A palletizing device and a palletizing method for intelligent loading of bagged materials

Abstract

The present invention discloses a palletizing device and a palletizing method for intelligent loading of bagged materials, comprising a frame and a support plate arranged on the frame, a control mechanism, a conveying mechanism, a shifting mechanism, a transposition mechanism group and a transfer mechanism group, wherein the upper surface of the support plate is flush with the conveying surface of the conveying mechanism, the conveying mechanism is located below the shifting mechanism, the conveying direction of the conveying mechanism is perpendicular to the moving direction of the shifting mechanism, the transposition mechanism group comprises a first transposition mechanism and a second transposition mechanism, the first transposition mechanism and the second transposition mechanism are respectively arranged on both sides of the shifting mechanism, and the transfer mechanism group comprises a first transfer mechanism and a second transfer mechanism, the first transfer mechanism and the second transfer mechanism are respectively arranged in the moving directions of the first transposition mechanism and the second transposition mechanism. The present invention can improve the adaptability of palletizing and the flexibility of loading, and enhance the stability and service life of the equipment.

Description

Technical Field

[0001] The invention relates to the field of intelligent loading of bagged materials, and in particular to a palletizing device and a palletizing method applied to intelligent loading of bagged materials. Background Art

[0002] The existing method of loading bagged materials is to transport them to the top of an open-structured carriage through a conveying system, and then carry them to the stacking device through manual handling. This traditional method requires manpower and has a high work intensity, so it is gradually being replaced by some intelligent loading methods. For example, the invention patent application with application number "201910631812.9" and name "A loading and stacking head for a loading robot" discloses a stacking structure. Although it realizes automated stacking, it has a complex structure and cannot achieve stacking at any position and angle, which has great limitations when stacking. Another example is the patent numbered "201920793209.6" and named "A Bag Material Division and Palletizing System", which discloses a material division and palletizing structure. Although it can replace manual labor and realize automated palletizing, it has certain defects. For example, when dividing the material, the material bag moves in a curve, and the posture of the material bag during the movement is not easy to control. In addition, the material bag is transported a long distance at a time, and the movement time is very short, which makes the movement inertia large, resulting in a large operating inertia of the entire palletizing mechanism, which in turn increases the amount of shaking of the mechanism, reduces the stability of the equipment and the accuracy of palletizing. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art, the present invention provides a palletizing device and a palletizing method for intelligent loading of bagged materials, which solves the problems of low palletizing accuracy and single stacking direction in the existing bagged material palletizing process, which affects the inability to achieve maximum loading when loading the bagged materials.

[0004] The technical solution adopted by the present invention to solve the above problems is:

[0005] A palletizing device for intelligent loading of bagged materials comprises a frame and a support plate arranged on the frame, a control mechanism, a conveying mechanism, a shifting mechanism, a transposition mechanism group and a transfer mechanism group, the upper surface of the support plate is in contact with and flush with the conveying surface of the conveying mechanism, or the upper surface of the support plate is lower than the conveying surface of the conveying mechanism, the conveying mechanism is located below the shifting mechanism, the conveying direction of the conveying mechanism is perpendicular to the movement direction of the shifting mechanism, the transposition mechanism group comprises a first transposition mechanism and a second transposition mechanism, the first transposition mechanism and the second transposition mechanism are respectively arranged on both sides of the shifting mechanism, and the movement directions of the first transposition mechanism and the second transposition mechanism are perpendicular to the movement direction of the shifting mechanism, the transfer mechanism group comprises a first transfer mechanism and a second transfer mechanism, the first transfer mechanism and the second transfer mechanism are respectively arranged in the movement directions of the first transposition mechanism and the second transposition mechanism, and the control mechanism realizes motion control of the conveying mechanism, the shifting mechanism, the transposition mechanism group and the transfer mechanism group respectively.

[0006] Furthermore, as a preferred technical solution, the conveying mechanism includes a conveyor belt, a roller and a first servo motor, and the roller is powered by the first servo motor and drives the conveyor belt to circulate.

[0007] Furthermore, as a preferred technical solution, the displacement mechanism includes a first slider, a first gear, a first rack and a second servo motor, the first rack is arranged on the first slider, the first gear is meshed with the first rack, and the first gear is linked with the second servo motor.

