Intelligent palletizing production line with palletizing manipulator

Abstract

The present application relates to the technical field of production line, and discloses an intelligent palletizing production line with palletizing manipulator, which comprises an opening box mechanism, a loading mechanism, a sealing box mechanism, a palletizing mechanism and a conveying mechanism arranged between the mechanisms for conveying the box and the material; the sealing box mechanism is provided with a code sticking assembly for sticking a bar code with information of the box and the material on the sealed box; the conveying mechanism is provided with a palletizing conveying line for conveying the sealed box with the bar code to the palletizing mechanism; a code scanner is arranged on the palletizing conveying line for identifying the bar code on the sealed box; the bar code information read by the code scanner triggers the palletizing mechanism; a plurality of palletizing trays are arranged around the palletizing mechanism; a position sensor is arranged on each palletizing tray for use in cooperation with the palletizing mechanism; the position sensor feeds back the position information of the sealed box on the palletizing tray to the palletizing mechanism; and the palletizing mechanism adjusts the palletizing mode in real time based on the position information of the box.

Description

Technical Field

[0001] This invention relates to the field of production line technology, and in particular discloses an intelligent dynamic palletizing production line with a palletizing robot. Background Technology

[0002] In modern manufacturing, with the continuous expansion of production scale and the increasing demands for production efficiency and product quality, traditional palletizing and packaging methods have gradually revealed numerous drawbacks. Past production processes often relied heavily on manual labor. Between processes such as unpacking, packing, sealing, and palletizing, manual handling and coordination not only consumed a significant amount of time but were also prone to inefficiency and frequent errors due to human factors. Furthermore, traditional palletizing methods struggle to accurately palletize products with varying characteristics, lacking flexibility and adaptability, and failing to meet the diverse packaging needs of products. In warehousing and logistics, non-standardized palletizing often leads to low space utilization and a high risk of product damage. To address these challenges, a new, highly intelligent, and efficient collaborative production line system is urgently needed to improve overall production efficiency and ensure product packaging quality. Summary of the Invention

[0003] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this invention is to provide an intelligent dynamic palletizing production line with a palletizing robot.

[0004] To achieve the above objectives, the present invention provides an intelligent automated palletizing production line with a palletizing robot, comprising an unpacking mechanism for unfolding folded boxes, a packing mechanism for loading materials into the unfolded folded boxes, a sealing mechanism for sealing the boxes already filled with materials, a palletizing mechanism for palletizing the sealed boxes, and a conveying mechanism disposed between the various mechanisms for transporting boxes and materials; the sealing mechanism has a labeling component for affixing labels to the sealed boxes. The conveying mechanism has a barcode for the material information. It has a palletizing transport line for transporting boxes sealed and barcode-affixed by the sealing mechanism to the palletizing mechanism. The palletizing transport line is equipped with a barcode scanner for identifying the barcode on the sealed box. The barcode information read by the barcode scanner triggers the palletizing mechanism. Multiple palletizing trays are arranged around the palletizing mechanism. The palletizing trays are equipped with position sensors that work with the palletizing mechanism. The position sensors feed back the position information of the palletized box to the palletizing mechanism. The palletizing mechanism adjusts the palletizing method in real time based on the position information of the box.

[0005] Furthermore, the palletizing mechanism has a control box, a palletizing robotic arm mounted on the control box, and a palletizing actuator mounted at the drive end of the palletizing robotic arm. The control box is electrically connected to the palletizing robotic arm and the palletizing actuator. The control box generates palletizing instructions via barcode information to control the palletizing robotic arm to drive the palletizing actuator to intelligently palletize the boxes identified by the barcode scanner.

[0006] Furthermore, the palletizing robotic arm has a palletizing manipulator rotatably connected to the control box. The palletizing manipulator has a first joint unit, a second joint unit, a first support arm, a third joint unit, a fourth joint unit, a second support arm, a fifth joint unit, a sixth joint unit, and a seventh joint unit sequentially arranged on the control box. The first joint unit is rotatably connected to the control box, the second joint unit is rotatably connected to the first joint unit, the two ends of the first support arm are respectively connected to the second and third joint units, the fourth joint unit is rotatably connected to the third joint unit, the two ends of the second support arm are respectively connected to the fourth and fifth joint units, the sixth joint unit is rotatably connected to the fifth joint unit, the seventh joint unit is rotatably connected to the sixth joint unit, and the seventh joint unit is rotatably connected to the palletizing actuator. The joint unit is equipped with an angle sensor for measuring the rotation angle of the joint unit, and the support arm is equipped with a stress sensor for measuring the stress borne by the support arm during the palletizing process. Both sensors are electrically connected to the control box to provide feedback on the operating parameters of the joint unit and the support arm during the palletizing operation. The control box dynamically adjusts the operating parameters of the joint unit and the support arm to drive the palletizing actuator to perform intelligent palletizing operations.

[0007] Furthermore, the palletizing actuator has a support frame detachably connected to the palletizing robotic arm. The support frame is equipped with a vacuum generator and a suction cup assembly connected to the vacuum generator. The vacuum generator generates negative pressure between the suction cup assembly and the box to achieve adsorption of the box. The suction cup assembly is equipped with a vacuum pressure sensor electrically connected to the control box to provide feedback on the suction force between the suction cup assembly and the box being suctioned. The control box dynamically adjusts the suction force of the vacuum generator between the suction cup assembly and the box being suctioned based on the feedback information from the vacuum pressure sensor.

[0008] Furthermore, the control box has a built-in intelligent algorithm module. The intelligent algorithm module parses the barcode information scanned by the barcode scanner to extract the parameter information of the box and the material in order to plan the subsequent palletizing layout. The subsequent palletizing plan is adjusted in real time by the position sensor on the palletizing pallet. The sensors on the palletizing robot arm and the palletizing actuator feed back the feedback information of the box to the intelligent algorithm module, so that the intelligent algorithm module can dynamically adjust the palletizing parameters of the palletizing robot arm and the palletizing actuator.

[0009] Furthermore, the unpacking mechanism includes a feeding assembly for continuously providing folded cartons to be unpacked, an unpacking robot for picking up the folded cartons from the feeding assembly and unfolding them into a U-shape, a folding assembly for closing the bottom folds of the cartons unfolded by the unpacking robot, and an adhesive applicator assembly for applying tape to the bottom of the cartons after folding by the folding assembly. After unfolding the folded cartons, the unpacking robot moves the unfolded folded cartons sequentially to the folding assembly and the adhesive applicator assembly to perform folding and tape application actions. Subsequently, the unpacking robot places the folded and tape-applied cartons onto the conveying mechanism and transports them to the packing mechanism.

