Double-separation palletizer and method of using the same

Abstract

The invention discloses a double-separation type palletizer and a use method thereof, and relates to the technical field of palletizers, comprising a palletizer; a palletizer lifting device is fixedly installed on the left side of the palletizer frame by bolts; a palletizer turntable is fixedly installed on the top of the displacement frame of the palletizer lifting device, and a walking device and a pushing device are arranged on the same guide rail, and a transition setting structure of a transition plate and a belt device is used, and combined with data information detected by a visual component, it can adapt to different regular shapes of objects and can clamp the objects in different ways according to the weight of the objects to avoid fatigue of processing parts, so as to achieve that at the same position, objects can be pushed away laterally and then clamped, and objects can also be separated by direct clamping, thereby solving the singleness of the separation mode of the stacked objects of the palletizer.

Description

Technical Field

[0001] The invention relates to the technical field of palletizers, in particular to a double-separation palletizer and a use method thereof. Background Art

[0002] A palletizer is a device that can stack cartons, bags or other packaging materials that have been loaded into containers on pallets or pallets in a certain arrangement. It can automatically complete the stacking work, can stack multiple layers, and then push them out to facilitate forklift transportation to the warehouse for storage. Palletizers usually use PLC (Programmable Logic Controller) and touch screen control to achieve intelligent operation and management. They are simple to operate and easy to master, which can greatly reduce labor and reduce labor intensity.

[0003] The existing palletizer technology has too simple a mode for separating the stacked objects and cannot adapt well to the diversity of objects. It can only push the objects away first and then clamp and stack them. The pushing device and the walking device of the existing palletizer technology cannot work on the same track. When encountering large and heavy objects, the pushing device cannot push the objects away and it is easy to shorten the life of the transition wear-resistant plate and the belt. Summary of the invention

[0004] Therefore, in order to solve the above-mentioned shortcomings, the present invention provides a double-separation palletizer and a method of using the same.

[0005] The present invention is achieved in this way, constructing a double-separation palletizer and a method for using the same, the device comprising a palletizer; a palletizer lifting device is fixedly installed on the left side of the palletizer frame by bolts; a palletizer turntable is fixedly installed on the top of the displacement frame of the palletizer lifting device; a guide rail with a limiting function is arranged on the top of the palletizer frame, and a transmission rack is fixedly arranged on the top side square tube of the palletizer frame; it is characterized in that: a running device is arranged on the top tooth transmission of the rack of the top side square tube of the palletizer; a push-off device is arranged on the bottom tooth transmission of the rack of the top side square tube of the palletizer, and both the running device and the push-off device are slidably connected to the guide rail; a transition plate is slidably arranged on the left side connecting rod of the push-off device; the palletizer frame A belt device is fixedly installed on the middle side of the top of the body by bolts; a visual component with a detection function is transmitted and arranged on the rack on the side of the guide rail; the walking device includes a walking shaft wheel that is transmitted and arranged on the rack on the side of the guide rail; a second driving component is arranged on the side of the walking shaft wheel through belt transmission; the second driving component is fixedly installed on the side of the fixed frame by bolts; a triangular wheel assembly is fixedly installed on the middle side of the top of the fixed frame by bolts; a chuck assembly is slidably arranged on the side of the wheel body of the triangular wheel assembly; clamp assemblies are slidably arranged on all sides of the chuck assembly; a hydraulic component is fixedly installed on the right side of the top of the fixed frame by bolts; a limiting wheel with a limiting function is rotatably arranged on the rear side of the bottom of the fixed frame.

[0006] Preferably, the chuck assembly includes a triangular guide rail frame slidably arranged on the side of the wheel body of the triangular wheel assembly; the triangular guide rail frame is rotatably installed with the bottom of the piston rod of the first lifting cylinder, and the first lifting cylinder is fixedly installed with the middle side of the top of the triangular guide rail frame through a pin; a clamping cylinder with a tightening and fixing function is fixedly installed on the middle side of the bottom of the triangular guide rail frame, and the piston rod on the side of the clamping cylinder is fixedly installed with the clamp assembly.

[0007] Preferably, a synchronous connecting rod is rotatably hingedly provided on the side of the clamp assembly; an optical axis is slidably provided inside the limiting groove at the bottom of the triangular guide rail frame, and bolts with limiting function are sleeved on both sides of the optical axis shaft; the side surfaces of the optical axis are slidably connected to the clamp assembly.

[0008] Preferably, the clamp assembly includes a clamp body fixedly arranged at the end of the piston rod on the side of the clamping cylinder, and an optical axis is slidably arranged in the through groove on the top of the clamp body; a second lifting cylinder with an adjusting function is fixedly installed in the clamp body frame by bolts; the end of the piston rod at the bottom of the second lifting cylinder is plugged and fixed to the drive shaft of the regulating motor; the regulating motor is fixedly installed on the top of the fixed sliding box by bolts.