[0008] Further, as a preferred technical solution, the first shifting mechanism includes a second slider, a second gear, a second rack and a third servo motor, the second slider is located above the support plate, the second rack is arranged on the second slider, the second gear is meshed with the second rack, and the second gear is linked to the third servo motor; the second shifting mechanism includes a third slider, a third gear, a third rack and a fourth servo motor, the third slider is located above the support plate, the third rack is arranged on the third slider, the third gear is meshed with the third rack, and the third gear is linked to the fourth servo motor.

[0009] Furthermore, as a preferred technical solution, the first transfer mechanism includes a first upper receiving plate, a first lower receiving plate, a first rotating structure, a first translation structure and a first unloading structure, the first rotating structure includes a first rotating motor and a first slewing bearing, the first rotating motor is fixed to the first upper receiving plate and is linked with the first slewing bearing, the first slewing bearing is fixed to the first lower receiving plate, the first upper receiving plate and the first lower receiving plate are fixed by up and down rotation, the first translation structure includes a fifth servo motor, a fourth gear, a first rack guide rail and a plurality of first guide wheels, the fourth gear is meshed with the first rack guide rail, the first rack guide rail cooperates with the first guide wheel, and the The fourth gear is linked with the fifth servo motor, the fifth servo motor, the fourth gear and the first guide wheel are all fixed on the first upper receiving plate, the first rack-type guide rail is fixed on the frame, the first unloading structure includes a first hand claw and a first hand claw opening and closing motor, the first hand claw includes two first hand claw units arranged opposite to each other, one of the first hand claw units is provided with a fifth gear, the fifth gear is linked with the first hand claw opening and closing motor, the other first hand claw unit is provided with a fourth rack meshing with the fifth gear, the two first hand claw units are provided with a second guide wheel, the first lower receiving plate is fixed with a first guide rail matched with the second guide wheel, and the two first hand claw units are hung on the first guide rail through the second guide wheel;

[0010] The second transfer mechanism includes a second upper receiving plate, a second lower receiving plate, a second rotating structure, a second translation structure and a second unloading structure, the second rotating structure includes a second rotating motor and a second slewing bearing, the second rotating motor is fixed to the second upper receiving plate and is linked to the second slewing bearing, the second slewing bearing is fixed to the second lower receiving plate, the second upper receiving plate and the second lower receiving plate are fixed by vertical rotation, the second translation structure includes a sixth servo motor, a sixth gear, a second rack guide rail and a plurality of third guide wheels, the first rack guide rail and the second rack guide rail are the same rack guide rail, the sixth gear is meshed with the second rack guide rail, the second rack guide rail is meshed with the second guide The sixth gear is linked to the sixth servo motor, the sixth servo motor, the sixth gear and the third guide wheel are all fixed on the second upper supporting plate, the second rack-type guide rail is fixed on the frame, the second unloading structure includes a second gripper and a second gripper opening and closing motor, the second gripper includes two oppositely arranged second gripper units, one of the second gripper units is provided with a seventh gear, the seventh gear is linked to the second gripper opening and closing motor, the other second gripper unit is provided with a fifth rack meshing with the seventh gear, the two second gripper units are provided with a fourth guide wheel, the second lower supporting plate is fixed with a second guide rail matching the fourth guide wheel, and the two second gripper units are hung on the second guide rail through the fourth guide wheel.

[0011] Furthermore, as a preferred technical solution, it also includes an in-place detection sensor assembly, which includes a limit baffle and a pressure sensor arranged on the limit baffle, and the limit baffle is arranged at the output end of the conveying mechanism.

