Palletizing and loading machine

Abstract

The utility model discloses a kind of stacking truck loaders, including guide rail, machine body, conveyer belt, rotating mechanical arm and two stacking gates;Guide rail is installed on the top of workshop;Machine body is provided with sequentially arranged feeding position, receiving position and two discharging positions along the length direction of itself;Conveyer belt is used to convey material at feeding position to receiving position along horizontal direction;Rotating mechanical arm is installed in machine body, including rotating mechanism and two material taking manipulators, for driving two material taking manipulators synchronous rotation around the rotation center of rotating mechanism, so that one of material taking manipulators is grabbed to one discharging position in receiving position, while another material taking manipulator moves from another discharging position to receiving position to take material;Two stacking gates are slidingly installed in gate installation rail.The utility model technical scheme can improve stacking efficiency.

Description

Technical Field

[0001] This utility model relates to the field of palletizing and loading machine technology, and in particular to a palletizing and loading machine. Background Technology

[0002] In the logistics and warehousing sector, traditional palletizing and loading operations generally suffer from problems such as low space utilization, discontinuous material transport, low handling efficiency, insufficient palletizing accuracy, and limited automation. Existing technologies often employ fixed ground-mounted palletizing equipment, leading to overlap between transport vehicles and equipment operating areas and significant waste of space resources. While some equipment incorporates robotic arms, these are mostly single-arm, single-bag handling methods, which are inefficient and result in low loading efficiency. Utility Model Content

[0003] The main purpose of this invention is to propose a palletizing and loading machine that aims to improve palletizing efficiency.

[0004] To achieve the above objectives, the palletizing and loading machine proposed in this utility model includes:

[0005] Guide rails are installed above the factory building, and a vehicle passage for transport vehicles is located below the guide rails;

[0006] The machine body is slidably mounted on the guide rail, and the machine body is provided with a loading position, a receiving position and two unloading positions arranged sequentially along its own length.

[0007] A conveyor belt is horizontally mounted on the machine body. The input end of the conveyor belt corresponds to the loading position, and the output end corresponds to the receiving position. It is used to transport the material at the loading position to the receiving position in a horizontal direction.

[0008] A rotary robotic arm, mounted on the machine body, includes a rotating mechanism and two picking-up robotic arms. The two picking-up robotic arms are mounted on the rotating mechanism, arranged at an angle, and both extend horizontally. The rotating mechanism drives the two picking-up robotic arms to rotate synchronously around its rotation center, so that while one picking-up robotic arm picks up material from the receiving position to a discharging position, the other picking-up robotic arm moves from the other discharging position to the receiving position to pick up the material.

[0009] Two palletizing gates are provided on the machine body, and the gate mounting rails are located directly below the two unloading positions and perpendicular to the conveying direction of the conveyor belt. The two palletizing gates are slidably installed on the gate mounting rails. The palletizing gates have a carrying state and a releasing state. In the carrying state, the palletizing gate can carry the material conveyed to the unloading position. In the releasing state, the palletizing gate releases the material it carries and places it below.

[0010] Optionally, the material handling robot includes a material handling main frame, a material handling drive mechanism, and two grippers. The material handling main frame is mounted on the rotating mechanism, and the two grippers are rotatably mounted on both sides of the material handling main frame. The material handling drive mechanism is used to drive the two grippers to rotate to clamp or release materials.

[0011] Optionally, the material handling drive mechanism includes a material handling drive component, a single material handling slider, and two sets of material handling crank connecting rods. The single material handling slider is slidably mounted on the main material handling frame. The two sets of material handling crank connecting rods are spaced apart on both sides of the single material handling slider, each corresponding to one of the gripping plates. The crank and connecting rod of each set of material handling crank connecting rods are hinged. The crank is connected to the gripping plate, and the connecting rod is connected to the single material handling slider. The material handling drive component is mounted on the main material handling frame and is used to drive the single material handling slider to slide up and down. When the single material handling slider slides up and down, the two sets of material handling crank connecting rods drive the two gripping plates to rotate synchronously to clamp or release the material.

[0012] Optionally, the material picking drive is a motor, and the material picking drive mechanism further includes a material picking screw, which is screwed to the material picking single slider and connected to the output shaft of the motor. Furthermore, the two sets of material picking crank connecting rods are symmetrically arranged along the material picking screw.