[0010] Furthermore, the conveying mechanism has a first conveyor line for conveying unfolded cartons to the packing mechanism and a second conveyor line for conveying materials to the packing mechanism. The ends of the first and second conveyor lines closest to the packing mechanism cooperate with the packing mechanism. The first conveyor line is provided with two folding top opening rods for opening the top folds of the cartons to facilitate the loading of materials. The folding top opening rods are arranged along the length direction of the first conveyor line. The packing mechanism has a packing frame, which is provided with two unfolding components for unfolding the two folds of the carton along the length direction of the first conveyor line, a stop component for blocking the cartons to be loaded with materials in cooperation with the unfolding components, a pushing component for pushing the materials conveyed by the second conveyor line to the loading platform, a suction component for absorbing the materials pushed by the pushing component in the loading platform, a lifting component for driving the suction component to perform vertical lifting and lowering movements, and a transverse component for driving the lifting component to perform lateral displacement movements. The packing mechanism drives the suction component to move through the transverse component and the lifting component so as to accurately place the materials absorbed by the suction component into the unfolded carton.

[0011] Furthermore, the sealing mechanism has a sealing assembly for sealing the upper flaps of the box after it has been packed by the packing mechanism and applying tape. A labeling assembly is located at the end of the sealing assembly. The sealing assembly has a sealing frame, on which is provided a roller conveyor line for transporting the packed carton by the conveying mechanism, a first flap, a second flap, and a third flap located above the roller conveyor line. The second flap is rotatably arranged relative to the first flap to cooperate with the first flap in folding the two flaps of the box along the direction of the roller conveyor line in sequence. A flap driver is provided between the second flap and the sealing frame to drive the second flap to rotate. There are two third flaps, which are used to fold the two flaps along the direction perpendicular to the roller conveyor line.

[0012] Furthermore, the feeding assembly has a vertical rack for placing vertically folded cartons. The vertical rack has an inclined base, a limiting member disposed on the base to limit the free end of the vertically folded cartons, and a sliding member for pushing the vertically folded cartons to slide along the inclined base.

[0013] Furthermore, the feeding assembly has a horizontal rack for placing horizontally folded cartons. The horizontal rack has a first plane, a second plane, and a third plane for abutting against the horizontally placed folded cartons. The first plane is used to support the bottom of the horizontally placed folded cartons, and the angle between the first plane and the horizontal plane is an acute angle.

[0014] This invention automates the entire process from unpacking to palletizing on a single production line. The feeding components and robotic unpacking arms work collaboratively, eliminating the need for manual handling and coordination between processes. This results in highly efficient carton opening and initial processing, ensuring timely carton acquisition for subsequent packing and sealing. The first and second conveyor lines transport cartons and materials in parallel, reducing packing waiting time. The close cooperation of all mechanisms significantly reduces manual handling and process coordination time, enabling rapid processing of large volumes of products and a substantial increase in the amount of packaging completed per unit time.

[0015] The barcode scanner of this invention interacts with the palletizing mechanism via a control box, and the palletizing mechanism intelligently pallets the products based on the information on the boxes. The joint units of the palletizing robotic arm and various sensors on the support arm provide feedback on operating parameters. The control box dynamically adjusts these parameters to ensure neat and stable palletizing. It can adopt appropriate palletizing methods based on different product characteristics such as weight, size, and fragility. Furthermore, it can flexibly adjust the palletizing strategy based on information from the pallet position sensors, improving pallet space utilization and ensuring product safety during palletizing and handling.

[0016] The palletizing actuator of this invention employs vacuum adsorption, making it suitable for boxes of various materials and shapes. The support frame and palletizing robotic arm are detachably connected for easy maintenance and replacement. Each mechanism can handle products of different specifications. The intelligent algorithm module analyzes barcode information to plan the palletizing layout and dynamically adjusts palletizing parameters based on sensor feedback. The intelligent control module coordinates the operation of each mechanism, precisely controlling its operating parameters according to changes in product specifications and order volume, ensuring that each mechanism operates in optimal condition and according to standard procedures. This improves the overall quality and consistency of product packaging, guarantees product safety in subsequent stages, thereby enhancing enterprise efficiency and making the enterprise more competitive in the production and packaging process, better adapting to diverse market demands.

[0017] The beneficial effects of this invention are: high production efficiency, seamless automation of each process, reduced manual handling and connection time, and rapid processing of large quantities of products; high precision in intelligent palletizing, with the barcode scanner interacting with the palletizing mechanism via the control box, intelligently palletizing based on the box information, and the robotic arm receiving feedback from multiple sensors, allowing for dynamic adjustment to ensure neat and stable palletizing; strong product adaptability, with the palletizing actuator's vacuum adsorption suitable for various boxes, each mechanism capable of handling products of different specifications, and the ability to optimize the palletizing layout through an intelligent algorithm module, while the intelligent control module coordinates the operation of each mechanism to ensure efficient and high-quality production and packaging, thereby improving enterprise efficiency. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of an intelligent moving palletizing production line with a palletizing robot according to the present invention.

[0019] Figure 2 This is a schematic diagram of the palletizing robotic arm and control box of the present invention;

[0020] Figure 3 This is a schematic diagram of the structure of the palletizing actuator of the present invention;

[0021] Figure 4 This is a schematic diagram of the opening mechanism of the present invention;

[0022] Figure 5 This is a schematic diagram of the horizontal material rack of the present invention;

[0023] Figure 6 This is a schematic diagram of the packing mechanism of the present invention;

[0024] Figure 7 This is a partial structural schematic diagram of the packing mechanism of the present invention;

[0025] Figure 8 This is a schematic diagram of the sealing assembly of the present invention;

[0026] Figure 9 This is a partial structural schematic diagram of the sealing mechanism of the present invention.

[0027] The reference numerals in the attached drawings include: 1. Box opening mechanism; 11. Feeding assembly; 111. Vertical rack; 1111. Base frame; 1112. Limiting component; 1113. Sliding component; 112. Horizontal rack; 1121. First plane; 1122. Second plane; 1123. Third plane; 12. Box opening robot; 121. Box opening actuator; 122. Box opening driver; 13. Folding assembly; 14. Adhesive application assembly; 15. Side wheel assembly. 1. Packing mechanism; 2. Packing frame; 22. Unfolding component; 23. Stop component; 24. Pushing assembly; 25. Suction assembly; 26. Transverse assembly; 261. Sliding assembly; 262. Transverse drive; 27. Lifting assembly; 271. Transmission assembly; 272. Lifting drive; 28. Temporary storage platform; 3. Sealing mechanism; 31. Sealing assembly; 311. Sealing frame; 312. First folding component; 313. Second folding component; 314. Folding component; 315. Third folding component; 316. Folding actuator; 317. Adhesive applicator; 318. Cutting component; 319. Adhesive pressing component; 32. Labeling assembly; 4. Palletizing mechanism; 41. Control box; 42. Palletizing robot arm; 421. Palletizing robot hand; 4211. First joint unit; 4212. Second joint unit; 4213. First support arm; 4214. Third joint unit; 4215. Fourth joint unit; 4 216. Second support arm; 4217. Fifth joint unit; 4218. Sixth joint unit; 4219. Seventh joint unit; 43. Palletizing actuator; 431. Support frame; 432. Vacuum generator; 433. Suction cup assembly; 5. Conveying mechanism; 51. Barcode scanner; 52. First transport line; 521. Folding top opening rod; 53. Second transport line; 54. Roller conveyor line; 55. Palletizing transport line; 6. Palletizing pallet. Detailed Implementation