[0012] A palletizing method comprises the following steps:

[0013] Step 1: The first bag material package is transferred to the conveying mechanism through the external conveying system, and the conveying mechanism transfers the first bag material package to the position and triggers the shifting mechanism;

[0014] Step 2: The shifting mechanism moves to the left to push the first bag to a predetermined position;

[0015] Step 3: The first position conversion mechanism pushes the first bag material package at the predetermined position into the first transfer mechanism;

[0016] Step 4: The first transfer mechanism translates and rotates the first bag material package, and the translated and rotated first bag material package passes through the first transfer mechanism and falls to a predetermined position on the transport carriage;

[0017] Step 5: Similarly, after the second bag is delivered to the position by the conveying mechanism, the second bag is pushed to the predetermined position by the shifting mechanism to the right, and then is pushed by the second shifting mechanism, shifted and selected by the second transfer mechanism, and finally falls to the predetermined position of the transport carriage;

[0018] Step 6: Repeat this cycle to drop the third bag, the fourth bag, ... the Nth bag into the predetermined positions of the transport carriage respectively until the loading is completed.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] (1) The present invention can realize various palletizing modes including horizontal, vertical, and horizontal and vertical combination forms, and can also complete palletizing at any angle according to the matching form of the material bag and the carriage, thereby obtaining the optimal palletizing, improving the adaptability of palletizing and the flexibility of loading, and has extremely high application value.

[0021] (2) The present invention adopts a combination of a displacement mechanism, a transposition mechanism and a transfer mechanism. The movement path of the material bag from the conveying mechanism to the displacement mechanism and then to the transfer mechanism is a straight line. The displacement mechanism and the transposition mechanism only perform reciprocating motion. Driven by the gear rack, the displacement mechanism and the transposition mechanism can move reliably and stably. The action of each mechanism is simpler and more efficient. This simplifies the posture change of the material bag during operation and shortens the transportation distance of the material bag at one time. In addition, the material bag performs a linear motion, which significantly reduces the shaking amount caused by the material bag to the equipment, thereby enhancing the stability and service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A perspective view of the present invention;

[0023] Figure 2 A top view of the present invention;

[0024] Figure 3 It is a schematic diagram of the positional relationship between the conveying mechanism and the displacement mechanism of the present invention;

[0025] Figure 4 It is a schematic diagram of the positional relationship between the conveying mechanism, the displacement mechanism and the transposition mechanism of the present invention;

[0026] Figure 5 It is a schematic diagram of the positional relationship between the transposition mechanism and the transfer mechanism of the present invention;

[0027] Figure 6 It is a structural schematic diagram of the transfer mechanism;

[0028] Figure 7 It is a schematic diagram of the positional relationship between the rotating motor and the slewing bearing;

[0029] Figure 8 Schematic diagram of the positional relationship between the in-place detection sensor assembly and the conveying mechanism.

[0030] The names corresponding to the reference numerals in the figures are:

[0031] 1. Frame, 2. Support plate, 3. Control mechanism, 4. Displacement mechanism, 5. First transfer mechanism, 6. Second transfer mechanism, 7. First transposition mechanism, 8. Second transposition mechanism, 9. Conveying mechanism, 10. Limit baffle, 11. Pressure sensor, 41. First slider, 42. First gear, 43. First rack, 44. Second servo motor, 51. First rotating motor, 52. First slewing bearing, 53. Fifth servo motor, 54. First guide wheel, 55. First rack guide rail, 56. First upper receiving plate, 57. First gripper unit, 58. First gripper opening and closing motor, 59. First guide rail, 510. Second guide wheel, 511. Fourth rack, 512. First lower receiving plate, 71. Second slider, 72. Second gear, 73. Third servo motor, 81. Third slider, 91. Conveyor belt, 92. Roller, 93. First servo motor. DETAILED DESCRIPTION

[0032] The present invention will be further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto. Example

[0033] like Figure 1-Figure 8As shown, a palletizing device for intelligent loading of bagged materials shown in a preferred embodiment of the present invention includes a frame 1 and a pallet 2, a control mechanism 3, a conveying mechanism 9, a shifting mechanism 4, a transposition mechanism group and a transfer mechanism group arranged on the frame 1. The upper surface of the pallet 2 is connected to and flush with the conveying surface of the conveying mechanism 9, or the upper surface of the pallet 2 is lower than the conveying surface of the conveying mechanism 9. The pallet 2 provides a supporting sliding surface for the bag of bagged materials from the conveying mechanism to the transfer mechanism. That is to say, when the bag of bagged materials moves into place on the conveying mechanism 9, the shifting mechanism 4 pushes it onto the pallet 2, and continues to push the bag of bagged materials along the pallet 2 to the working position of the transposition mechanism, and then the transposition mechanism continues to push the bag of bagged materials toward the transfer mechanism until the bag of bagged materials is pushed into the transfer mechanism. The entire movement of the bag of bagged materials is completed on the pallet 2.

