Automatic palletizing equipment

Abstract

The present invention relates to the technical field of palletizing equipment, and in particular to an automatic palletizing equipment, comprising: a pallet storage mechanism, a pallet conveyor, a palletizing mechanism and a feeding mechanism, wherein the two ends of the pallet conveyor are respectively connected to the pallet storage mechanism and the palletizing mechanism, the feeding mechanism comprises a roller conveyor, one end of the roller conveyor is connected to the palletizing mechanism, a rotating roller conveyor is arranged in the middle of the roller conveyor, and a stand is erected above the rotating roller conveyor on the roller conveyor, the stand is hinged with a push plate, a visual module 2 is arranged at one end of the stand, and a cylinder 1 is hinged at the other end of the stand. The automatic palletizing equipment realizes the automated and intelligent processing of pallets and bagged goods, from the release and transportation of pallets to the shooting, information entry, verification and stacking of bagged goods, the entire process realizes automated operation, greatly improves the efficiency of logistics and production lines, reduces labor intensity, and ensures the accuracy of goods information and the reliability of palletizing.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizing equipment, and in particular to automatic palletizing equipment. Background Art

[0002] Potassium superoxide (KO2) is an important alkali metal superoxide. Its physical properties are a light yellow powder with good adhesion, easy to bond under pressure, and good stability in sealed storage at room temperature. Potassium superoxide can produce oxygen when in contact with carbon dioxide exhaled by humans, so it is widely used as an oxygen regeneration agent for emergency rescue in coal mines.

[0003] High-purity metallic potassium is prepared by replacing potassium chloride with metallic sodium, and then the metallic potassium reacts with oxygen to generate potassium superoxide. During the raw material preparation stage, potassium chloride prepared on the production line or purchased from outside needs to be put into storage. In the traditional production process, workers need to manually unload potassium chloride from the production line or truck, and the unloaded potassium chloride is placed on a conveyor roller machine. The transported potassium chloride is then manually stacked and placed on wooden pallets, and then transported to the warehouse for storage by hand or by forklift. The above stacking process requires manual operation, which has the disadvantages of low stacking efficiency, large demand for personnel, and poor stacking accuracy. Summary of the invention

[0004] The object of the present invention is to provide an automatic palletizing device which can greatly improve production efficiency and reduce labor intensity.

[0005] In order to solve the above technical problems, the present invention provides an automatic palletizing device, including a pallet storage mechanism, a pallet conveyor, a palletizing mechanism and a feeding mechanism; one end of the pallet conveyor is connected to the pallet storage mechanism, and the other end of the pallet conveyor is connected to the palletizing mechanism; the palletizing mechanism includes a frame, and a visual module 1 and a three-axis module mechanism are arranged on the top of the frame, and a rotating motor module is fixedly installed on the output end of the three-axis module mechanism, and a clamping claw is fixedly installed on the output end of the rotating motor module; the feeding mechanism includes a roller conveyor, one end of the roller conveyor is connected to the palletizing mechanism, a concave cavity is arranged in the middle of the roller conveyor, and a rotating roller conveyor is arranged in the concave cavity, and the roller conveyor is provided with a stand above the rotating roller conveyor, the stand is hinged with a push plate, and a visual module 2 is arranged at one end of the stand facing the feeding direction, and a cylinder 1 is hinged on the other end of the stand, and the push rod of the cylinder 1 is hinged to the push plate.

[0006] Preferably, the pallet storage mechanism includes a frame body, the front end face of the frame body is provided with an opening, adjustable limit assemblies are fixed on both sides of the opening, the rear end face and left and right end faces of the frame body are each installed with two sets of spaced-apart adaptive limit assemblies, the bottom end of the frame body is provided with cylinder 2, the push rod of cylinder 2 is fixed with a lifting frame, and the lifting frame is internally sleeved in the frame of the pallet conveyor.

[0007] Preferably, the adaptive limit assembly includes an upper baffle and a lower baffle, one end of the upper baffle is hinged to the top of the frame, the other end of the upper baffle is hinged to one end of the lower baffle, and a base is fixed to the side wall of the frame, and the base is slidably connected to the lower baffle.