[0028] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0029] Please see Figures 1 to 9As shown, an intelligent palletizing production line with a palletizing robot of the present invention includes an unpacking mechanism 1 for unfolding folded boxes, a packing mechanism 2 for loading materials into the unfolded folded boxes by the unpacking mechanism 1, a sealing mechanism 3 for sealing the boxes already filled by the packing mechanism 2, a palletizing mechanism 4 for palletizing the boxes sealed by the sealing mechanism 3, and a conveying mechanism 5 disposed between the mechanisms for transporting boxes and materials; the sealing mechanism 3 has a labeling component 32 for affixing a strip containing information about the box and materials to the sealed box. The conveying mechanism 5 has a palletizing transport line 55 for transporting boxes sealed and barcode-affixed by the sealing mechanism 3 to the palletizing mechanism 4. The palletizing transport line 55 is equipped with a barcode scanner 51 for identifying the barcode on the sealed box. The barcode information read by the barcode scanner 51 triggers the palletizing mechanism 4. Multiple palletizing trays 6 are arranged around the palletizing mechanism 4. The palletizing trays 6 are equipped with position sensors that work with the palletizing mechanism 4. The position sensors feed back the position information of the palletized box to the palletizing mechanism 4. The palletizing mechanism 4 adjusts the palletizing method in real time based on the position information of the box.

[0030] In actual use, a series of processes from unpacking, packing, sealing to palletizing are completed sequentially on a single production line, reducing time wasted on manual handling and process connections, greatly improving overall production efficiency, and adapting to the needs of large-scale continuous production. The barcode affixed to the box by the labeling component 32 records information about the box and materials, achieving information-based product identification. Throughout the production, warehousing, and sales processes, the barcode scanner 51 reads the barcode information, quickly and accurately obtaining detailed product information such as production date, batch, and specifications, facilitating production management, quality traceability, and inventory management for enterprises. Position sensors on the palletizing pallet 6 feed back the position information of the palletized boxes to the palletizing mechanism 4, which adjusts the palletizing method in real time based on this information. This not only ensures neat and stable palletizing but also allows for flexible adjustment of palletizing strategies according to different production needs and pallet usage, improving pallet space utilization. The barcode scanner 51 is electrically connected to the palletizing mechanism 4 to transmit barcode information, enabling the palletizing mechanism 4 to perform targeted palletizing operations based on the box information. For example, different palletizing methods can be used for products of different weights, sizes, or fragility. For fragile items, special palletizing methods such as handling with care and layering can be used to improve the safety of the products during palletizing and subsequent handling. The arrangement of multiple palletizing pallets 6 and the flexible adjustment of palletizing methods enable this production line to adapt to the needs of different product types, different packaging specifications, and different production order quantities.

[0031] Specifically, the palletizing mechanism 4 has a control box 41, a palletizing robotic arm 42 mounted on the control box 41, and a palletizing actuator 43 mounted at the drive end of the palletizing robotic arm 42. The control box 41 is electrically connected to the palletizing robotic arm 42 and the palletizing actuator 43. The control box 41 generates palletizing instructions via barcode information to control the palletizing robotic arm 42 to drive the palletizing actuator 43 to perform intelligent palletizing of the boxes identified by the barcode scanner 51.

[0032] In actual use, the control box 41 generates palletizing instructions based on the barcode information obtained by the barcode scanner 51. This allows the palletizing mechanism 4 to perform personalized palletizing for different products. For example, for boxes of different sizes, the most reasonable palletizing layout can be calculated to maximize the use of pallet space and improve storage density. For fragile items or products with special stacking requirements, such as certain chemicals that require specific ventilation or isolation palletizing conditions, the corresponding palletizing operation can also be performed based on the product information contained in the barcode, reducing the risk of product damage. The control box 41 is electrically connected to the palletizing robotic arm 42 and the palletizing actuator 43, realizing precise control of the palletizing action. Under the instructions of the control box 41, the palletizing robotic arm 42 can accurately locate the gripping position of the box and grip the box with appropriate force and posture, and then accurately place it on the palletizing pallet 6. The palletizing mechanism 4 is tightly integrated with other parts of the entire production line, especially through the information interaction between the barcode scanner 51 and the control box 41, realizing the automated and seamless connection from sealing the box to palletizing. Once the box is scanned on the palletizing transport line 55, the palletizing mechanism 4 immediately receives the information and starts the corresponding palletizing program without manual intervention. This reduces downtime and waiting time in the production process, further improving the automation level and production efficiency of the entire production line. During the process of generating palletizing instructions based on barcode information, the control box 41 can collect and record a large amount of palletizing data, such as the palletizing methods, palletizing time, and palletizing success rate for different products. This data can provide strong decision support for enterprise production management. For example, by analyzing the data, the reasons for the low palletizing efficiency of certain products can be identified, thereby optimizing and improving product packaging design or palletizing programs. Because the palletizing instructions are associated with barcode information, if palletizing quality problems or product damage are found in subsequent warehousing, logistics, and sales stages, the specific stage and cause of the problem can be quickly located by tracing the barcode information corresponding to the palletizing instructions.

[0033] Specifically, the palletizing robotic arm 42 has a palletizing manipulator 421 rotatably connected to the control box 41. The palletizing manipulator 421 has a first joint unit 4211, a second joint unit 4212, a first support arm 4213, a third joint unit 4214, a fourth joint unit 4215, a second support arm 4216, a fifth joint unit 4217, a sixth joint unit 4218, and a seventh joint unit 4219 sequentially arranged on the control box 41. The first joint unit 4211 is rotatably connected to the control box 41, the second joint unit 4212 is rotatably connected to the first joint unit 4211, the two ends of the first support arm 4213 are respectively connected to the second joint unit 4212 and the third joint unit 4214, and the fourth joint unit 4215 is connected to the third joint unit 4214. The second support arm 4216 is rotatably connected to the fourth joint unit 4215 and the fifth joint unit 4217 at both ends, respectively. The sixth joint unit 4218 is rotatably connected to the fifth joint unit 4217, and the seventh joint unit 4219 is rotatably connected to the sixth joint unit 4218. The seventh joint unit 4219 is rotatably connected to the palletizing actuator 43. The joint unit is equipped with an angle sensor for measuring the rotation angle of the joint unit, and the support arm is equipped with a stress sensor for measuring the stress borne by the support arm during the palletizing process. Both sensors are electrically connected to the control box 41 to provide feedback on the operating parameters of the joint unit and the support arm during the palletizing operation. The control box 41 dynamically adjusts the operating parameters of the joint unit and the support arm to drive the palletizing actuator 43 to perform intelligent palletizing operation.