[0034] like Figure 3 As shown, the conveying mechanism 9 of this embodiment is located below the shifting mechanism 4, and the conveying direction of the conveying mechanism 9 is perpendicular to the movement direction of the shifting mechanism 4. The conveying mechanism 9 preferably adopts a combined structure of a conveyor belt 91, a roller 92 and a first servo motor 93. The roller 92 is powered by the first servo motor and drives the conveyor belt 91 to circulate. The shifting mechanism 4 includes a first slider 41, a first gear 42, a first rack 43 and a second servo motor 44. The first rack 43 is arranged on the first slider 41, the first gear 42 is meshed with the first rack 43, and the first gear 42 is linked with the second servo motor 44. When the bagged material package moves into place on the conveyor belt 91, the second servo motor 44 starts and drives the first gear 42 to rotate, the first gear 42 drives the first rack 43 and further drives the first slider 41 to move, so that the bagged material package on the conveyor belt 91 can be pushed to both sides of the conveyor belt 91 through the first slider 41, so as to achieve the purpose of changing the movement direction of the bagged material package.

[0035] like Figure 4 As shown, the shifting mechanism group of this embodiment includes a first shifting mechanism 7 and a second shifting mechanism 8. The first shifting mechanism 7 and the second shifting mechanism 8 are respectively arranged on both sides of the shifting mechanism 4, and the movement direction of the first shifting mechanism 7 and the second shifting mechanism 8 is perpendicular to the movement direction of the shifting mechanism 4. The first shifting mechanism 7 includes a second slider 71, a second gear 72, a second rack (not shown in the figure) and a third servo motor 73. The second slider 71 is located above the support plate, and the second rack is arranged at the bottom of the second slider 71. The second gear 72 is meshed with the second rack, and the second gear 72 is linked to the third servo motor 73; the second shifting mechanism 8 includes a third slider 81, a third gear, a third rack and a fourth servo motor. The third slider 81 is located above the support plate, and the third rack is arranged on the third slider. The third gear is meshed with the third rack, and the third gear is linked to the fourth servo motor. Figure 5As shown, for the first shifting mechanism, when the bagged material bag is pushed into place by the shifting mechanism 4, the third servo motor 73 is started and drives the second gear 72 to rotate, and the second slider 71, driven by the second rack, moves the bagged material bag toward the direction close to the transfer mechanism, and finally pushes the bagged material bag into the transfer mechanism; similarly, since the first shifting mechanism 7 and the second shifting mechanism 8 are of the same structure with left-right symmetry, the second shifting mechanism also has the same working principle.