[0013] Optionally, the material handling drive mechanism further includes a material handling guide post, which is mounted on the material handling main frame. The material handling guide post extends vertically, and the material handling single slider is slidably sleeved on the material handling guide post; furthermore, there are two material handling guide posts, and the two material handling guide posts are symmetrically arranged along the material handling lead screw.

[0014] Optionally, the two robotic arms are perpendicular to each other.

[0015] Optionally, the palletizing gate includes a gate main frame, a gate drive mechanism, and two hinges. The gate main frame is mounted on the gate mounting track, and the two hinges are hinged to the gate main frame. The gate drive mechanism is used to drive the two hinges to rotate synchronously to form a closed state for supporting materials or an open state for releasing materials.

[0016] Optionally, the gate drive mechanism includes a gate drive component, a gate single slider, and two sets of gate crank connecting rods. The gate single slider is slidably mounted on the gate main frame. The two sets of gate crank connecting rods are spaced apart on both sides of the gate single slider, each corresponding to one of the opening and closing hinges. The crank and connecting rod of each set of gate crank connecting rods are hinged together. The crank is connected to the opening and closing hinge, and the connecting rod is connected to the gate single slider. The gate drive component is mounted on the gate main frame and is used to drive the gate single slider to slide up and down. When the gate single slider slides up and down, the two sets of crank connecting rods drive the two opening and closing hinges to rotate synchronously to support or release materials.

[0017] Optionally, the gate drive component is a motor, and the gate drive mechanism further includes a gate lead screw, which is screwed to the gate single slider and connected to the output shaft of the motor.

[0018] Optionally, the gate drive mechanism further includes a gate guide post, which is mounted on the gate main frame. The gate guide post extends vertically, and a single gate slider is slidably sleeved on the gate guide post; furthermore, there are two gate guide posts, and the two gate guide posts are symmetrically arranged along the gate lead screw.

[0019] This utility model's technical solution fully utilizes three-dimensional space by installing rails above the factory building and providing vehicle access below, enabling layered operations for transport vehicles and equipment, significantly improving site utilization and ensuring smooth vehicle passage. The loading, receiving, and double unloading positions on the machine body, combined with a horizontal conveyor belt, form a continuous material transport chain, ensuring stable and efficient material flow. The dual picking manipulators of the rotating robotic arm rotate synchronously at an angle, completing combined actions of grabbing-placing and moving-picking within the same time cycle, seamlessly connecting the receiving and unloading processes and significantly improving material handling efficiency. Double palletizing gates are slidably installed directly below the unloading position, precisely controlling the rhythm and position of material placement through flexible switching between loading and releasing states, preventing chaotic material accumulation and ensuring neat and orderly palletizing, providing stable cargo units for subsequent transportation. Overall, this utility model's technical solution, through the synergistic effect of space optimization, process synchronization, and precise control, achieves high efficiency, automation, and standardization of loading operations, effectively reducing labor costs and improving logistics turnover efficiency. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of an embodiment of the palletizing and loading machine of this utility model;

[0022] Figure 2 for Figure 1 A schematic diagram of the structure of a rotating robotic arm;

[0023] Figure 3 for Figure 2 A structural schematic diagram of a rotating robotic arm from another perspective;

[0024] Figure 4 for Figure 2 A schematic diagram of the structure of the material handling robot;

[0025] Figure 5 for Figure 4 A schematic diagram of the structure after the middle gripper plate rotates;

[0026] Figure 6 for Figure 4 A schematic diagram of the material handling robot and its material handling drive mechanism;

[0027] Figure 7 for Figure 6 A structural schematic diagram of the material handling robot from another perspective;

[0028] Figure 8 for Figure 1 A schematic diagram of the structure of the palletizing gate and its gate drive mechanism;

[0029] Figure 9 for Figure 8 A structural schematic diagram of the central stacking gate from another perspective.