[0034] In practical use, the palletizing robot 421, composed of the first joint unit 4211 to the seventh joint unit 4219 connected sequentially, enables the palletizing robot arm 42 to rotate flexibly in multiple directions and angles. This complex yet orderly joint structure design greatly expands the working range of the robot arm, allowing it to accurately reach different pallet positions. It exhibits strong adaptability in both planar translation and positioning, as well as height and angle adjustments in three-dimensional space, thus enabling more accurate completion of palletizing tasks, effectively reducing placement deviations, and improving palletizing accuracy and overall quality. Angle sensors installed on each joint unit can measure the rotation angle of the joint unit in real time and feed this data back to the control box 41. Based on this angle information, the control box 41 can accurately grasp the movement status of each joint of the robot arm. Once an angle deviation or movement trend is detected that does not meet the preset requirements, it can make timely dynamic adjustments to ensure that the robot arm moves according to the accurate trajectory and angle, avoiding palletizing errors caused by the accumulation of joint rotation errors, and enhancing the stability and repeatability of the robot arm's movement. The stress sensor equipped on the support arm measures the stress it experiences during palletizing. This is crucial for monitoring the arm's stress condition. When the weight of the goods changes or abnormal stress occurs during palletizing, the stress sensor quickly feeds the data back to the control box 41. Based on this data, the control box 41 determines whether the support arm is within a safe stress range and adjusts the arm's motion parameters accordingly, such as slowing down the movement or adjusting its posture, to prevent damage from overload. This also ensures stable palletizing operations under reasonable mechanical conditions, extending the arm's lifespan. The electrical connection between the two sensors and the control box 41 forms a real-time feedback closed-loop system. During palletizing, the operating parameters of the joint units and the support arm are continuously fed back to the control box 41. Based on this accurate information, the control box 41 quickly and dynamically optimizes and adjusts the operating parameters of the joint units and the support arm, thereby driving the palletizing actuator 43 to intelligently perform the palletizing work. This intelligent working mode reduces the need for manual intervention and avoids work interruptions caused by untimely human judgment and operation, enabling the palletizing process to be carried out continuously and efficiently, greatly improving the overall efficiency of palletizing operations, and is especially suitable for large-scale, high-intensity palletizing production scenarios.

[0035] Specifically, the palletizing actuator 43 has a support frame 431 detachably connected to the palletizing robotic arm 42. The support frame 431 is equipped with a vacuum generator 432 and a suction cup assembly 433 connected to the vacuum generator 432. The vacuum generator 432 generates negative pressure between the suction cup assembly 433 and the box to achieve adsorption of the box. The suction cup assembly 433 is equipped with a vacuum pressure sensor electrically connected to the control box 41 to provide feedback on the suction force between the suction cup assembly 433 and the box being suctioned. The control box 41 dynamically adjusts the suction force of the vacuum generator 432 between the suction cup assembly 433 and the box being suctioned based on the feedback information from the vacuum pressure sensor.

[0036] In practical use, a vacuum generator 432 is used in conjunction with a suction cup assembly 433 to grip the box. Adsorption is achieved by generating negative pressure between the suction cup assembly 433 and the box. This non-contact gripping method is suitable for boxes with various surface materials, especially those with relatively smooth surfaces. A vacuum pressure sensor on the suction cup assembly 433 is electrically connected to the control box 41, providing real-time feedback on the suction force between the suction cup assembly 433 and the box. Based on this feedback, the control box 41 dynamically adjusts the suction force between the vacuum generator 432 and the suction cup assembly 433. This mechanism allows the palletizing actuator 43 to flexibly adjust the suction force according to the actual situation of the box. Because the vacuum adsorption method does not depend on the specific shape or fixed gripping point of the box, the palletizing actuator 43 can flexibly grip boxes of various shapes and sizes. Whether it is a cube, cuboid, or slightly irregularly shaped packaging box, as long as an effective negative pressure adsorption area can be formed on its surface, it can be adsorbed and gripped by the suction cup assembly 433. This significantly improves the adaptability of the palletizing system to different product packaging. The carrier frame 431 of the palletizing actuator 43 is detachably connected to the palletizing robotic arm 42. When the suction cup assembly 433 is worn, damaged, or needs to be replaced with a different specification of suction cup assembly 433 according to the characteristics of new product packaging, the carrier frame 431 can be easily and quickly removed from the robotic arm for maintenance or replacement. Through feedback from the vacuum pressure sensor and dynamic control of the control box 41, the palletizing actuator 43 achieves intelligent suction adjustment. The entire process requires no manual intervention. In fast and continuous palletizing operations, it can automatically adapt to the gripping needs of different boxes, speeding up the gripping and placement of boxes, reducing the downtime caused by improper suction adjustment, and thus improving the overall efficiency of palletizing.

[0037] Specifically, the control box 41 has a built-in intelligent algorithm module. The intelligent algorithm module parses the barcode information scanned by the barcode scanner 51 to extract the parameter information of the box and the material in order to plan the subsequent palletizing layout. The subsequent palletizing plan is adjusted in real time by the position sensor on the palletizing pallet 6. The sensors on the palletizing robot arm 42 and the palletizing actuator 43 feed back the feedback information of the box to the intelligent algorithm module so that the intelligent algorithm module can dynamically adjust the palletizing parameters of the palletizing robot arm 42 and the palletizing actuator 43.

[0038] In practical use, the intelligent algorithm module can parse various parameter information of the box and materials from the barcode information scanned by the barcode scanner 51, such as the size, weight, fragility of the box, and the category of the material. Based on these detailed parameters, the algorithm can scientifically plan the subsequent palletizing layout to maximize space utilization. For example, for boxes of different sizes, their arrangement order and stacking layers on the palletizing pallet 6 can be reasonably arranged to avoid space waste and increase the pallet's load capacity. With the real-time feedback information from the position sensors on the palletizing pallet 6, the intelligent algorithm module can understand the actual position of the palletized boxes in a timely manner and make corresponding adjustments to the subsequent palletizing plan. Various sensors on the palletizing robotic arm 42 and the palletizing actuator 43 will provide feedback information on the boxes, such as the angle of the joint unit, the extension length of the support arm, the suction force of the suction cup, and the stress on the support arm, to the intelligent algorithm module in real time. Based on this rich data, the algorithm module can dynamically adjust the palletizing parameters of the palletizing robotic arm 42 and the palletizing actuator 43 to achieve precise control of the palletizing operation. Because the intelligent algorithm module continuously adjusts palletizing parameters based on sensor feedback, the palletizing system is highly adaptable to different types and conditions of boxes. Through the intelligent algorithm module's optimization of the palletizing layout and dynamic, precise adjustment of palletizing parameters, the entire palletizing process is smoother, more efficient, and more accurate. This reduces repetitive operations and box damage caused by improper palletizing, shortens the time from packaging to palletizing completion for a single product, and allows for the processing of more products per unit time, thereby improving production efficiency.