[0036] The transfer mechanism group of this embodiment includes a first transfer mechanism 5 and a second transfer mechanism 6. The first transfer mechanism 5 and the second transfer mechanism 6 are respectively arranged in the movement directions of the first position change mechanism 7 and the second position change mechanism 8. Specifically, Figure 6As shown, the first transfer mechanism 5 of the present embodiment includes a first upper receiving plate 56, a first lower receiving plate 512, a first rotating structure, a first translation structure and a first unloading structure. The first upper receiving plate 56 and the first lower receiving plate 512 are fixed by vertical rotation. That is to say, the first lower receiving plate 512 can rotate independently relative to the first upper receiving plate 56, providing a basis for the self-rotation of the transfer mechanism. At the same time, the first upper receiving plate 56 plays a role of hanging fixation for the first lower receiving plate 512. The first rotating structure includes a first rotating motor 51 and a first slewing bearing 52. The first rotating motor 51 is fixed on the first upper receiving plate 56 and is linked with the first slewing bearing 52. The first slewing bearing 52 is fixed on the first lower receiving plate 512. The rotation of the first rotating motor 51 will drive the rotation of the first slewing bearing 52, and further realize the rotation of the first lower receiving plate 512. The first translation structure includes a fifth servo motor 53, a fourth gear (not shown in the figure), a first rack-type guide rail 55 and a plurality of first guide wheels 54. The fourth gear is meshed with the first rack-type guide rail 55, the first rack-type guide rail 55 cooperates with the first guide wheel 54, the fourth gear is linked with the fifth servo motor 53, the fifth servo motor 53, the fourth gear and the first guide wheel 54 are all fixed on the first upper receiving plate 56, the first rack-type guide rail 55 is fixed on the frame 1, the fifth servo motor 53 drives the fourth gear to rotate, and further drives the first upper receiving plate 56 to move on the first rack-type guide rail 55, thereby realizing the translation operation of the transfer mechanism. The first unloading structure includes a first gripper and a first gripper opening and closing motor 58, the first gripper includes two first gripper units 57 arranged opposite to each other, one of the first gripper units 57 is provided with a fifth gear (not shown in the figure), the fifth gear is linked to the first gripper opening and closing motor 58, the other first gripper unit 57 is provided with a fourth rack 511 meshed with the fifth gear, the two first gripper units 57 are provided with a second guide wheel 510, the first lower supporting plate 512 is fixed with a first guide rail 59 matched with the second guide wheel 510, the two first gripper units 57 are hung on the first guide rail 59 through the second guide wheel 510, the first gripper opening and closing motor 58 can drive the fifth gear to move, the movement of the fifth gear and the fourth rack 511 can adjust the distance between the two first gripper units 57, and then realize the opening and closing of the gripper.

[0037] Similarly, the second transfer mechanism 6 includes a second upper receiving plate, a second lower receiving plate, a second rotating structure, a second translation structure and a second unloading structure, the second rotating structure includes a second rotating motor and a second slewing bearing, the second rotating motor is fixed to the second upper receiving plate and is linked to the second slewing bearing, the second slewing bearing is fixed to the second lower receiving plate, the second upper receiving plate and the second lower receiving plate are fixed by up and down rotation, the second translation structure includes a sixth servo motor, a sixth gear, a second rack guide and a plurality of third guide wheels, the first rack guide 55 and the second rack guide are the same rack guide, the sixth gear is meshed with the second rack guide, the second rack guide is meshed with the first The second guide wheels cooperate with each other, the sixth gear is linked with the sixth servo motor, the sixth servo motor, the sixth gear and the third guide wheel are all fixed on the second upper receiving plate, the second rack guide rail is fixed on the frame, the second unloading structure includes a second gripper and a second gripper opening and closing motor, the second gripper includes two second gripper units arranged opposite to each other, one of the second gripper units is provided with a seventh gear, the seventh gear is linked with the second gripper opening and closing motor, the other second gripper unit is provided with a fifth rack meshed with the seventh gear, the two second gripper units are provided with a fourth guide wheel, the second lower receiving plate is fixed with a second guide rail matched with the fourth guide wheel, and the two second gripper units are hung on the second guide rail through the fourth guide wheel. Since the second transfer mechanism 6 is structurally the same as the first transfer mechanism 5, except that the positions on the frame 1 are different, the two are symmetrically arranged and can both realize translation, rotation and unloading, so the working process of the second transfer mechanism 6 will not be described in detail here.

[0038] The control mechanism 3 of this embodiment is used to realize motion control of the conveying mechanism 9, the displacement mechanism 4, the transposition mechanism group, and the transfer mechanism group. Specifically, the control mechanism 3 is used to control the opening and closing of each servo motor, the hand gripper opening and closing motor, and the rotary motor, so as to control each action. Since the control of the motor itself belongs to the existing mature technology, the control mechanism of this embodiment can use the existing controller, which is very easy to implement for those skilled in the art, so the structure and working principle of the control mechanism 3 will not be described in detail here.

[0039] To achieve more precise control, Figure 8As shown, this embodiment also includes an in-place detection sensor assembly, which includes a limit baffle 10 and a pressure sensor 11 arranged on the limit baffle 10. The limit baffle 10 is arranged at the output end of the conveying mechanism 9. When the bagged material bag moves along the conveyor belt 91 and hits the limit baffle 10, the pressure sensor 11 outputs a signal, which serves as an action trigger signal of the shifting mechanism 4, that is, when the bagged material bag hits the limit baffle, the second servo motor 44 starts and drives the first slider 41 to push the bagged material bag to the working position of the shifting mechanism, so that the position of the bagged material bag can be accurately detected and ensured to be pushed in place. It should be noted that the pressure sensor used in this embodiment belongs to an existing mature structure, which can be easily realized by those skilled in the art.