[0030] Explanation of icon numbers:

[0031] 100. Rotary robotic arm; 110. Rotating mechanism; 120. Material handling robot; 121. Material handling main frame; 122. Material handling drive mechanism; 1221. Material handling drive component; 1222. Material handling single slider; 1223. Material handling crank connecting rod; 1224. Material handling lead screw; 1225. Material handling guide post; 123. Gripper plate; 200. Conveyor belt; 310. Palletizing gate; 311. Gate main frame; 312. Gate drive mechanism; 3121. Gate drive component; 3122. Gate single slider; 3123. Gate crank connecting rod; 3124. Gate lead screw; 3125. Gate guide post; 313. Hinge; 320. Mounting frame; 400. Machine body;

[0032] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0035] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text is to include three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0036] This utility model proposes a palletizing and loading machine.

[0037] In the embodiments of this utility model, such as Figures 1 to 9As shown, the palletizing and loading machine includes a guide rail, a machine body 400, a conveyor belt 200, a rotating robotic arm 100, and two palletizing gates 310. The guide rail is installed above the factory building, and a vehicle passage for transport vehicles is provided below the guide rail. The machine body 400 is slidably mounted on the guide rail and has a loading position, a receiving position, and two unloading positions arranged sequentially along its length. The conveyor belt 200 is horizontally mounted on the machine body 400, with its input end corresponding to the loading position and its output end corresponding to the receiving position, used to transport the material at the loading position to the receiving position horizontally. The rotating robotic arm 100 is mounted on the machine body 400 and includes a rotating mechanism 110 and two picking robotic arms 120. The two picking robotic arms 120 are mounted on the rotating mechanism 110 and are arranged at an angle. Both extend horizontally. The rotating mechanism 110 drives two picking robots 120 to rotate synchronously around the rotation center of the rotating mechanism 110, so that while one picking robot 120 picks up the material in the receiving position and moves it to a discharging position, the other picking robot 120 moves from the other discharging position to the receiving position to pick up the material. The machine body 400 is provided with a gate mounting rail, which is located directly below the two discharging positions and perpendicular to the conveying direction of the conveyor belt 200. Two stacking gates 310 are slidably installed on the gate mounting rail. The stacking gates 310 have a carrying state and a releasing state. In the carrying state, the stacking gates 310 can carry the material conveyed to the discharging position. In the releasing state, the stacking gates 310 release the material they carry and drop it below.

[0038] Specifically, after the transport vehicle enters the factory and parks in the vehicle passage below the guide rail, the conveyor belt 200 starts, horizontally transporting the material from the loading position to the receiving position. The rotating mechanism 110 drives two angled picking robots 120 to rotate synchronously around the rotation center. When one picking robot 120 grabs material at the receiving position and rotates to a unloading position, the conveyor belt 200 transports new material to the receiving position. Simultaneously, the other picking robot 120 rotates from the unloading position to the receiving position to pick up the material at the receiving position. When the palletizing gate 310 moves and transports the material it carries to the designated position, the palletizing gate 310 switches to the release state, releasing the material onto the transport vehicle below. Throughout the process, the machine body 400 can slide along the guide rail and adjust its position so that the two unloading positions correspond to different areas of the transport vehicle, achieving orderly palletizing and loading of materials on the transport vehicle.

[0039] This utility model's technical solution fully utilizes three-dimensional space by installing rails above the factory building and providing vehicle access below, enabling layered operations for transport vehicles and equipment, significantly improving site utilization and ensuring smooth vehicle passage. The loading, receiving, and double unloading positions on the machine body 400, combined with the horizontal conveyor belt 200, form a continuous material transport chain, ensuring stable and efficient material flow. The rotating robotic arm 100's dual picking manipulators 120 rotate synchronously at an angle, completing combined actions of grabbing-placing and moving-picking within the same time cycle, seamlessly connecting the receiving and unloading processes and significantly improving material handling efficiency. The double palletizing gate 310 is slidably installed directly below the unloading position, precisely controlling the material placement rhythm and position through flexible switching between loading and releasing states, preventing chaotic material accumulation and ensuring neat and orderly palletizing, providing stable cargo units for subsequent transportation. Overall, this utility model's technical solution, through the synergistic effect of space optimization, process synchronization, and precise control, achieves high efficiency, automation, and standardization in loading operations, effectively reducing labor costs and improving logistics turnover efficiency.

