to complete the stacking operation.

[0030] Reference Figures 7-10 and Figure 13As shown, the air blowing assembly 6 in this invention is mainly used to spray air into the gaps between the layers of the cardboard when the mechanical head picks up the annular cardboard 312 to separate the adhered cardboard, avoiding over-picking or unstable picking. Preferably, two sets of air blowing assemblies 6 are symmetrically arranged to adapt to the layout of both sides of the annular cardboard 312. The air blowing assembly 6 includes a support tube 61 supported by a bracket 66. The brackets 66 of the two sets of air blowing assemblies 6 are respectively fixed to the inner side of the cardboard box 32 and the inner side of the box door 33 to ensure the stability of the assembly installation. A vent pipe 65 is rotatably inserted inside the support tube 61. The vent pipe 65 can rotate along the axis of the support tube 61 to realize the switching of air passage opening and closing. One end of the vent pipe 65 is connected to the arc-shaped air supply pipe 67 via a flexible pipe 621. The flexible pipe 621 is adapted to the rotation of the vent pipe 65 to avoid pulling the pipe. The surface of the air supply pipe 67 is connected to multiple sets of downward-sloping air nozzles 671. The air nozzles 671 are oriented by default toward the stacking gap between the top ring cardboard 312 and the bottom ring cardboard 312 to ensure that the air jet is accurately applied between the layers. The surface of the support tube 61 is connected to a pipe connector 601, which is connected to an external air supply device through a hose to provide an air source for the component. The surface of the vent pipe 65 is provided with a semi-circular vent groove 651 corresponding to the pipe connector 601. One end of the vent groove 651 is provided with a plug 652 for sealing the pipe connector 601. In the initial state, the pipe connector 601 corresponds to the vent groove 651, and the airflow can enter the vent pipe 65 through the pipe connector 601 and the vent groove 651, and then be ejected from the air nozzle 671 through the flexible tube 621 and the air supply pipe 67 to realize the separation operation between the cardboard layers.

[0031] Reference Figures 4-8 and Figure 13 As shown, the adjustment component 5 in this invention is mainly used to adapt to the positioning requirements of ring cardboard 312 of different specifications, and at the same time assists the air blowing component 6 in accurately aligning the gap between cardboard layers to improve the separation effect. As a preferred adjustment component, two sets are set corresponding to the air blowing component 6 to adapt to the layout of both sides of the ring cardboard 312. The two sets of adjustment components 5 respectively include mounting plates 51 embedded in the inner side of the cardboard box 32 and the inner side of the box door 33. The mounting plates 51 provide a stable mounting reference for the components. The mounting plates 51 extend outward to form a protrusion 52. A horizontal T-slide groove 521 is provided on the protrusion 52. An arc-shaped component 59 is connected in the T-slide groove 521 through an adjustment unit. The adjustment unit can drive the arc-shaped component 59 to move horizontally along the T-slide groove 521 to adapt to ring cardboard 312 of different diameters. The arc-shaped component 59 is trumpet-shaped and located above the uppermost annular cardboard 312. Its inner wall is integrally formed with multiple sets of flexible convex balls 591. The flexible convex balls 591 make small-area contact with the annular cardboard 312, which can separate the cardboard and avoid damaging the cardboard surface. The arc-shaped components 59 of the two sets of adjustment components 5 are symmetrically distributed on both sides of the annular cardboard 312, and the arc-shaped components 59 are fixedly connected to the air supply pipe 67. The air nozzle 671 is set through the arc-shaped component 59 and can move synchronously with the position adjustment of the arc-shaped component 59 to ensure that the air nozzle 671 is always aligned with the gap between the cardboard layers. The inner side of the mounting plate 51 is also fixedly connected with a pipe clamp 64 to support the flexible pipe 621, so as to prevent the pipe from getting tangled or pulled due to movement or rotation, and improve the stability of the component operation.