[0039] Specifically, the unpacking mechanism 1 includes a feeding assembly 11 for continuously providing folded cartons to be unpacked, an unpacking robot 12 for picking up the folded cartons from the feeding assembly 11 and unfolding them into a U-shape, a folding assembly 13 for closing the bottom folds of the cartons unfolded by the unpacking robot 12, and an adhesive applicator 14 for applying tape to the bottom of the cartons after folding by the folding assembly 13. After unfolding the folded cartons, the unpacking robot 12 moves the unfolded folded cartons sequentially to the folding assembly 13 and the adhesive applicator 14 to perform folding and tape application. Subsequently, the unpacking robot 12 places the folded and tape-applied cartons onto the conveying mechanism 5 and transports them to the packing mechanism 2.

[0040] In actual use, the feeding component 11, the unpacking robot 12, the folding component 13, and the adhesive applicator 14 together form a continuous carton processing flow. The feeding component 11 continuously and stably provides folded cartons to be opened. The unpacking robot 12 then picks up and unfolds the carton, followed by the bottom folding and adhesive applicator 14 completing the bottom folding and tape application. Finally, the processed carton is placed on the conveyor mechanism 5. The entire process is seamless, eliminating the need for manual handling and connection between processes, greatly improving the efficiency of carton opening and initial processing. This allows subsequent processes such as packing and sealing to obtain prepared cartons more promptly, ensuring the efficient operation of the entire production line. The collaborative work of each component achieves fully automated carton opening and bottom processing. Compared to traditional manual opening, folding, and adhesive applicator methods, automated operation avoids speed differences and operational errors caused by factors such as skill level and fatigue during manual operation, enabling the processing of each carton at a stable and relatively fast speed. The folding assembly 13 is specifically designed to close the folds at the bottom of the unfolded carton, enabling a standardized and precise folding operation that ensures the structural integrity and stability of the carton's bottom. The adhesive applicator 14 applies tape to the bottom of the folded carton, ensuring the tape is firmly adhered and accurately positioned.

[0041] Specifically, the conveying mechanism 5 has a first conveying line 52 for conveying unfolded cartons to the packing mechanism 2 and a second conveying line 53 for conveying materials to the packing mechanism 2. The ends of the first conveying line 52 and the second conveying line 53 near the packing mechanism 2 cooperate with the packing mechanism 2. The first conveying line 52 is provided with two flap opening rods 521 for opening the top flaps of the carton to facilitate the loading of materials. The flap opening rods 521 are arranged along the length direction of the first conveying line 52. The packing mechanism 2 has a packing frame 21, and the packing frame 21 is provided with two flaps for unfolding the carton along the length direction of the first conveying line 52. The packing mechanism 2 includes two unfolding components 22, a stop component 23 for stopping the carton to be filled, a pushing component 24 for pushing the material conveyed by the second conveyor line 53 to the loading platform, a suction component 25 for absorbing the material pushed by the pushing component 24 in the loading platform, a lifting component 27 for driving the suction component 25 to move vertically, and a transverse component 26 for driving the lifting component 27 to move laterally. The packing mechanism 2 drives the suction component 25 to move via the transverse component 26 and the lifting component 27, so as to accurately place the material absorbed by the suction component 25 into the unfolded box.

[0042] In actual use, the first transport line 52 and the second transport line 53 of the conveying mechanism 5 have a clear division of labor. The first transport line 52 is responsible for transporting the unfolded cartons to the packing mechanism 2, while the second transport line 53 accurately delivers the materials to the packing mechanism 2. This parallel transport method ensures that the cartons and materials arrive at the packing stage simultaneously, avoiding packing waiting time caused by untimely material supply or delayed carton arrival, greatly improving the efficiency of the entire packing process, and enabling the entire production line to operate continuously and stably, helping to complete the packaging of more products per unit time. The two folding top opening rods 521 on the first transport line 52 are distributed along its length, which can automatically open the top folds of the carton during the carton transport process, preparing for the subsequent filling of materials into the carton. This ingenious design eliminates the step of manually opening the folds, reduces manual operation, improves the preparation efficiency before packing, and ensures the consistency of fold opening. The packing mechanism 2 achieves precise placement of materials through the coordinated operation of the unfolding component 22, the stop component 23, the pusher component 24, the suction component 25, the traversing component 26, and the lifting component 27. The unfolding component 22 unfolds the relevant folds of the carton, the stop component 23 accurately limits the carton's position, the pusher component 24 pushes the material onto the loading platform, the suction component 25 picks up the material, and the traversing component 26 and the lifting component 27 drive the suction component 25 to perform precise displacement movements, thereby accurately placing the material into the unfolded carton. Each component works in concert, fulfilling its specific function, ensuring the accuracy and efficiency of the packing process, reducing rework caused by improper material placement, and effectively improving packing quality and efficiency.

[0043] Specifically, the sealing mechanism 3 has a sealing assembly 31 for closing the upper flaps of the carton after it has been packed by the packing mechanism 2 and applying tape. A labeling assembly 32 is located at the end of the sealing assembly 31. The sealing assembly 31 has a sealing frame 311. The sealing frame 311 is equipped with a roller conveyor line 54 for transporting the packed cartons by the conveying mechanism 5, and a first flap 312, a second flap 313, and a third flap 314 located above the roller conveyor line 54. 14. The second folding member 313 is rotatably arranged relative to the first folding member 312 to cooperate with the first folding member 312 to fold the two folds of the box body in sequence along the direction of the roller conveyor line 54. A folding driver 315 is provided between the second folding member 313 and the sealing frame 311 to drive the second folding member 313 to rotate. The number of third folding members 314 is set to two. The two third folding members 314 are used to fold the two folds along the direction perpendicular to the roller conveyor line 54.

[0044] In actual use, the first folding component 312, the second folding component 313, and the third folding component 314 in the sealing assembly 31 cooperate to simultaneously process folds in different directions of the carton. The first folding component 312 and the rotatable second folding component 313 work together to fold two folds sequentially along the direction of the roller conveyor line 54, while the two third folding components 314 are responsible for folding two folds perpendicular to the direction of the roller conveyor line 54. This multi-component parallel operation greatly shortens the folding operation time. The roller conveyor line 54 is set on the sealing machine frame 311 and is used to transport the filled cartons, providing stable and continuous conveying power for the carton.

[0045] Specifically, the feeding assembly 11 has a vertical rack 111 for placing vertically folded cartons. The vertical rack 111 has an inclined base frame 1111, a limiting member 1112 disposed on the base frame 1111 to limit the free end of the vertically folded cartons, and a sliding member 1113 for pushing the vertically folded cartons to slide along the inclined base frame 1111.