[0008] Preferably, a guide sleeve is provided at the top of the base, one end of the guide sleeve is open and the other end is closed, a spring is embedded in the inner cavity of the guide sleeve, a guide rod is hinged on one side of the lower baffle, one end of the guide rod extends into the guide sleeve and abuts against the spring.

[0009] Preferably, the left and right end faces of the frame are both equipped with self-locking components, and the self-locking components include a crossbeam, which is fixed between two groups of guide rods on the same side, a rotating cylinder is fixed in the middle of the bottom of the crossbeam, a diamond plate is fixed at the output end of the rotating cylinder, and V-blocks are rotatably installed on both sides of the bottom of the crossbeam, and one end of the V-block is hinged to the diamond plate through a connecting rod.

[0010] Preferably, the adjustable limit assembly includes a support seat and a baffle, the support seat is fixed on the frame of the opening, a square hole is provided at one end of the support seat, a square tube passing through the square hole is provided on one side of the baffle, a plurality of linearly arranged sockets are provided on the square tube, and a pin inserted into the socket is provided on the support seat.

[0011] Preferably, the clamp includes a seat body, which is fixed at the output end of the rotating motor module, and the bottom of the seat body is slidably connected to two groups of spaced top plates, and the bottom of each top plate is hinged with two groups of connecting arms, and claw teeth are arranged between the two groups of connecting arms. Cylinder four is hinged on one side of the connecting arm, and the push rod of cylinder four is hinged to the connecting arm under the other top plate.

[0012] Preferably, scale plates are fixed on both sides of the bottom of the seat body, the scale plates are provided with elongated holes, scales are arranged above the elongated holes, a back plate is fixed on the top of the top plate, and a pointer is arranged on one side of the back plate passing through the elongated holes and pointing to the scale.

[0013] Preferably, two groups of support arms are hinged at the bottom of the top plate, a side plate is provided between the two groups of support arms, a cylinder three is hinged on one side of the support arm, and a push rod of the cylinder three is hinged to the support arm below the other top plate.

[0014] Preferably, a cylinder five is fixed to the bottom of the top plate, and a pressure plate facing the claw teeth is fixed to the push rod of the cylinder five.

[0015] After adopting the above technical solution, the beneficial effects of the present invention are:

[0016] The pallet released by the pallet storage mechanism is transported to the palletizing position of the palletizing mechanism by the pallet conveyor. The vertically placed bagged goods are transported by the roller conveyor. The visual module 2 shoots the product label on the surface of the bagged goods to obtain detailed information about the goods, and then transmits it to the warehouse management system of the automatic palletizing equipment to realize data storage. The cylinder 1 pushes the push plate to flip the bagged goods outward, so that the product label faces up. The bagged goods lying flat come to the end of the roller conveyor. The visual module 1 shoots the product label again and checks it with the information in the warehouse management system. If the information is consistent, the three-axis module mechanism and the visual module 1 work together. The gripper stacks the bagged goods on the pallet in a predetermined manner and order. If the information is inconsistent, the gripper places the bagged goods in another designated position. The automatic palletizing equipment realizes the automated and intelligent processing of pallets and bagged goods. From the release and transportation of pallets to the shooting, information entry, verification and stacking of bagged goods, the entire process is automated, which greatly improves the efficiency of logistics and production lines, reduces labor intensity, and ensures the accuracy of cargo information and the reliability of palletizing. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a structural schematic diagram of the feeding mechanism;

[0020] Figure 3 is a structural schematic diagram of a pallet storage mechanism;

[0021] Figure 4 for Figure 3 A schematic diagram of the enlarged structure at A in the middle;

[0022] Figure 5 It is a structural schematic diagram of a self-locking component;

[0023] Figure 6 is a schematic diagram of the structure of the gripper;

[0024] Figure 7 for Figure 6 Another perspective of the picture;

[0025] Figure 8 for Figure 7 Schematic diagram of the enlarged structure at point B in the middle.