[0032] The adjustment unit in this invention is mainly used to drive the arc-shaped part 59 to precisely adjust its position, and is also adapted to the material replenishment operation of the cardboard box 32. The preferred adjustment unit includes a sliding block 53 that is slidably fitted in the T-slide groove 521. The side of the sliding block 53 is connected to a screw 55 through a bearing. One end of the screw 55 passes through the protrusion 52 and is fixed to a turntable 54. Rotating the turntable 54 can drive the screw 55 to rotate, thereby driving the sliding block 53 to move smoothly along the T-slide groove 521 to realize the position adjustment of the arc-shaped part 59.

[0033] An L-shaped seat 56 is fixedly connected to the side of the sliding block 53. The vertical end of the L-shaped seat 56 is connected to a support member 57 with damping rotation. The rotation angle of the support member 57 is limited to 90° and can overlap the horizontal end of the L-shaped seat 56. A protrusion 58 extends integrally from one side of the horizontal end of the L-shaped seat 56. A horizontally arranged fixing rod 593 is threadedly connected to the protrusion 58. One end of the fixing rod 593 is threadedly connected to the arc-shaped member 59, thereby realizing a stable connection between the arc-shaped member 59 and the adjustment unit.

[0034] Laser sensors and receivers are respectively provided on the sliding blocks 53 of the two sets of adjustment components 5. The two are symmetrically distributed and used to accurately detect the distance between the two sets of arc-shaped parts 59 to ensure adjustment accuracy.

[0035] When the annular cardboard 312 inside the cardboard box 32 is exhausted, the damping rotation function of the support member 57 can be used to rotate one of the arc-shaped members 59 first (driving the support member 57 to rotate 90° around the vertical end of the L-shaped seat 56), so that the arc-shaped member 59 avoids the opening and closing path of the box door 33, and then the box door 33 is opened to refill the cardboard, avoiding interference from the arc-shaped member 59 to the refilling operation and improving the convenience of operation.

[0036] Reference Figure 7 , Figure 9 and Figures 11-12As shown, the transmission component 7 in this invention is mainly used to link the mechanical head movement, realize the switching of the air path of the air blowing component 6, and ensure that the timing of air jet separation of cardboard is accurately matched with the material picking process. As a preferred transmission component 7, it includes a contact member 71 set in the center of the cardboard box 32. The two sides of the contact member 71 are connected to the sliding arc member 74 through the connecting rod. The sliding arc member 74 is slidably sleeved on the guide post 35 and can slide linearly along the guide post 35. The surface of the guide post 35 is provided with an opening groove 72. The sliding arc member 74 is provided with a protrusion embedded in the opening groove 72. A support spring 73 is connected between the protrusion and the bottom surface of the inner wall of the opening groove 72. The support spring 73 can provide elastic support for the sliding arc member 74 and ensure the reset capability of the contact member 71.

[0037] A right-angle bracket 712 is connected to one side of the contact 71. The right-angle bracket 712 is connected to the ventilation pipe 65 through a linkage unit. When the mechanical head moves to the preset position at the top of the cardboard box 32, it will press down the contact 71, causing the sliding arc part 74 to move down along the guide post 35 and the support spring 73 to be compressed. At this time, the linkage unit synchronously drives the ventilation pipe 65 to rotate 180°, so that the blocking part 652 blocks the air nozzle 671 and stops the air supply to the ventilation pipe 65. When the mechanical head gradually moves up, the contact 71 rebounds under the reset action of the support spring 73. The ventilation pipe 65 rotates in the opposite direction with the linkage unit. The airflow enters the ventilation pipe 65 through the pipe joint 601 and the semi-circular ventilation groove 651, and sprays air into the interlayer gap of the annular cardboard 312 through the air nozzle 671, thereby separating adjacent cardboard and avoiding multiple take-ups or sticking.

[0038] The linkage unit in this invention is mainly used to convert the lifting action of the contact member 71 into the rotation action of the vent pipe 65, so as to realize the automatic switching of the air passage opening and closing. As a preferred linkage unit, it includes a gear 2 716 fixed to one end of the two sets of vent pipes 65, a guide frame 2 714 fixed to the bottom surface of the inner wall of the cardboard box 32, and the gear 2 716 meshing with a rack 3 715 slidably engaged with the side of the guide frame 2 714; an arc-shaped rod 77 is connected between the two sets of racks 3 715, and a rack 1 79 is fixed to the bottom surface of the arc-shaped rod 77. The rack 1 79 slidably engages with the guide frame 1 78 fixed to the bottom surface of the inner wall of the cardboard box 32, and the guide frame 1 78 provides guidance for the movement of the rack 1 79.