[0009] Preferably, electromagnetic coils are fixedly installed on both sides of the fixed sliding box body; a permanent magnet is slidably arranged inside the fixed sliding box body; a pneumatic turntable is fixedly installed on the side of the second lifting cylinder body, and a calibration detector with a positioning function is fixedly installed on the side of the pneumatic turntable by bolts; wherein, five groups of electromagnetic coils are fixedly installed on the left and right sides of the fixed sliding box, respectively, and the five groups of electromagnetic coils are connected in series.

[0010] Preferably, the belt device includes a belt frame fixedly installed on the middle side of the stacking machine frame by bolts; a first driving component with a driving function is fixedly installed on the left side of the bottom of the belt frame by bolts; a roller is arranged on the top side of the transmission member of the first driving component for meshing transmission, and the roller is rotatably arranged on the left and right sides of the belt frame; a belt is arranged for transmission on the outer side of the roller; an adjusting roller is fixedly installed on the bottom of the belt frame by bolts, and the bottom side of the adjusting roller is pressed against the belt.

[0011] Preferably, the visual component includes a regulating component with a meshing transmission arranged on the bottom side of the guide rail, and the regulating component is specifically composed of a shell, a driving motor and a meshing gear; an electromagnetic block and a rotating sphere with regulating function are fixedly arranged on the rear side of the shell of the regulating component, and a calibration component is fixedly arranged on the side rod of the rotating sphere; a multi-axis robotic arm with regulating function is fixedly installed on the bottom of the shell of the regulating component by bolts.

[0012] Preferably, a visual camera with detection function is fixedly installed on the outer side of the multi-axis robotic arm body by bolts; a perspective detection component with detection function is fixedly installed on the end of the multi-axis robotic arm by bolts, and the perspective detection component is specifically composed of a protective shell, a radiation source and a detector.

[0013] Preferably, the pushing device is specifically composed of a gear set that is transmission-disposed on the top guide rail of the palletizer, a motor that drives the gear set, and a frame for pushing away, and the bottom side of the pushing frame of the pushing device is at the same level as the top of the transition plate and the top of the belt; a block that provides a limiting effect on the pushing device is provided on the guide rail above the transition plate.

[0014] A double-separation palletizer and a method for using the same, comprising the following steps:

[0015] Step 1: During normal stacking of objects, the walking device and the pushing device are arranged on the same guide rail, the fixed frame is adjusted on the guide rail by the second driving assembly and the walking shaft wheel, and then the clamp assembly on the walking device is controlled by the control terminal to be lowered into position by the first lifting cylinder, and the triangular guide frame drives the clamp assembly to approach the object under the limiting action of the triangular wheel assembly, and the clamp assembly clamps the object by the expansion and contraction of the clamp cylinder and the coordination of the clamp body, and then the walking device clamps the object and moves it above the stacking turntable;

[0016] Step 2: The regulating motor and the fixed sliding box are driven to move downward by the second lifting cylinder, and the regulating motor is used to drive the fixed sliding box to adjust the angle, so that the fixed sliding box and the permanent magnet are in parallel with the bottom of the fixture body, and then the electromagnetic coils arranged in series are energized one by one through the control terminal, so that the electromagnetic coils are energized to generate magnetism and repel the magnetic field of the permanent magnet, and the permanent magnet gradually withdraws from the fixed sliding box, thereby forming a support structure at the bottom of the clamped object to adapt to irregular objects with deviated center of gravity;

[0017] Step 3: Use the control component and the multi-axis robot to adjust the displacement on the guide rail. Here, the calibration plate and the calibration detector in the calibration component are used for data sensing to detect the spatial position data between the walking device and the visual component, and the perspective detection component is pushed to the side of the object and in contact with the surface of the object. Then, the internal situation of the object box is detected by the detection part inside the perspective detection component. At the same time, the surface information of the object is collected by the visual camera, and a three-dimensional model of the object is formed at the control terminal. The detection data of the perspective detection component is combined to determine the center of gravity position. After fitting the data, the walking device and the push-off device are adjusted to re-adaptively clamp the object;

[0018] Step 4: After the stacking turntable is lifted and lowered into place by the sprocket and chain drive of the stacking lifting device, the clamping head assembly uses the clamping cylinder to release the object and place the object on the stacking turntable. Similarly, the objects are clamped and placed layer by layer until they are stacked on the stacking turntable.