[0046] In practical use, the vertical rack 111 is used to place vertically folded cartons. Compared to other methods such as flat placement, it makes better use of space, allowing for the storage of a larger number of cartons within a limited footprint. This is especially suitable for production or packaging environments with limited space, facilitating centralized placement and management of cartons and helping to maintain order in the work area. Its tilted angle allows the folded cartons to slide down under their own weight. When a carton needs to be retrieved later, it can move naturally and smoothly towards the discharge direction, reducing the amount of manual labor required to move and position the cartons. This improves the automation and efficiency of the feeding process to a certain extent, saving on labor costs. Limiting the free end of the vertically folded cardboard box effectively prevents excessive shaking or tipping due to accidental collisions, vibrations, or its own weight during placement. This ensures the box remains in a correct vertical position with a relatively fixed location, which is crucial for subsequent accurate picking and conveying operations. It improves the precision and stability of the entire feeding process and reduces feeding failures caused by box misalignment. The mechanism pushes the vertically folded cardboard box along the inclined base 1111, allowing the box to move according to a set rhythm and pattern. For example, when feeding boxes one by one, the bottom or appropriately positioned boxes can be systematically pushed onto the next conveyor line, ensuring continuous and stable feeding and preventing abnormal situations such as box jams or excessive output at once. This contributes to an efficient and smooth production process.

[0047] Specifically, the feeding assembly 11 has a horizontal rack 112 for placing horizontally folded cartons. The horizontal rack 112 has a first plane 1121, a second plane 1122 and a third plane 1123 for abutting against the horizontally placed folded cartons. The first plane 1121 is used to support the bottom of the horizontally placed folded cartons and the angle between the first plane 1121 and the horizontal plane is an acute angle.

[0048] In practical use, by setting the first plane 1121, the second plane 1122, and the third plane 1123 to resist the horizontally placed folded cartons, the cartons can be supported and limited from multiple directions. This allows the cartons to be placed relatively stably on the horizontal material rack 112, effectively preventing them from easily shifting or slipping due to slight external shaking or collisions. This ensures that the cartons are in a relatively stable, ready-to-feed state on the material rack, facilitating the orderly conduct of subsequent feeding operations. The first plane 1121 forms an acute angle with the horizontal plane. This design utilizes the component of the cartons' own weight, allowing the folded cartons placed on it to naturally slide along the tilt direction. When feeding is needed, the cartons can move relatively smoothly in the discharge direction without relying too much on additional powerful pushing devices. This simplifies the feeding drive mechanism to a certain extent and helps to achieve automatic and continuous feeding of cartons, improving feeding efficiency and reducing the frequency and workload of manual intervention. The horizontal material rack 112, with its design for placing and feeding horizontally folded cartons, better matches production layouts that involve horizontal conveying and processing. For example, it facilitates seamless connection to subsequent horizontal conveyor belts, allowing for unpacking and filling processes at the same horizontal level. This makes the entire production process smoother and more compact, reducing complex operations and space waste caused by carton orientation changes, and optimizing the continuity and rationality of the production process. The stable and automatically sliding carton placement method ensures that the cartons are in an ideal initial state when entering subsequent processes such as unpacking and material filling. This facilitates accurate grabbing and opening of cartons by automated equipment and allows for precise and efficient material filling operations. It reduces the probability of errors and jams in subsequent operations due to poor initial carton conditions, improving the reliability of the entire production chain and product quality.

[0049] In this embodiment, the intelligent palletizing production line with a palletizing robot also includes an intelligent control module. The intelligent control module is electrically connected to each mechanism to dynamically control the operating parameters of each mechanism in order to achieve coordinated operation between the mechanisms.

[0050] In actual use, the intelligent control module is electrically connected to each mechanism of the production line, including the unpacking mechanism 1, packing mechanism 2, sealing mechanism 3, and palletizing mechanism 4, enabling real-time monitoring and dynamic adjustment of their operating parameters. This makes the connection between the various mechanisms closer and smoother. For example, when the unpacking mechanism 1 completes the unpacking and transports the box to the packing mechanism 2, the intelligent control module can precisely adjust the start time and operating rhythm of the packing mechanism 2 based on information such as the conveying speed and the number of boxes, ensuring that the packing operation can be connected in a timely and accurate manner, avoiding production stagnation or efficiency reduction caused by poor connection, and ensuring that the entire production line operates collaboratively like a precision machine. The intelligent control module can acquire the operating parameters of each mechanism in real time, such as the movement speed of the robotic arm, the conveyor belt speed, and the working frequency of each component, and perform dynamic optimization based on this data. For example, when it is found that the palletizing speed of the palletizing mechanism 4 is slightly slower than the packing speed of the packing mechanism 2, it can appropriately increase the action frequency of the palletizing robot arm 42 or adjust the palletizing strategy to speed up the palletizing process, so that the working speeds of the two are rematched, reducing the waiting time caused by the speed difference, thereby improving the overall operating speed of the production line and enabling it to handle more product packaging tasks per unit time. During the production process, changes in product specifications and order quantities are inevitable. The intelligent control module, with its electrical connection to each mechanism and dynamic control function, can quickly adapt to these changes. Through precise control of the operating parameters of each mechanism, the intelligent control module can ensure that each mechanism operates according to the optimal working state and standard procedures. For example, in the packing mechanism 2, it precisely controls the force of the suction component 25 in picking up materials, the displacement accuracy of the lateral and lifting components 27, etc., to ensure that the materials are accurately loaded into the box; in the sealing mechanism 3, it adjusts the folding angle of the folding component and the position and length of the adhesive tape, etc., to ensure the quality of the box sealing. This precise control reduces operational errors and poor product packaging quality caused by unreasonable parameters, improves the overall quality and consistency of product packaging, and ensures the safety of products in subsequent transportation and storage.

[0051] In this embodiment, the number of limiting members 1112 is set to multiple, and the multiple limiting members 1112 respectively limit the multiple degrees of freedom of the vertical folded carton in multiple directions; the carton opening robot 12 has an opening actuator 121 for unfolding the vertical folded carton and an opening driver 122 for driving the opening actuator 121 to perform multi-degree-of-freedom movement, and the opening driver 122 has a multi-stage driving structure; the carton opening mechanism 1 also includes a side wheel assembly 15 for assisting the adhesive application assembly 14 in applying adhesive.

[0052] In actual use, because the number of limiting components 1112 is set to multiple, and each can limit the freedom of the vertical folding carton in multiple directions, the folding carton can be firmly fixed in a specific position during subsequent operations (such as opening and gluing), avoiding unnecessary shaking or displacement of the carton, ensuring the accuracy and stability of the entire carton processing flow, and facilitating the precise and efficient execution of subsequent processes. The restriction of multiple degrees of freedom means that the device can adapt to vertical folding cartons of different sizes and specifications, improving the equipment's compatibility with different types of cartons. Even when faced with cartons of slightly different shapes or irregularly arranged, multiple limiting components 1112 can effectively constrain them from all directions, enhancing the applicability and versatility of the entire system. The carton opening robot 12 is equipped with an opening actuator 121 for unfolding the vertical folding carton and an opening driver 122 with a multi-stage drive structure. This design enables it to achieve multi-degree-of-freedom movement. The multi-stage drive structure provides more precise and diverse motion control, while the unpacking actuator 121 accurately completes the carton unfolding action. The combination of these two allows the robotic arm to flexibly adjust its posture and trajectory according to the specific conditions of the carton, smoothly completing the unpacking task of folded cartons in different states, effectively improving the success rate and efficiency of the unpacking operation. The side wheel assembly 15 assists the adhesive applicator 14 in applying adhesive, providing support, guidance, and compaction during the application process. For example, during the application of tape to the side of the carton, the side wheel assembly 15 ensures that the tape adheres tightly and smoothly to the side of the carton, avoiding quality problems such as tape wrinkles, lifting, or poor adhesion, thus improving the strength and aesthetics of the adhesive application.