[0039] A guide rod 75 is inserted through the arc-shaped rod 77. A frustum is sleeved at the center of the guide rod 75. A return spring 76 is connected between the frustum and the bottom surface of the arc-shaped rod 77. The return spring 76 provides elastic support to the arc-shaped rod 77 and can assist the arc-shaped rod 77 in returning to its original position.

[0040] Rack 79 meshes with gear 711, which is movably supported on the inner wall of cardboard box 32 by support column 710; gear 711 meshes with rack 713, which is fixed to the vertical end side of right angle frame 712 and is arranged opposite to rack 79.

[0041] During operation, the contact 71 presses down, causing the right-angle frame 712 to move downward. The rack 713 moves downward simultaneously and drives the gear 711 to rotate. The gear 711 further drives the rack 79 to move vertically. The arc rod 77 pulls the rack 715 to slide along the guide frame 714. Finally, the rack 715 drives the gear 716 to rotate, realizing the 180° rotation of the air pipe 65. When the mechanical head moves up and the contact 71 rebounds, the return spring 76 assists the arc rod 77 to reset, driving each transmission component to move in the opposite direction, completing the reconnection of the air passage.

[0042] This application includes an operating console that integrates physical buttons and a touch screen to enable centralized operation of the entire equipment process: it can start and stop material handling, clear alarms, reset shaft positions, view alarms, switch to manual mode, adjust parameters and clear counts, and also supports starting and stopping the production line / cardboard feeder separately when the equipment is not running, as well as resetting the conveyor belt erroneous start fault, covering operation, debugging and maintenance needs.

[0043] Working Principle: Before starting the equipment, preparations must be completed according to the operational process: First, place the pallet 8 in the stacking area and complete the equipment initialization settings using the integrated physical buttons and touchscreen control panel. The operator can open the storage component 3's door 33, neatly stack the ring-shaped cardboard 312 on the support plate 34, and lock the door 33 with the latch 313 to prevent cardboard shifting during operation. Then, the lifting mechanism performs its initialization action. The servo motor 311 drives the lead screw 38 to rotate, causing the sliding seat 39 and connecting plate 310 to move synchronously, raising the support plate 34 along the guide column 35 until the top ring-shaped cardboard 312 reaches the preset picking height. Simultaneously, the adjustment component 5 adapts to the current cardboard specifications through the adjustment unit, rotating the turntable 54 to drive the sliding block 53 to move along the T-groove 521, precisely positioning the arc-shaped component 59. A laser sensor detects the distance between the two sets of arc-shaped components 59 in real time, ensuring complete adaptation to the cardboard specifications. At this point, the air blowing assembly 6 is in its initial ready state, with the pipe connector 601 precisely aligned with the semi-circular air groove 651 of the air pipe 65, allowing for normal airflow. After preparation, the equipment is started, and materials continuously flow from the upstream equipment into the belt conveyor line 1. The belt conveyor line 1 automatically starts upon detecting the presence of materials, smoothly conveying the materials to the subsequent roller conveyor line 2. The roller conveyor line 2 continues to receive materials and transfers them to the material handling position below the column robotic arm 4, preparing for subsequent clamping operations.