[0040] In some embodiments, the material handling robot 120 includes a material handling main frame 121, a material handling drive mechanism 122, and two gripping plates 123. The material handling main frame 121 is mounted on a rotating mechanism 110, and the two gripping plates 123 are rotatably mounted on both sides of the material handling main frame 121. The material handling drive mechanism 122 drives the two gripping plates 123 to rotate to grip or release materials. Specifically, the two gripping plates 123 open and close by rotation, and the gripping angle can be automatically adjusted according to the material size. Compared with the linear translation gripping plate 123 structure, it can be compatible with materials of various shapes and sizes, and can adapt to different products without changing the hardware. Moreover, the symmetrical drive design ensures that the gripping plates 123 on both sides move synchronously, avoiding material tilting or falling, and improving gripping reliability.

[0041] In some embodiments, the material handling drive mechanism 122 includes a material handling drive component 1221, a material handling single slider 1222, and two sets of material handling crank connecting rods 1223. The material handling single slider 1222 is slidably mounted on the material handling main frame 121. The two sets of material handling crank connecting rods 1223 are spaced apart on both sides of the material handling single slider 1222, each corresponding to a gripper plate 123. The crank and connecting rod of each set of material handling crank connecting rods 1223 are hinged. The crank is connected to the gripper plate 123, and the connecting rod is connected to the material handling single slider 1222. The material handling drive component 1221 is mounted on the material handling main frame 121 and is used to drive the material handling single slider 1222 to slide up and down. When the material handling single slider 1222 slides up and down, the two sets of material handling crank connecting rods 1223 drive the two gripper plates 123 to rotate synchronously to clamp or release the material. Specifically, by simultaneously driving two sets of crank connecting rods with a single slider, the rotation angle and speed of the two grippers 123 can be ensured to be completely consistent, avoiding material tilting or uneven force on one side due to asynchronous driving, and significantly improving the stability of the clamping process. Moreover, only one material handling drive unit 1221 is needed to control the opening and closing of the two grippers 123. Compared with the scheme of independent control by dual drive units, it can significantly reduce the number of parts, wiring complexity and installation space, and is especially suitable for the compact layout of the rotary robotic arm 100.

[0042] In some embodiments, the material picking drive 1221 is a motor, and the material picking drive mechanism 122 further includes a material picking screw 1224, which is screwed to the material picking slider 1222 and connected to the output shaft of the motor. Furthermore, two sets of material picking crank connecting rods 1223 are symmetrically arranged along the material picking screw 1224. Specifically, the screw drive is a continuous meshing drive. Compared to the pneumatic impact of a cylinder or the rigid push of an electric actuator, the slider's movement speed and acceleration can be steplessly adjusted when the motor drives the screw, achieving smooth start-stop and uniform speed movement. This avoids the problem of insufficient precision in the opening and closing action of the gripper 123 in traditional material picking drive components 1221, making it particularly suitable for heavy-duty palletizing scenarios with high requirements for control precision and safety.

[0043] In some embodiments, the material handling drive mechanism 122 further includes a material handling guide post 1225, which is mounted on the material handling main frame 121. The material handling guide post 1225 extends vertically, and the material handling single slider 1222 is slidably sleeved on the material handling guide post 1225. Further, there are two material handling guide posts 1225, and the two material handling guide posts 1225 are symmetrically arranged along the material handling lead screw 1224. Specifically, when the material handling single slider 1222 slides under the transmission of the lead screw, the two material handling guide posts 1225 can suppress the swaying of the material handling single slider 1222, reduce the motion error of the material handling single slider 1222, thereby improving the stability of the material handling drive mechanism 122 during transmission and improving the motion reliability of the gripper plate 123.

[0044] In some embodiments, the two robotic arms 120 are perpendicular to each other. Specifically, when the left robotic arm picks up material at the receiving position along the X-axis, the right robotic arm, which is perpendicular to the left, can simultaneously place material at the receiving position along the Y-axis. The two arms do not obstruct each other in space, avoiding the risk of interference caused by overlapping motion trajectories.