[0053] In this embodiment, the packing mechanism 2 further includes a temporary storage platform 28 disposed on the packing frame 21, the temporary storage platform 28 being located below the suction assembly 25; the lifting assembly 27 has a transmission assembly 271 rotatably disposed on the suction assembly 25 and a lifting driver 272 for driving the transmission assembly 271 to drive the suction assembly 25 to perform lifting and lowering movements; the lateral movement assembly 26 has a sliding assembly 261 slidably disposed on the packing frame 21 and a lateral movement driver 262 for driving the sliding assembly 261 to perform lateral movement, the lateral movement of the sliding assembly 261 driving the lifting assembly 27 to perform lateral movement.

[0054] In actual use, the temporary storage platform 28 is set on the packing frame 21 and below the suction component 25. It provides a temporary storage space for materials, allowing them to be temporarily stored on this platform after being transferred from other stages, awaiting the next suction operation by the suction component 25. This effectively connects upstream and downstream processes, avoiding problems such as poor connection and excessive waiting time during material transportation, ensuring the continuity and efficiency of the entire packing process. The lifting component 27 drives the transmission component 271, which is rotated on the suction component 25, through the lifting driver 272, thereby driving the suction component 25 to move up and down. This design allows the suction component 25 to flexibly adjust its vertical position according to factors such as the actual stacking height of the materials, the height of the temporary storage platform 28, and the height of the target packing position, ensuring accurate material suction and placement at the appropriate packing height, enhancing the adaptability of the entire packing mechanism 2 to different working conditions and material stacking situations. The lateral movement component 26 and the lifting component 27 work together in coordination. The lateral movement of the sliding component 261 links with the lifting component 27, enabling the suction component 25 to move flexibly within a two-dimensional plane (horizontal and vertical), thus optimizing the overall workflow of suction, movement, and discharge. This allows materials to be packed accurately and efficiently according to a preset path and position, reducing unnecessary intermediate transfer links and complex operations, and improving the overall efficiency and automation level of the packing mechanism 2.

[0055] In this embodiment, the sealing assembly 31 further includes an adhesive applicator 316 for applying tape to the box body after sealing the folded parts, a cutter 317 for cutting off the tape applied by the adhesive applicator 316, and a pressing device 318 for pressing the tape cut off by the cutter 317 onto the box body. The adhesive applicator 316, the cutter 317, and the pressing device 318 can all be telescopically mounted on the sealing machine frame 311.

[0056] In practical use, the adhesive applicator 316 is used to apply tape to the box after the folded parts are sealed. The tape effectively seals the openings and other areas requiring sealing, preventing items from falling out during transportation and storage. This ensures the overall airtightness of the box, maintains the integrity of the packaging, and meets the basic requirements of subsequent logistics and warehousing. The adhesive applicator 316 is telescopically mounted on the sealing machine frame 311, allowing its position to be adjusted according to different box sizes and shapes. Whether the box is large or small, the adhesive applicator 316 can be extended to the appropriate position to precisely apply the tape to the corresponding area. This improves the adaptability of the sealing assembly 31 to various box sizes, enhancing the equipment's versatility and practicality. Since the cutter 317 is also telescopically mounted on the sealing machine frame 311, it can flexibly move to the precise position where the tape needs to be cut. Working seamlessly with the tape applicator 316, it quickly and accurately performs the cutting operation after tape application, reducing errors and inconveniences that may arise from manual cutting, optimizing the sealing process, and effectively improving the overall efficiency of the sealing work. The pressing device 318 further presses the tape cut by the cutter 317 onto the box body. After compaction, the tape adheres more tightly and firmly to the box surface, effectively preventing the tape from lifting or falling off during subsequent use, further ensuring the quality of the box sealing and ensuring that the box maintains a good sealing condition during long-term transportation and handling. The extendable design allows the sealing component 318 to adjust its position according to the specific shape of the box and the location of the tape application. Whether on the corners or flat surfaces of the box, the sealing component 318 can extend to the appropriate position for effective sealing, better handling various complex sealing scenarios and improving the precision and overall quality of the sealing process. The tape applicator 316, cutter 317, and sealing component 318 work together to form a coherent and orderly sealing operation. From tape application to tape cutting and compaction, each step is closely linked, reducing interruptions and manual intervention, achieving automated and efficient sealing operations, greatly improving sealing speed and quality, and contributing to increased production efficiency across the entire packaging production line.

[0057] The above description is only a preferred embodiment of the present invention. For those skilled in the art, there will be changes in the specific implementation and application scope based on the ideas of the present invention. The content of this specification should not be construed as a limitation of the present invention.

Claims

1. An intelligent automated palletizing production line with a palletizing robot, characterized in that: The system includes an opening mechanism (1) for unfolding a folding box, a packing mechanism (2) for loading materials into the unfolded folding box by the opening mechanism (1), a sealing mechanism (3) for sealing the box filled with materials by the packing mechanism (2), a stacking mechanism (4) for stacking the sealed boxes by the sealing mechanism (3), and a conveying mechanism (5) disposed between the mechanisms for transporting the boxes and materials; the sealing mechanism (3) has a barcode affixing component (32) for affixing barcodes containing information about the box and materials to the sealed box, and the conveying mechanism (5) has a transport mechanism for transporting the sealed boxes. The box mechanism (3) seals the box and completes the barcode affixing of the box to the palletizing mechanism (4) palletizing transport line (55). The palletizing transport line (55) is equipped with a barcode scanner (51) for identifying the barcode on the sealed box. The barcode information read by the barcode scanner (51) triggers the palletizing mechanism (4). Multiple palletizing trays (6) are arranged around the palletizing mechanism (4). The palletizing trays (6) are equipped with position sensors that work with the palletizing mechanism (4). The position sensors feed back the position information of the box after palletizing to the palletizing mechanism (4). The palletizing mechanism (4) adjusts the palletizing method in real time based on the position information of the box.

2. The intelligent automated palletizing production line with a palletizing robot according to claim 1, characterized in that: The palletizing mechanism (4) has a control box (41), a palletizing robotic arm (42) mounted on the control box (41), and a palletizing actuator (43) mounted at the drive end of the palletizing robotic arm (42). The control box (41) is electrically connected to the palletizing robotic arm (42) and the palletizing actuator (43). The control box (41) generates palletizing instructions via barcode information to control the palletizing robotic arm (42) to drive the palletizing actuator (43) to perform intelligent palletizing of the boxes identified by the barcode scanner (51).