[0044] When the material enters the last section of the roller conveyor line 2 and is about to reach the picking position, the column robotic arm 4 starts the operation process in advance: the displacement unit starts first, the drive motor 49 drives the sprocket 46 to rotate after being reduced by the gearbox 48, the chain 47 pulls the sliding plate 44 to descend smoothly along the slide rail 43, and at the same time the rotation unit moves synchronously, driving the clamping unit to rotate above the storage component 3; then the first clamping mechanism of the clamping unit starts, the air pump 413 generates negative pressure, and the suction cup 415 on the outer periphery of the T-shaped platform 414 tightly adheres to the top ring cardboard 312 and completes the adsorption. During this process, when the mechanical head presses down, it contacts the contact 71 inside the storage component 3, causing the sliding arc component 74 to move down along the guide post 35. The support spring 73 is compressed, and the contact 71 drives the rack 2 713 to move down through the right angle frame 712, which in turn drives the gear 1 711 to rotate. The gear 1 711 then drives the rack 1 79 to move, and through the arc rod 77, it pulls the rack 3 715 to slide along the guide frame 2 714. Finally, the rack 3 715 drives the gear 2 716 to rotate, causing the air pipe 65 to rotate 180°. The blocking component 652 seals the pipe joint 601, and the air blowing component 6 stops supplying air to avoid airflow interference when adsorbing cardboard. Subsequently, the mechanical head, carrying the adsorbed annular cardboard 312, rotates to the top of the roller conveyor line 2 to wait. When the material accurately reaches the material picking position below the column robotic arm 4, the second clamping mechanism of the clamping unit is immediately activated. The cylinder 416 drives the flexible abutment block 417 to extend and tightly abut against the inner circle of the material to achieve stable clamping. At this point, the combination of the annular cardboard 312 and the material is completed, forming a "cardboard + material" ready-to-be-stacked state.

[0045] After the material is combined with the annular cardboard 312, the displacement unit of the column robotic arm 4 drives the clamping unit to rise. During the upward movement of the robotic head, the contact part 71 rebounds under the reset action of the support spring 73, and the transmission components of the linkage unit move in opposite directions. The vent pipe 65 rotates back to its initial position, and the blocking part 652 releases the blockage on the pipe joint 601. The airflow enters the vent pipe 65 through the pipe joint 601 and the semi-circular vent groove 651, and then through the flexible pipe 621 and the air supply pipe 67, spraying air into the interlayer of the annular cardboard 312 through the air nozzle 671, effectively separating adjacent adhered cardboard and preventing over-removal during subsequent material retrieval. At the same time, the lifting mechanism of the storage component 3 starts synchronously, and the servo motor 311 drives the support plate 34 to rise along the guide column 35 to the thickness of a single annular cardboard 312, ensuring that the top cardboard is always at the preset material retrieval height, preparing for the next material retrieval. Subsequently, the column robotic arm 4 rotates the material and the ring cardboard 312 to above the pallet 8. After adjusting the height and placement angle according to the preset stacking method, the second clamping mechanism first releases the flexible abutment block 417, placing the material smoothly on the pallet 8. Then, the first clamping mechanism releases the suction cup 415, precisely placing the ring cardboard 312 on top of the material, completing one stacking operation. After stacking, the column robotic arm 4 returns to above the storage component 3 to await the next action, and this cycle repeats. Until the pallet 8 reaches the preset height, the column robotic arm 4 automatically stops working, the control panel issues an alarm, and the operator removes the full pallet 8 and places a new empty pallet 8 in. After restarting the equipment, the system resumes normal operation. If any abnormality occurs during operation, the operator can use the control panel to clear the alarm, reset the axis, or switch to manual mode for debugging to ensure stable equipment operation.

[0046] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An automatic palletizing machine, characterized in that: The system includes a belt conveyor (1) for detecting the material's presence, and a roller conveyor (2) for conveying the material to the picking position at the discharge end of the belt conveyor (1); a pallet (8) for stacking is arranged on the side of the end of the roller conveyor (2), and a column robotic arm (4) is provided on one side of the pallet (8), with a mechanical head for adsorption and clamping integrated at the end of the column robotic arm (4); a storage component (3) for stacking multiple sets of annular cardboard (312) is arranged on the side of the column robotic arm (4); the storage component (3) integrates an air blowing component (6) for separating the interlayer adhesion of the annular cardboard (312) and a transmission component (7) linked with the mechanical head; when the mechanical head presses down to the preset position on the top of the storage component (3) to pick up the annular cardboard (312) and moves upward, the transmission component (7) is triggered, and the air blowing component (6) sprays air into the interlayer gap of the annular cardboard (312).