[0040] Based on the above structure, this embodiment provides a palletizing method, including the following steps:

[0041] Step 1: The first bag of material is conveyed to the conveyor belt 91 of the conveying mechanism 9 through the external conveying system. The material bag is conveyed to the position under the conveying action of the conveyor belt 91, hits the limit baffle 10, and triggers the displacement mechanism 4, and the second servo motor 44 is started;

[0042] Step 2: The second servo motor 44 drives the first slide block 41 to translate to the left to push the first bag material package to a predetermined position, that is, the working position of the first position-changing mechanism 7;

[0043] Step 3: The third servo motor 73 of the first position-changing mechanism 7 is started, and the second slider 71 pushes the material bag into the first transfer mechanism 5;

[0044] Step 4: The first transfer mechanism 5 translates and rotates the first bag material package, and the translated and rotated first bag material package passes through the first transfer mechanism 5 and falls to a predetermined position in the transport compartment; specifically, before the material package enters the first transfer mechanism 5, the gripper of the first transfer mechanism 5 is in a closed state, and at this time the first transfer mechanism 5 is in a position facing the first transposition mechanism 7. When the material package enters the gripper, the fifth servo motor is used to translate the material package, the first rotating motor is used to adjust the angle of the material package, and the gripper opening and closing motor is used to increase the distance between the two first gripper units, so that the material package automatically falls under the action of its own gravity, thereby completing unloading and stacking;

[0045] Step 5: Similarly, after the second bag is delivered to the position by the conveying mechanism, the second bag is pushed to the predetermined position by the shifting mechanism to the right, and then is pushed by the second shifting mechanism, shifted and selected by the second transfer mechanism, and finally falls to the predetermined position of the transport carriage;

[0046] Step 6: Repeat this cycle to drop the third bag, the fourth bag, ... the Nth bag into the predetermined positions of the transport carriage respectively until the loading is completed.

[0047] As described above, the present invention can be preferably implemented.

[0048] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. According to the technical essence of the present invention, within the spirit and principles of the present invention, any simple modification, equivalent replacement and improvement made to the above embodiment still falls within the protection scope of the technical solution of the present invention.