[0026] Figure numerals: 1-pallet storage mechanism, 2-pallet conveyor, 3-palletizing mechanism, 4-three-axis module mechanism, 5-gripper, 6-feeding mechanism, 7-roller conveyor, 8-stand, 9-cylinder one, 10-push plate, 11-rotating roller conveyor, 12-frame, 13-self-locking component, 14-cylinder two, 15-lifting frame, 16-adaptive limiter component, 17-support seat, 18-square hole, 19-baffle, 20-pin, 21-socket, 22-upper baffle, 23- Base, 24-guide rod, 25-rotating cylinder, 26-cross beam, 27-guide sleeve, 28-lower baffle, 29-V-block, 30-connecting rod, 31-diamond plate, 32-seat body, 33-slider, 34-limiting ring, 35-cylinder three, 36-guide shaft, 37-top plate, 38-cylinder four, 39-pressure plate, 40-claw teeth, 41-side plate, 42-cylinder five, 43-support arm, 44-scale plate, 45-back plate, 46-scale, 47-long hole, 48-pointer. DETAILED DESCRIPTION

[0027] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present invention and are not configured to limit the present invention. For those skilled in the art, the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by illustrating examples of the present invention.

[0028] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of the present invention. In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0029] like Figure 1-8As shown, an embodiment of the present invention provides an automatic palletizing device, comprising a pallet storage mechanism 1, a pallet conveyor 2, a palletizing mechanism 3 and a loading mechanism 6. One end of the pallet conveyor 2 is connected to the pallet storage mechanism 1, and the other end of the pallet conveyor 2 is connected to the palletizing mechanism 3. The loading mechanism 6 comprises a roller conveyor 7, and one end of the roller conveyor 7 is connected to the palletizing mechanism 3.

[0030] The pallet storage mechanism 1 comprises a frame 12, and a front end surface of the frame 12 is provided with an opening to facilitate the pallet replenishment work.

[0031] Adjustable stopper assemblies are fixed on both sides of the opening, and two sets of spaced adaptive stopper assemblies 16 are installed on the rear end face and the left and right end faces of the frame 12. The adaptive stopper assemblies 16 are used in conjunction with the adjustable stopper assemblies. The adjustable stopper assemblies serve as the placement reference for the tray. When the tray is placed, the adaptive stopper assemblies 16 will automatically adjust their position to fit closely to the edge of the tray, thereby further limiting the movement of the tray in the horizontal direction.

[0032] The adaptive limit assembly 16 includes an upper baffle 22 and a lower baffle 28. One end of the upper baffle 22 is hinged to the top of the frame 12, and the other end of the upper baffle 22 is hinged to one end of the lower baffle 28. A base 23 is fixed to the side wall of the frame 12, and a guide sleeve 27 is arranged at the top of the base 23. One end of the guide sleeve 27 is open and the other end is closed to form a guide channel. A guide rod 24 is hinged to one side of the lower baffle 28. A spring is embedded in the inner cavity of the guide sleeve 27. One end of the guide rod 24 extends into the guide sleeve 27 and abuts against the spring.

[0033] When the tray is put in, under the guidance of the upper baffle 22, the lower baffle 28 contacts the edge of the tray, the lower baffle 28 deflects, and the guide rod 24 compresses the spring. At the same time, the restoring force of the spring makes the lower baffle 28 keep a certain pressure on the edge of the tray, limiting the movement of the tray in the horizontal direction. When the tray is removed, the restoring force of the spring will automatically return the lower baffle 28 and the upper baffle 22 to the initial position, ready for the storage of the next tray.

[0034] The adjustable limit assembly includes a support seat 17 and a baffle 19. The support seat 17 is fixed on the frame of the opening, and a square hole 18 is provided at one end of the support seat 17. A square tube passing through the square hole 18 is provided on one side of the baffle 19, and a plurality of linearly arranged plug holes 21 are provided on the square tube. A plug 20 inserted into the plug holes 21 is provided on the support seat 17, and the limit range of the baffle 19 can be flexibly changed by adjusting the insertion position of the plug 20. When the pallet is placed, the baffle 19 serves as the placement reference of the pallet, providing preliminary limit and guidance for the pallet.