2. An automatic palletizing machine according to claim 1, characterized in that: The storage component (3) includes a cardboard box (32). The inside of the cardboard box (32) is provided with multiple sets of symmetrically distributed guide posts (35). The multiple sets of guide posts (35) are adapted to the inner wall of the annular cardboard (312) and form a radial limit thereon. An annular support plate (34) is arranged at the bottom of the inside of the cardboard box (32). The support plate (34) is spaced from the bottom surface of the inner wall of the cardboard box (32). The support plate (34) is simultaneously sleeved on the multiple sets of guide posts (35). A door (33) is hinged to one side of the cardboard box (32). The door (33) is locked to the cardboard box (32) by a latch (313). An equipment box (31) is integrated on the side of the cardboard box (32). A lifting mechanism is provided inside the equipment box (31). The lifting mechanism is connected to the support plate (34) for driving the support plate (34) to move the stacked annular cardboard (312) upward.

3. An automatic palletizing machine according to claim 2, characterized in that: The transmission assembly (7) includes a contact (71) located at the center of the cardboard box (32). The two sides of the contact (71) are connected to a sliding arc (74) via a connecting rod. The sliding arc (74) slides on the guide post (35) and can slide linearly along the guide post (35). The surface of the guide post (35) is provided with an opening groove (72). The sliding arc (74) is provided with a protrusion embedded in the opening groove (72). A support spring (73) is connected between the protrusion and the bottom surface of the inner wall of the opening groove (72). A right angle bracket (712) is connected to one side of the contact (71). The right angle bracket (712) is connected to the ventilation pipe (65) via a linkage unit.

4. An automatic palletizing machine according to claim 3, characterized in that: The linkage unit includes a gear two (716) fixed to one end of two sets of ventilation pipes (65), a guide frame two (714) fixed to the bottom surface of the inner wall of the cardboard box (32), the gear two (716) meshing with a rack three (715) slidably engaged with the side of the guide frame two (714); an arc-shaped rod (77) is connected between the two sets of rack three (715), a rack one (79) fixed to the bottom surface of the arc-shaped rod (77), and the rack one (79) slidably engaged with a guide frame one (78) fixed to the bottom surface of the inner wall of the cardboard box (32); A guide rod (75) is provided on the arc-shaped rod (77), and a frustum is sleeved on the center of the guide rod (75). A return spring (76) is connected between the frustum and the bottom surface of the arc-shaped rod (77), and the return spring (76) provides elastic support to the arc-shaped rod (77). The rack one (79) is engaged with the gear one (711), and the gear one (711) is movably supported on the inner wall of the cardboard box (32) by the support column (710); the gear one (711) is engaged with the rack two (713), and the rack two (713) is fixed to the vertical end side of the right angle frame (712), and the rack two (713) is arranged opposite to the rack one (79).

5. An automatic palletizing machine according to claim 1, characterized in that: The column robotic arm includes a base (41), on which a support arm (42) is erected; a rotating unit is mounted on the support arm (42) via a displacement unit, one end of which is connected to a clamping unit, and the rotating unit can move up and down along the support arm (42) with the displacement unit; the clamping unit includes a fixed frame (410), on which a hinged arm (411) is hinged, and a rotary motor (412) is fixed on the fixed frame (410), and the rotary motor (412) drives the hinged arm (411) to rotate horizontally.

6. An automatic palletizing machine according to claim 5, characterized in that: The displacement unit includes two sets of slide rails (43) fixed to the side of the support arm (42), and a sliding plate (44) is slidably connected to the two sets of slide rails (43); a sprocket (46) is mounted on the top of the support arm (42) through a bearing seat, and a chain (47) is meshed on the sprocket (46). One end of the chain (47) is fixedly connected to the sliding plate (44), and the other end is fixedly connected to the bottom of the support arm (42); a gearbox (48) is coaxially fixed to the sprocket (46), and a drive motor (49) is also fixed on the top of the support arm (42). The drive motor (49) is connected to the gearbox (48) for transmission, so as to drive the sprocket (46) to rotate and drive the chain (47) to pull the sliding plate (44) up and down along the slide rail (43).