3. The intelligent automated palletizing production line with a palletizing robot according to claim 2, characterized in that: The palletizing robot arm (42) has a palletizing manipulator (421) rotatably connected to the control box (41). The palletizing manipulator (421) has a first joint unit (4211), a second joint unit (4212), a first support arm (4213), a third joint unit (4214), a fourth joint unit (4215), a second support arm (4216), a fifth joint unit (4217), a sixth joint unit (4218), and a seventh joint unit (4219) sequentially arranged on the control box (41). The first joint unit (4211) is rotatably connected to the control box (41), the second joint unit (4212) is rotatably connected to the first joint unit (4211), the two ends of the first support arm (4213) are respectively connected to the second joint unit (4212) and the third joint unit (4214), and the fourth joint unit (4215) is connected to the third joint unit (4216). The joint unit (4214) is rotatably connected, and the two ends of the second bearing arm (4216) are respectively connected to the fourth joint unit (4215) and the fifth joint unit (4217). The sixth joint unit (4218) is rotatably connected to the fifth joint unit (4217), and the seventh joint unit (4219) is rotatably connected to the sixth joint unit (4218). The seventh joint unit (4219) is rotatably connected to the palletizing actuator (43). The joint unit is equipped with an angle sensor for measuring the rotation angle of the joint unit, and the bearing arm is equipped with a stress sensor for measuring the stress borne by the bearing arm during the palletizing process. Both sensors are electrically connected to the control box (41) to provide feedback on the operating parameter information of the joint unit and the bearing arm during the palletizing operation. The control box (41) dynamically adjusts the operating parameters of the joint unit and the bearing arm to drive the palletizing actuator (43) to perform intelligent palletizing operation.

4. The intelligent automated palletizing production line with a palletizing robot according to claim 2, characterized in that: The palletizing actuator (43) has a support frame (431) detachably connected to the palletizing robot arm (42). The support frame (431) is equipped with a vacuum generator (432) and a suction cup assembly (433) connected to the vacuum generator (432). The vacuum generator (432) generates negative pressure between the suction cup assembly (433) and the box to achieve adsorption of the box. The suction cup assembly (433) is equipped with a vacuum pressure sensor that is electrically connected to the control box (41) to provide feedback on the suction force between the suction cup assembly (433) and the box being suctioned. The control box (41) dynamically adjusts the suction force of the vacuum generator (432) between the suction cup assembly (433) and the box being suctioned based on the feedback information from the vacuum pressure sensor.

5. An intelligent automated palletizing production line with a palletizing robot as described in claim 3 or 4, characterized in that: The control box (41) has a built-in intelligent algorithm module. The intelligent algorithm module parses the barcode information scanned by the barcode scanner (51) to extract the parameter information of the box and the material, so as to plan the subsequent palletizing layout. The subsequent palletizing plan is adjusted in real time by the position sensor on the palletizing tray (6). The sensors on the palletizing robot arm (42) and the palletizing actuator (43) feed back the feedback information of the box to the intelligent algorithm module, so as to realize the intelligent algorithm module to dynamically adjust the palletizing parameters of the palletizing robot arm (42) and the palletizing actuator (43).

6. The intelligent automated palletizing production line with a palletizing robot according to claim 1, characterized in that: The unpacking mechanism (1) has a feeding assembly (11) for continuously providing folded cartons to be unpacked, an unpacking robot (12) for picking up the folded cartons from the feeding assembly (11) and unfolding them into a U-shape, a folding assembly (13) for closing the bottom folds of the cartons unfolded by the unpacking robot (12), and an adhesive application assembly (14) for applying tape to the bottom of the cartons after folding by the folding assembly (13). After unfolding the folded cartons, the unpacking robot (12) moves the unfolded folded cartons sequentially to the folding assembly (13) and the adhesive application assembly (14) to perform folding and tape application actions. Then, the unpacking robot (12) places the folded and tape-applied carton onto the conveying mechanism (5) and conveys it to the packing mechanism (2).

7. The intelligent automated palletizing production line with a palletizing robot according to claim 1, characterized in that: The conveying mechanism (5) has a first conveying line (52) for conveying the unfolded carton to the packing mechanism (2) and a second conveying line (53) for conveying materials to the packing mechanism (2). The first conveying line (52) and the second conveying line (53) are connected to the packing mechanism (2) at their ends. The first conveying line (52) is provided with two folding top opening rods (521) for opening the top fold of the carton to facilitate the loading of materials. The folding top opening rods (521) are arranged along the length direction of the first conveying line (52). The packing mechanism (2) has a packing frame (21). The packing frame (21) is provided with two folds for unfolding the carton along the length direction of the first conveying line (52). The packing mechanism (2) has two unfolding components (22), a stopper (23) for cooperating with the unfolding components (22) to stop the carton to be filled, a pushing component (24) for pushing the material conveyed by the second conveyor line (53) to the loading platform, a suction component (25) for sucking up the material pushed by the pushing component (24) in the loading platform, a lifting component (27) for driving the suction component (25) to perform vertical lifting and lowering movements, and a transverse component (26) for driving the lifting component (27) to perform lateral displacement movements. The packing mechanism (2) drives the suction component (25) to move through the transverse component (26) and the lifting component (27) so as to accurately place the material sucked by the suction component (25) into the unfolded box.

8. The intelligent automated palletizing production line with a palletizing robot according to claim 1, characterized in that: The sealing mechanism (3) has a sealing assembly (31) for sealing the upper folds of the carton after it has been packed by the packing mechanism (2) and applying tape. The labeling assembly (32) is located at the end of the sealing assembly (31). The sealing assembly (31) has a sealing frame (311). The sealing frame (311) is equipped with a roller conveyor line (54) for transporting the packed cartons by the conveying mechanism (5), and a first folding piece (312), a second folding piece (313), and a third folding piece (314) located above the roller conveyor line (54). 14) The second folding piece (313) is rotatably arranged relative to the first folding piece (312) to cooperate with the first folding piece (312) to fold the two folds of the box body in sequence along the direction of the roller conveyor line (54). A folding driver (315) is provided between the second folding piece (313) and the sealing frame (311) to drive the second folding piece (313) to rotate. The number of third folding pieces (314) is set to two. The two third folding pieces (314) are used to fold the two folds along the direction perpendicular to the roller conveyor line (54).

9. The intelligent automated palletizing production line with a palletizing robot according to claim 6, characterized in that: The feeding assembly (11) has a vertical rack (111) for placing vertically folded cartons. The vertical rack (111) has an inclined base frame (1111), a limiting member (1112) provided on the base frame (1111) to limit the free end of the vertically folded cartons, and a sliding member (1113) for pushing the vertically folded cartons to slide along the inclined base frame (1111).

10. The intelligent automated palletizing production line with a palletizing robot according to claim 6, characterized in that: The feeding assembly (11) has a horizontal rack (112) for placing horizontally folded cartons. The horizontal rack (112) has a first plane (1121), a second plane (1122) and a third plane (1123) for abutting against the horizontally placed folded cartons. The first plane (1121) is used to support the bottom of the horizontally placed folded cartons and the angle between the first plane (1121) and the horizontal plane is an acute angle.

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