[0035] The left and right end faces of the frame 12 are both equipped with self-locking components 13, and the self-locking components 13 are located between the two groups of adaptive limit components 16 on the left and right end faces. The self-locking component 13 includes a crossbeam 26, and the crossbeam 26 is fixed between the two groups of guide rods 24 on the same side. A rotating cylinder 25 is fixed in the middle of the bottom of the crossbeam 26, and a diamond plate 31 is fixed at the output end of the rotating cylinder 25. V-blocks 29 are rotatably installed on both sides of the bottom of the crossbeam 26, and one end of the V-block 29 is hinged to the diamond plate 31 through a connecting rod 30. The bottom end of the frame 12 is provided with a cylinder 2 14, and the push rod of the cylinder 2 14 is fixed with a lifting frame 15, and the lifting frame 15 is sleeved in the frame of the pallet conveyor 2.

[0036] When it is necessary to deliver a pallet to the stacking mechanism 3, the cylinder 2 14 pushes the lifting frame 15 upward, lifts up all the pallets in the pallet storage mechanism 1, and then the rotating cylinder 25 drives the diamond plate 31 to rotate. The rotation of the diamond plate 31 is transmitted to the V-block 29 through the connecting rod 30, so that the V-block 29 rotates around its installation point, and one end of the V-block 29 is pulled out, gradually approaching and inserting between the stacked pallets (below the second to last pallet). The lifting frame 15 then descends. Due to the support of the V-block 29, the second to last pallet and above pallets remain lifted up, and the pallet at the bottom follows the lifting frame 15 and falls onto the pallet conveyor 2. The pallet conveyor 2 starts, and the pallet is delivered to the designated position of the stacking mechanism 3. After the pallet is delivered, the rotating cylinder 25 drives the diamond plate 31 to rotate in the opposite direction, the V-block 29 is retracted, and all the pallets fall onto the lifting frame 15. Repeat the above process to continue to output the next pallet from the pallet storage mechanism 1.

[0037] The palletizing mechanism 3 includes a frame and a visual module 1, and a three-axis module mechanism 4 is arranged on the top of the frame (the three-axis module mechanism 4 is composed of moving modules in three directions of X-axis, Y-axis and Z-axis, forming a three-dimensional moving space. Although the specific structural details are not described in detail, as a mature existing technology, no further elaboration is made here). A rotating motor module is fixedly installed at the output end of the three-axis module mechanism 4, and a clamping claw 5 is fixedly installed at the output end of the rotating motor module.

[0038] The visual module 1 is installed on the top of the frame. Through image recognition and processing capabilities, it can identify and locate objects in the working environment, obtain accurate position and shape information, and comprehensively monitor the working environment. Based on the information provided by the visual module 1, the control system of this device plans the path of the three-axis module mechanism 4 and determines the moving trajectory and grasping position of the gripper 5.

[0039] The clamping jaw 5 is mainly composed of a seat body 32, a top plate 37, a connecting arm, claw teeth 40 and other auxiliary components. The seat body 32 serves as a fixed base of the clamping jaw 5 and is closely connected to the rotating motor module to ensure that the clamping jaw 5 can rotate in a predetermined direction.

[0040] Two parallel guide shafts 36 are fixed to the bottom of the seat body 32, and two groups of top plates 37 are provided. The top plates 37 are slidably connected to the guide shafts 36 through the slider 33. The guide shaft 36 is provided with a limit ring on both sides of the slider 33, and the limit ring is fixedly connected to the guide shaft 36 through a top screw. The two groups of top plates 37 are slidably connected to the bottom of the seat body 32 at intervals, so that the top plates 37 can move relatively within a certain range, thereby adjusting the clamping width of the clamping jaws 5.

[0041] Scale plates 44 are fixed on both sides of the bottom of the base body 32, and a long hole 47 is opened on the scale plate 44. A scale 46 is arranged above the long hole 47. A back plate 45 is fixed on the top of the top plate 37, and a pointer 48 is arranged on one side of the back plate 45 and passes through the long hole 47 and points to the scale 46.