[0045] In some embodiments, the palletizing gate 310 includes a gate main frame 311, a gate drive mechanism 312, and two hinges 313. The gate main frame 311 is mounted on a gate mounting rail, and the two hinges 313 are hinged to the gate main frame 311. The gate drive mechanism 312 drives the two hinges 313 to rotate synchronously to form a closed state for supporting materials or an open state for releasing materials. Specifically, when the two hinges 313 are in the closed state, they together form a flat supporting surface, which can stably support materials conveyed from the conveying device. Whether it's a regularly shaped box, bagged goods, or irregularly shaped item, everything remains stable on this support surface, reducing the risk of shaking, slipping, or tipping during the receiving process and ensuring the safe reception of materials by the palletizing gate 310. Furthermore, the gate drive mechanism 312 can drive the two hinges 313 to rotate synchronously, achieving rapid opening and accurately releasing the material to the designated palletizing position. During palletizing, this rapid-response release action reduces the time the material spends in the air, improving palletizing efficiency. Simultaneously, by precisely controlling the opening angle and speed of the hinges 313, it ensures that the material falls along a predetermined trajectory, achieving accurate placement and guaranteeing the neatness and stability of the palletizing.

[0046] In some embodiments, the gate drive mechanism 312 includes a gate drive component 3121, a gate single slider 3122, and two sets of gate crank connecting rods 3123. The gate single slider 3122 is slidably mounted on the gate main frame 311. The two sets of gate crank connecting rods 3123 are spaced apart on both sides of the gate single slider 3122, each corresponding to an opening and closing hinge 313. The crank and connecting rod of each set of gate crank connecting rods 3123 are hinged. The crank is connected to the opening and closing hinge 313, and the connecting rod is connected to the gate single slider 3122. The gate drive component 3121 is mounted on the gate main frame 311 and is used to drive the gate single slider 3122 to slide up and down. When the gate single slider 3122 slides up and down, the two sets of crank connecting rods drive the two opening and closing hinges 313 to rotate synchronously to support or release materials. Specifically, two sets of gate crank connecting rods 3123 are symmetrically distributed on both sides of the gate single slider 3122. When the gate drive component 3121 drives the slider to slide up and down, the connecting rods on both sides synchronously drive the two hinges 313 to rotate through the crank. This design of a single power source driving a double-sided actuator ensures, from a mechanical structure perspective, that the rotation angle and speed of the two hinges 313 are completely consistent, thus completely avoiding the problem of asynchronous opening and closing caused by control errors or component wear in traditional dual drives (such as two independent cylinders). Moreover, the gate crank connecting rod 3123 mechanism is a rigid transmission. When converting the linear motion of the slider into the rotational motion of the hinges 313, compared with flexible transmissions such as belts and chains, there is no elastic deformation in the transmission process, and the hinge point between the connecting rod and the crank can withstand a large load.

[0047] In some embodiments, the gate drive 3121 is a motor, and the gate drive mechanism 312 further includes a gate lead screw 3124, which is screwed to the gate single slider 3122 and connected to the output shaft of the motor. Specifically, the lead screw drive is a continuous meshing drive. Compared with the pneumatic impact of the cylinder or the rigid push of the electric push rod, the movement speed and acceleration of the slider can be steplessly adjusted when the motor drives the lead screw, realizing smooth start and stop and uniform speed movement. This avoids the problems of insufficient accuracy, large impact and low safety of the traditional gate drive 3121 in the opening and closing action of the palletizing gate 310, and is especially suitable for heavy-duty palletizing scenarios with high requirements for control accuracy and safety.

[0048] In some embodiments, the gate drive mechanism 312 further includes a gate guide post 3125, which is mounted on the gate main frame 311. The gate guide post 3125 extends vertically, and the gate single slider 3122 is slidably sleeved on the gate guide post 3125; furthermore, there are two gate guide posts 3125, and the two gate guide posts 3125 are symmetrically arranged along the gate lead screw 3124. Specifically, when the gate single slider 3122 slides under the transmission of the lead screw, the two gate guide posts 3125 can suppress the swing of the gate single slider 3122, reduce the motion error of the gate single slider 3122, thereby improving the smoothness of the gate drive mechanism 312 during transmission and improving the reliability of the opening and closing hinge 313.