[0019] Step 5. During the separate stacking of objects, according to the actual situation on site, the objects at the same position are pushed away laterally by the walking device in cooperation with the pushing device and then clamped, or the objects are separated by direct clamping through the walking device; the pushing device is controlled to push the object to the belt device through the transition plate, and the belt device drives the roller to rotate through the first driving component, so that the belt is transmitted accordingly, so that after the objects are placed in the right position, the walking device moves to the specified position above the belt device, the chuck assembly of the walking device is lowered into place by the first lifting cylinder, and the clamp assembly clamps the object by the extension and contraction of the clamping cylinder, and the first lifting cylinder rises, and the walking device moves to above the stacking turntable, and the stacking turntable is lifted and lowered into place by the sprocket and chain transmission of the stacking lifting device, and the chuck assembly is lowered into place by the second lifting cylinder, and the second lifting cylinder releases the object, and the object is placed on the stacking turntable and stacked into a stack.

[0020] The present invention has the following advantages: The present invention provides a double-separation palletizer and a method of using the same through improvement, which has the following improvements compared with the same type of equipment:

[0021] The double-separation palletizer and the use method thereof described in the present invention can adapt to different regular shapes of objects by arranging the walking device and the pushing device on the same guide rail, and by using the transition setting structure of the transition plate and the belt device, and combining the data information detected by the visual component, and can clamp the objects in different ways according to the weight of the objects to avoid fatigue of the processing parts, so as to achieve that at the same position, the objects can be pushed away laterally and then clamped, and can also be separated by direct clamping, thereby solving the singleness of the separation mode of the stacked objects of the palletizer. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the three-dimensional structure of the belt device of the present invention;

[0024] Figure 3 It is a schematic diagram of the three-dimensional structure of the walking device of the present invention;

[0025] Figure 4 It is a schematic diagram of the axial side structure of the chuck assembly of the present invention;

[0026] Figure 5It is a schematic diagram of the axial side structure of the clamp assembly of the present invention;

[0027] Figure 6 It is a bottom view structural schematic diagram of the chuck assembly of the present invention;

[0028] Figure 7 It is a schematic diagram of the three-dimensional structure of the visual component of the present invention.

[0029] Among them: palletizer-1, palletizing lifting device-2, palletizing turntable-3, guide rail-4, walking device-5, push-off device-6, transition plate-7, belt device-8, visual component-9, walking shaft wheel-51, second drive component-52, fixed frame-53, triangular wheel component-54, clamping head component-55, clamping component-56, hydraulic component-57, limiting wheel-58, triangular guide frame-551, first lifting cylinder-552, clamping cylinder-553, synchronous connecting rod- 554, optical axis -555, fixture body -561, second lifting cylinder -562, regulating motor -563, fixed slide box -564, electromagnetic coil -565, permanent magnet -566, pneumatic turntable -567, calibration detector -568, belt frame -81, first drive component -82, roller -83, belt -84, adjusting roller -85, regulating component -91, calibration component -92, multi-axis robot arm -93, visual camera -94, perspective detection component -95. DETAILED DESCRIPTION

[0030] The following is combined with Figure 1 to Figure 7 The principles and features of the present invention are described, and the examples given are only used to explain the present invention and are not used to limit the scope of the present invention. In the following paragraphs, the present invention is described in more detail by way of example with reference to the accompanying drawings. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to facilitate and clearly assist in explaining the purpose of the embodiments of the present invention.

[0031] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" 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 a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The following is an explanation of the embodiments of the present invention based on its overall structure.

[0033] Embodiment 1:

[0034] See also Figure 1 to Figure 7 A double-separation palletizer and a method of using the same comprise a palletizer 1; a palletizer lifting device 2 is fixedly installed on the left side of the palletizer 1 frame by bolts; a palletizer turntable 3 is fixedly installed on the top of the displacement frame of the palletizer lifting device 2; a guide rail 4 with a limiting function is arranged on the top of the palletizer 1 frame, and a transmission rack is fixedly arranged on the top side square tube of the palletizer 1 frame; the characteristics are: a running device 5 is arranged on the top tooth transmission of the rack of the top side square tube of the palletizer 1; a push-off device 6 is arranged on the bottom tooth transmission of the rack of the top side square tube of the palletizer 1, and the running device 5 and the push-off device 6 are both slidably connected to the guide rail 4; a transition plate 7 is slidably arranged on the left side connecting rod of the push-off device 6; a belt device 8 is fixedly installed on the middle side of the top of the palletizer 1 frame by bolts.

[0035] The push-off device 6 is specifically composed of a gear set that is transmitted on the top guide rail 4 of the palletizer 1, a motor that drives the gear set, and a frame for pushing away, and the frame of the push-off device 6 is at the same level as the transition plate 7 and the top of the belt 84; a block that provides a limiting effect on the push-off device 6 is provided on the guide rail 4 above the transition plate 7.