[0042] Two groups of connecting arms are hinged at the bottom of each top plate 37, and claw teeth 40 are arranged between the two groups of connecting arms. Cylinder four 38 is hinged on one side of the connecting arm, and the push rod of cylinder four 38 is hinged to the connecting arm under another top plate 37. When cylinder four 38 receives the command from the control system, its push rod begins to extend or retract, and pushes the claw teeth 40 to perform corresponding opening and closing movements through the hinge structure. Two groups of support arms 43 (located between the two groups of connecting arms of the same top plate 37) are hinged at the bottom of the top plate 37 of the clamping jaw 5, and the side plate 41 is arranged between the two groups of support arms 43. Cylinder three 35 is hinged on one side of the support arm 43, and the push rod of cylinder three 35 is hinged to the support arm 43 under another top plate 37. When cylinder three 35 receives the command from the control system, the movement of its push rod can drive the side plate 41 to perform corresponding opening and closing movements, thereby adjusting the side support force of the clamping jaw 5. A cylinder 5 42 is fixed to the bottom of the top plate 37, and a pressing plate 39 facing the claw teeth 40 is fixed to the push rod of the cylinder 5 42. The pressing plate 39 can exert an additional clamping force on the claw teeth 40 under the push of the cylinder 5 42, flattening the goods while ensuring that the goods will not fall off during the moving and stacking process.

[0043] A concave cavity is provided in the middle of the roller conveyor 7, and a rotary roller conveyor 11 (also known as a turning table conveyor, which is a conveying equipment that can realize material turning during the conveying process, as a mature existing technology, it will not be described in detail here), and the conveying surface of the roller conveyor 7 is flush with the conveying surface of the rotary roller conveyor 11. A vertical frame 8 is erected on the roller conveyor 7 above the rotary roller conveyor 11, and the vertical frame 8 is hinged with a push plate 10. A visual module 2 is provided at one end of the vertical frame 8 facing the feeding direction, and a cylinder 19 is hinged at the other end of the vertical frame 8, and the push rod of the cylinder 19 is hinged to the push plate 10. When the push plate 10 is in normal state, its lower end is close to the conveying surface of the rotary roller conveyor 11, and forms an angle of 135 degrees with its conveying surface (that is, it is inclined toward the side wall equipped with the visual module 2).

[0044] The device can be used in a variety of scenarios. Two scenarios are described in detail below.

[0045] Packaging production line application

[0046] The bagged and sealed bagged goods (such as potassium chloride, etc.) are sent to the palletizing mechanism 3 via the roller conveyor 7 in an upright posture, and the pallet storage mechanism 1 releases an empty pallet, which is transported to the palletizing position of the palletizing mechanism 3 via the pallet conveyor 2. During the transportation of the bagged goods, the visual module 2 will capture the image of the bagged goods, and identify the product label on it through image recognition capabilities, and obtain detailed information of the goods (such as product name, batch number, production date, etc.). The identified goods information is transmitted to the warehouse management system of the automatic palletizing equipment to provide basic data for subsequent data warehousing and inventory management. After the visual module 2 detects that the bagged goods have arrived at the predetermined position, the cylinder 1 9 pushes the push plate 10 to push the bagged goods down, and the product label of the bagged goods faces upward (because the bagged goods flow from the packaging production line, the labeling position is fixed, such as the label position facing away from the conveying direction of the roller conveyor 7, when the bagged goods fall, the product label naturally faces upward). The second visual module identifies the posture of the fallen bagged goods. If the posture is too tilted, when the bagged goods pass through the rotary roller conveyor 11, the rotary roller conveyor 11 will rotate the corresponding angle to straighten the posture of the bagged goods (the bag length direction of the bagged goods is parallel to the conveying direction). The straightened bagged goods come to the end of the roller conveyor 7, and the visual module 1 takes the image of the product label again and checks it with the information in the warehouse management system: if the information is consistent, through the coordinated work of the three-axis module mechanism and the visual module 1, the clamp 5 grabs and flattens the bagged goods, and then stacks them on the pallet in a predetermined manner and order; if the information is inconsistent, the clamp 5 places the bagged goods in another designated location for subsequent processing. When the pallet is stacked, it is transported to the warehouse area by forklifts and other conveying equipment, and then the pallet storage mechanism 1 releases the next empty pallet to prepare for the next round of palletizing operations.