Claims

1. A palletizing device for intelligent loading of bagged materials, characterized in that: The invention comprises a frame (1) and a support plate (2) arranged on the frame (1), a control mechanism (3), a conveying mechanism (9), a shifting mechanism (4), a transposition mechanism group and a transfer mechanism group, wherein the upper surface of the support plate (2) is in contact with and flush with the conveying surface of the conveying mechanism (9), or the upper surface of the support plate (2) is lower than the conveying surface of the conveying mechanism (9), the conveying mechanism (9) is located below the shifting mechanism (4), the conveying direction of the conveying mechanism (9) is perpendicular to the movement direction of the shifting mechanism (4), the transposition mechanism group comprises a first transposition mechanism (7) and a second transposition mechanism (8), the first The transposition mechanism (7) and the second transposition mechanism (8) are respectively arranged on both sides of the displacement mechanism (4), and the movement directions of the first transposition mechanism (7) and the second transposition mechanism (8) are perpendicular to the movement direction of the displacement mechanism (4). The transfer mechanism group comprises a first transfer mechanism (5) and a second transfer mechanism (6). The first transfer mechanism (5) and the second transfer mechanism (6) are respectively arranged in the movement directions of the first transposition mechanism (7) and the second transposition mechanism (8). The control mechanism (3) respectively realizes movement control of the conveying mechanism (9), the displacement mechanism (4), the transposition mechanism group, and the transfer mechanism group. The conveying mechanism (9) comprises a conveyor belt (91), a roller (92) and a first servo motor (93); the roller (92) is powered by the first servo motor and drives the conveyor belt (91) to circulate; The displacement mechanism (4) comprises a first slider (41), a first gear (42), a first rack (43) and a second servo motor (44); the first rack (43) is arranged on the first slider (41), the first gear (42) is meshed with the first rack (43), and the first gear (42) is linked with the second servo motor (44); The first shifting mechanism (7) comprises a second slider (71), a second gear (72), a second rack and a third servo motor (73); the second slider (71) is located above the support plate, the second rack is arranged on the second slider (71), the second gear (72) is meshed with the second rack, and the second gear (72) and the third servo motor (73) are linked; the second shifting mechanism (8) comprises a third slider (81), a third gear, a third rack and a fourth servo motor; the third slider (81) is located above the support plate, the third rack is arranged on the third slider, the third gear is meshed with the third rack, and the third gear and the fourth servo motor are linked; The first transfer mechanism (5) comprises a first upper receiving plate (56), a first lower receiving plate (512), a first rotating structure, a first translation structure and a first unloading structure. The first upper receiving plate (56) and the first lower receiving plate (512) are fixed in an up-and-down rotation manner. The first rotating structure comprises a first rotating motor (51) and a first slewing bearing (52). The first rotating motor (51) is fixed on the first upper receiving plate (56) and is linked to the first slewing bearing (52). The first slewing bearing (52) is fixed on the first lower receiving plate (512). The first translation structure comprises a fifth servo motor (53), a fourth gear, a first rack guide rail (55) and a plurality of first guide wheels (54). The fourth gear is meshed with the first rack guide rail (55). The first rack guide rail (55) cooperates with the first guide wheel (54). The fourth gear is meshed with the fifth servo motor (53). The first servo motor (53) and the fourth gear are linked to each other, and the first guide wheel (54) are all fixed on the first upper receiving plate (56). The first rack guide rail (55) is fixed on the frame (1). The first unloading structure includes a first gripper and a first gripper opening and closing motor (58). The first gripper includes two first gripper units (57) arranged opposite to each other, one of the first gripper units (57) is provided with a fifth gear, and the fifth gear is linked to the first gripper opening and closing motor (58). The other first gripper unit (57) is provided with a fourth rack (511) meshing with the fifth gear. The two first gripper units (57) are provided with a second guide wheel (510). The first lower receiving plate (512) is fixed with a first guide rail (59) matched with the second guide wheel (510). The two first gripper units (57) are hung on the first guide rail (59) through the second guide wheel (510). The second transfer mechanism (6) comprises a second upper receiving plate, a second lower receiving plate, a second rotating structure, a second translation structure and a second unloading structure, the second rotating structure comprises a second rotating motor and a second slewing bearing, the second rotating motor is fixed to the second upper receiving plate and is linked to the second slewing bearing, the second slewing bearing is fixed to the second lower receiving plate, the second upper receiving plate and the second lower receiving plate are fixed by vertical rotation, the second translation structure comprises a sixth servo motor, a sixth gear, a second rack guide rail and a plurality of third guide wheels, the first rack guide rail (55) and the second rack guide rail are the same rack guide rail, the sixth gear is meshed with the second rack guide rail, the second rack guide rail is meshed with the The second guide wheel cooperates, the sixth gear is linked with the sixth servo motor, the sixth servo motor, the sixth gear and the third guide wheel are all fixed on the second upper supporting plate, the second rack-type guide rail is fixed on the frame, the second unloading structure includes a second gripper and a second gripper opening and closing motor, the second gripper includes two oppositely arranged second gripper units, one of the second gripper units is provided with a seventh gear, the seventh gear is linked with the second gripper opening and closing motor, the other second gripper unit is provided with a fifth rack meshing with the seventh gear, the two second gripper units are provided with a fourth guide wheel, the second lower supporting plate is fixed with a second guide rail matching the fourth guide wheel, and the two second gripper units are hung on the second guide rail through the fourth guide wheel.

2. A palletizing device for intelligent loading of bagged materials according to claim 1, characterized in that: It also includes an in-place detection sensor assembly, which includes a limit baffle (10) and a pressure sensor (11) arranged on the limit baffle (10), and the limit baffle (10) is arranged at the output end of the conveying mechanism (9).

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