[0049] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A palletizing and loading machine, characterized in that, include: Guide rails are installed above the factory building, and a vehicle passage for transport vehicles is located below the guide rails. The machine body is slidably mounted on the guide rail, and the machine body is provided with a loading position, a receiving position and two unloading positions arranged sequentially along its own length. A conveyor belt is horizontally mounted on the machine body. The input end of the conveyor belt corresponds to the loading position, and the output end corresponds to the receiving position. It is used to transport the material at the loading position to the receiving position in a horizontal direction. A rotary robotic arm, mounted on the machine body, includes a rotating mechanism and two picking-up robotic arms. The two picking-up robotic arms are mounted on the rotating mechanism, arranged at an angle, and both extend horizontally. The rotating mechanism drives the two picking-up robotic arms to rotate synchronously around its rotation center, so that while one picking-up robotic arm picks up material from the receiving position to a discharging position, the other picking-up robotic arm moves from the other discharging position to the receiving position to pick up the material. Two palletizing gates are provided on the machine body, and the gate mounting rails are located directly below the two unloading positions and perpendicular to the conveying direction of the conveyor belt. The two palletizing gates are slidably installed on the gate mounting rails. The palletizing gates have a carrying state and a releasing state. In the carrying state, the palletizing gate can carry the material conveyed to the unloading position. In the releasing state, the palletizing gate releases the material it carries and places it below.

2. The palletizing and loading machine according to claim 1, characterized in that The material handling robot includes a material handling main frame, a material handling drive mechanism, and two grippers. The material handling main frame is mounted on the rotating mechanism, and the two grippers are rotatably mounted on both sides of the material handling main frame. The material handling drive mechanism is used to drive the two grippers to rotate to clamp or release materials.

3. The palletizing and loading machine according to claim 2, characterized in that, The material handling drive mechanism includes a material handling drive component, a single material handling slider, and two sets of material handling crank connecting rods. The single material handling slider is slidably mounted on the main material handling frame. The two sets of material handling crank connecting rods are spaced apart on both sides of the single material handling slider, each corresponding to one of the gripping plates. The crank and connecting rod of each set of material handling crank connecting rods are hinged. The crank is connected to the gripping plate, and the connecting rod is connected to the single material handling slider. The material handling drive component is mounted on the main material handling frame and is used to drive the single material handling slider to slide up and down. When the single material handling slider slides up and down, the two sets of material handling crank connecting rods drive the two gripping plates to rotate synchronously to clamp or release the material.

4. The palletizing and loading machine according to claim 3, characterized in that, The material picking drive is a motor, and the material picking drive mechanism also includes a material picking screw. The material picking screw is screwed to the material picking slider and connected to the output shaft of the motor. Furthermore, two sets of material picking crank connecting rods are symmetrically arranged along the material picking screw.

5. The palletizing and loading machine according to claim 4, characterized in that, The material handling drive mechanism further includes a material handling guide post, which is installed on the material handling main frame; the material handling guide post extends in a vertical direction, and the material handling single slider is slidably sleeved on the material handling guide post; Furthermore, there are two material picking guide pillars, and the two material picking guide pillars are symmetrically arranged along the material picking screw.

6. The palletizing and loading machine of claim 1, wherein The two robotic arms are perpendicular to each other.

7. The palletizing and loading machine according to claim 1, characterized in that, The palletizing gate includes a gate main frame, a gate drive mechanism, and two hinges. The gate main frame is mounted on the gate mounting track, and the two hinges are hinged to the gate main frame. The gate drive mechanism is used to drive the two hinges to rotate synchronously to form a closed state for supporting materials or an open state for releasing materials.

8. The palletizing and load loader according to claim 7, characterized in that The gate drive mechanism includes a gate drive component, a gate single slider, and two sets of gate crank connecting rods. The gate single slider is slidably mounted on the gate main frame. The two sets of gate crank connecting rods are spaced apart on both sides of the gate single slider, each corresponding to one of the opening and closing hinges. The crank and connecting rod of each set of gate crank connecting rods are hinged together. The crank is connected to the opening and closing hinge, and the connecting rod is connected to the gate single slider. The gate drive component is mounted on the gate main frame and is used to drive the gate single slider to slide up and down. When the gate single slider slides up and down, the two sets of crank connecting rods drive the two opening and closing hinges to rotate synchronously to support or release materials.

9. The palletizing and load loader according to claim 8, characterized in that The gate drive component is a motor, and the gate drive mechanism also includes a gate lead screw, which is screwed to the gate single slider and connected to the output shaft of the motor.

10. The palletizing and load loader according to claim 9, characterized in that The gate drive mechanism also includes a gate guide post, which is installed on the gate main frame; the gate guide post extends vertically, and a gate single slider is slidably sleeved on the gate guide post; Furthermore, there are two gate guide columns, and the two gate guide columns are symmetrically arranged along the gate screw.

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