[0047] Application of conveyor line

[0048] Bags of goods from the cargo stacking area or on the carrier are sent to the roller conveyor 7 by workers or equipment, and the pallet storage mechanism 1 releases an empty pallet, which is transported to the palletizing position of the palletizing mechanism 3 via the pallet conveyor 2. During the transportation of bagged goods, the visual module 2 will capture the image of the bagged goods and identify the product label and posture on it through image recognition capabilities. The identified cargo information is transmitted to the warehouse management system of the automatic palletizing equipment to provide basic data for subsequent data warehousing and inventory management. Depending on the different postures of the bagged goods, the processing method is also different:

[0049] If the bagged goods are upright but the product label is facing away from the conveying direction of the roller conveyor 7, after the goods information is identified, the cylinder 1 9 pushes the push plate 10 to push the bagged goods down, and the product label of the bagged goods faces upwards. The rotating roller conveyor 11 adjusts the posture according to the feedback of the visual module 2;

[0050] If the bagged goods are upright but the product label faces the conveying direction of the roller conveyor 7, after identifying the goods information, the rotary roller conveyor 11 first rotates the bagged goods 180 degrees to change the direction of the bagged goods, and then the cylinder 1 9 pushes the push plate 10 to push the bagged goods down, with the product label of the bagged goods facing upwards. The rotary roller conveyor 11 adjusts its posture according to the feedback of the visual module 2;

[0051] If the bagged goods lie flat but the product label faces upward, after the goods information is identified, the cylinder 1 9 pushes the push plate 10 up to make way for the bagged goods, and the rotary roller conveyor 11 adjusts its posture according to the feedback from the visual module 2;

[0052] If the bagged goods lie flat but the product label faces downward, when the bagged goods arrive at the rotating roller conveyor 11, the rotating roller conveyor 11 drives the bagged goods to rotate and straighten the bagged goods. As the rotating roller conveyor 11 conveys, the lower end of the push plate 10 is embedded in the bottom of the bagged goods. While the rotating roller conveyor 11 is conveying, the cylinder 19 pushes the push plate 10 to stand up the bagged goods, and then the cylinder 19 continues to push the push plate 10 to push the bagged goods down, and the visual module 2 identifies the product label.

[0053] The straightened bagged goods arrive at the end of the roller conveyor 7, and the visual module 1 takes the image of the product label again and checks it with the information in the warehouse management system: if the information is consistent, through the coordinated work of the three-axis module mechanism and the visual module 1, the clamp 5 grabs and flattens the bagged goods, and then stacks them on the pallet in a predetermined manner and order; if the information is inconsistent, the clamp 5 puts the bagged goods in another designated location for subsequent processing. When the pallet is stacked, it is transported to the warehouse area by forklifts and other conveying equipment, and then the pallet storage mechanism 1 releases the next empty pallet to prepare for the next round of palletizing operations.