7. An automatic palletizing machine according to claim 6, characterized in that: The clamping unit includes a first clamping mechanism and multiple sets of second clamping mechanisms; the first clamping mechanism includes a T-shaped platform (414) fixed to the end of the hinge arm (411), and suction cups (415) are equidistantly arranged on the outer periphery of the T-shaped platform (414) through a bracket, and an air pump (413) is mounted on the T-shaped platform (414), and the suction cups (415) are connected to the negative pressure end of the air pump (413) through a hose; multiple sets of second clamping mechanisms are radially distributed along the bottom surface of the T-shaped platform (414), and the second clamping mechanism includes a cylinder (416) fixed to the bottom surface of the T-shaped platform (414), and a flexible abutment block (417) is fixed to the telescopic end of the cylinder (416), and the flexible abutment block (417) is adapted to abut against the inner ring of the material.

8. An automatic palletizing machine according to claim 1, characterized in that: Two sets of air blowing assemblies (6) are symmetrically arranged. Each air blowing assembly (6) includes a support tube (61) supported by a bracket (66). The brackets (66) of the two sets of air blowing assemblies (6) are respectively fixed to the inner side of the cardboard box (32) and the inner side of the box door (33). A ventilation tube (65) is rotatably inserted inside the support tube (61). One end of the ventilation tube (65) is connected to an arc-shaped air supply pipe (67) through a flexible tube (621). The surface of the air supply pipe (67) is connected to multiple sets of downward inclined air... The nozzle (671) is positioned by default facing the stacking gap between the top ring cardboard (312) and the bottom ring cardboard (312); the surface of the support tube (61) is connected to a pipe connector (601), which is connected to an external air supply device via a hose; the surface of the vent pipe (65) is provided with a semi-circular vent groove (651) corresponding to the pipe connector (601), and one end of the vent groove (651) is provided with a plug (652) for sealing the pipe connector (601).

9. An automatic palletizing machine according to claim 8, characterized in that: It also includes adjustment components (5), which are provided in two sets corresponding to the air blowing components (6). The two sets of adjustment components (5) respectively include mounting plates (51) embedded in the inner side of the cardboard box (32) and the inner side of the box door (33); the mounting plates (51) extend outward to form a protrusion (52), and a horizontal T-slide groove (521) is provided on the protrusion (52). An arc-shaped part (59) is connected in the T-slide groove (521) through an adjustment unit; and it is located in the uppermost ring. Above the cardboard (312), its inner wall is integrally formed with multiple sets of flexible convex balls (591) that have small contact with the annular cardboard (312); the arc-shaped parts (59) of the two sets of adjustment components (5) are symmetrically distributed on both sides of the annular cardboard (312), the arc-shaped parts (59) are fixedly connected to the air supply pipe (67), the air nozzle (671) is set through the arc-shaped parts (59), and the inner side of the mounting plate (51) is also fixedly connected with a pipe clamp (64) for supporting the flexible tube (621).

10. An automatic palletizing machine according to claim 9, characterized in that: The adjustment unit includes a sliding block (53) that slides within a T-groove (521). A screw (55) is connected to the side of the sliding block (53) via a bearing. One end of the screw (55) passes through a protrusion (52) and is fixed to a turntable (54). An L-shaped seat (56) is fixed to the side of the sliding block (53). A support member (57) is connected to the vertical end of the L-shaped seat (56) with damping rotation. The support member (57) can overlap the horizontal end of the L-shaped seat (56). A protrusion (58) extends integrally from one side of the horizontal end of the L-shaped seat (56). A horizontally arranged fixing rod (593) is threaded onto the protrusion (58). One end of the fixing rod (593) is threaded onto an arc-shaped component (59). Laser sensors and receivers are respectively provided on the sliding blocks (53) of the two sets of adjustment components (5). The two are symmetrically distributed and used to accurately detect the distance between the two sets of arc-shaped components (59).

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