[0054] According to the embodiments of the present invention as described above, these embodiments do not describe all the details in detail, nor do they limit the invention to specific embodiments. Obviously, many modifications and changes can be made based on the above description. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can make good use of the present invention and the modified use based on the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic palletizing device, characterized in that: The invention comprises a pallet storage mechanism (1), a pallet conveyor (2), a stacking mechanism (3) and a feeding mechanism (6); one end of the pallet conveyor (2) is connected to the pallet storage mechanism (1), and the other end of the pallet conveyor (2) is connected to the stacking mechanism (3); the stacking mechanism (3) comprises a frame, and a visual module 1 and a three-axis module mechanism (4) are arranged on the top of the frame, a rotating motor module is fixedly installed on the output end of the three-axis module mechanism (4), and a clamping claw (5) is fixedly installed on the output end of the rotating motor module; the feeding mechanism (6) comprises a roller conveyor (7), one end of the roller conveyor (7) is connected to the stacking mechanism (3), a concave cavity is arranged in the middle of the roller conveyor (7), and the A rotating roller conveyor (11) is arranged in the concave cavity. The roller conveyor (7) is provided with a stand (8) above the rotating roller conveyor (11). The stand (8) is hinged with a push plate (10). One end of the stand (8) facing the feeding direction is provided with a visual module 2. The other end of the stand (8) is hinged with a cylinder 1 (9). The push rod of the cylinder 1 (9) is hinged to the push plate (10). The pallet storage mechanism (1) comprises a frame (12). The front end surface of the frame (12) is provided with an opening. Both sides of the opening are fixed with adjustable limit assemblies. The rear end surface and left and right end surfaces of the frame (12) are respectively provided with two sets of spaced adaptive limit assemblies (16). The frame ( The bottom end of the frame (12) is provided with a cylinder 2 (14), the push rod of the cylinder 2 (14) is fixed with a lifting frame (15), and the lifting frame (15) is sleeved in the frame of the pallet conveyor (2); the adaptive limit assembly (16) includes an upper baffle (22) and a lower baffle (28), one end of the upper baffle (22) is hinged to the top end of the frame (12), and the other end of the upper baffle (22) is hinged to one end of the lower baffle (28), and the side wall of the frame (12) is fixed with a base (23), and the base (23) is slidably connected to the lower baffle (28); the top end of the base (23) is provided with a guide sleeve (27), one end of the guide sleeve (27) is open, and the other end is closed, and the guide sleeve (2 7) has an inner cavity with a spring embedded therein, a guide rod (24) is hingedly connected to one side of the lower baffle (28), one end of the guide rod (24) extends into the guide sleeve (27) and abuts against the spring; the left and right end surfaces of the frame (12) are both mounted with a self-locking assembly (13), the self-locking assembly (13) comprising a crossbeam (26), the crossbeam (26) being fixed between two groups of guide rods (24) on the same side, a rotating cylinder (25) being fixed in the middle of the bottom of the crossbeam (26), a rhombus plate (31) being fixed at the output end of the rotating cylinder (25), V-shaped blocks (29) being rotatably mounted on both sides of the bottom of the crossbeam (26), one end of the V-shaped block (29) being hingedly connected to the rhombus plate (31) via a connecting rod (30).

2. The automatic palletizing equipment according to claim 1, characterized in that: The adjustable limiter assembly comprises a support seat (17) and a baffle (19); the support seat (17) is fixed on the frame of the opening; one end of the support seat (17) is provided with a square hole (18); one side of the baffle (19) is provided with a square tube passing through the square hole (18); the square tube is provided with a plurality of linearly arranged plug holes (21); and the support seat (17) is provided with a plug pin (20) inserted into the plug hole (21).

3. The automatic palletizing equipment according to claim 1, characterized in that: The clamp (5) includes a seat body (32), the seat body (32) is fixed at the output end of the rotating motor module, the bottom of the seat body (32) is slidably connected to two groups of spaced top plates (37), the bottom of each top plate (37) is hinged with two groups of connecting arms, claw teeth (40) are arranged between the two groups of connecting arms, one side of the connecting arm is hinged with a cylinder four (38), and the push rod of the cylinder four (38) is hinged to the connecting arm below the other top plate (37).

4. The automatic palletizing equipment according to claim 3 is characterized in that: A scale plate (44) is fixed to both sides of the bottom of the seat body (32), the scale plate (44) is provided with an elongated hole (47), a scale (46) is arranged above the elongated hole (47), a back plate (45) is fixed to the top of the top plate (37), and a pointer (48) is arranged on one side of the back plate (45) and passes through the elongated hole (47) and points to the scale (46).

5. The automatic palletizing equipment according to claim 4, characterized in that: Two groups of support arms (43) are hingedly connected at the bottom of the top plate (37), a side plate (41) is provided between the two groups of support arms (43), a cylinder three (35) is hingedly connected to one side of the support arm (43), and a push rod of the cylinder three (35) is hingedly connected to the support arm (43) below the other top plate (37).

6. The automatic palletizing equipment according to claim 5, characterized in that: A cylinder five (42) is fixed to the bottom of the top plate (37), and a pressure plate (39) facing the claw teeth (40) is fixed to the push rod of the cylinder five (42).

Images