[0036] The walking device 5 includes a walking shaft wheel 51 which is transmission-set on the side rack of the guide rail 4; a second driving assembly 52 is arranged on the side of the walking shaft wheel 51 through belt transmission; the second driving assembly 52 is fixedly installed on the side of the fixing frame 53 by bolts; a triangular wheel assembly 54 is fixedly installed on the middle side of the top of the fixing frame 53 by bolts; a chuck assembly 55 is slidingly arranged on the side of the wheel body of the triangular wheel assembly 54; clamp assemblies 56 are slidingly arranged on all sides of the chuck assembly 55; a hydraulic assembly 57 is fixedly installed on the right side of the top of the fixing frame 53 by bolts; a limiting wheel 58 with a limiting function is rotatably arranged on the rear side of the bottom of the fixing frame 53.

[0037] The chuck assembly 55 includes a triangular guide frame 551 slidably arranged on the side of the wheel body of the triangular wheel assembly 54; the triangular guide frame 551 is rotatably installed with the bottom of the piston rod of the first lifting cylinder 552, and the first lifting cylinder 552 is fixedly installed with the middle side of the top of the triangular guide frame 551 through a pin; a clamping cylinder 553 with a tightening and fixing function is fixedly installed on the middle side of the bottom of the triangular guide frame 551, and the side piston rod of the clamping cylinder 553 is fixedly installed with the clamp assembly 56; a synchronous connecting rod 554 is rotatably hingedly arranged on the side of the clamp assembly 56; an optical axis 555 is slidably arranged inside the limiting groove at the bottom of the triangular guide frame 551, and bolts with a limiting function are sleeved on both sides of the optical axis 555; the sides of the optical axis 555 are slidably connected with the clamp assembly 56.

[0038] The clamp assembly 56 includes a clamp body 561 fixedly arranged at the end of the piston rod on the side of the clamping cylinder 553, and an optical axis 555 is slidably arranged in the top groove of the clamp body 561; a second lifting cylinder 562 with an adjusting function is fixedly installed in the frame of the clamp body 561 by bolts; the end of the piston rod at the bottom of the second lifting cylinder 562 is plugged and fixed to the transmission shaft of the regulating motor 563; the regulating motor 563 is fixedly installed on the top of the fixed sliding box 564 by bolts; electromagnetic coils 565 are fixedly installed on both sides of the fixed sliding box 564; a permanent magnet 566 is slidably arranged in the fixed sliding box 564; a pneumatic turntable 567 is fixedly installed on the side of the cylinder body of the second lifting cylinder 562, and a calibration detector 568 with a positioning function is fixedly installed on the side of the pneumatic turntable 567 by bolts; wherein, five groups of electromagnetic coils 565 are fixedly arranged on the left and right sides of the fixed sliding box 564, and the five groups of electromagnetic coils 565 are connected in series.

[0039] The belt device 8 includes a belt frame 81 fixedly installed on the middle side of the frame of the palletizer 1 by bolts; a first driving assembly 82 with a driving function is fixedly installed on the left side of the bottom of the belt frame 81 by bolts; a roller 83 is arranged on the top side of the transmission member of the first driving assembly 82 for meshing transmission, and the roller 83 is rotatably arranged on the left and right sides of the belt frame 81; a belt 84 is arranged for transmission on the outer side of the roller 83; an adjusting roller 85 is fixedly installed on the bottom of the belt frame 81 by bolts, and the bottom side of the adjusting roller 85 is pressed against the belt 84.

[0040] Embodiment 2:

[0041] See also Figure 1 to Figure 7, a double-separation palletizer and a method of using the same of the present invention, compared with the first embodiment, the present embodiment further comprises: a visual component 9 with a detection function is arranged on the rack on the side of the guide rail 4; the visual component 9 comprises a regulating component 91 arranged on the bottom side of the guide rail 4 in meshing transmission, and the regulating component 91 is specifically composed of a shell, a drive motor and a meshing gear; an electromagnetic block with a regulating function and a rotating sphere are fixedly arranged on the rear side of the shell of the regulating component 91, and a calibration component 92 is fixedly arranged on the rod body on the side of the rotating sphere; a multi-axis mechanical arm 93 with a regulating function is fixedly installed on the bottom of the shell of the regulating component 91 by bolts; a visual camera 94 with a detection function is fixedly installed on the outer side of the arm body of the multi-axis mechanical arm 93 by bolts; a perspective detection component 95 with a detection function is fixedly installed on the end of the mechanical arm of the multi-axis mechanical arm 93 by bolts, and the perspective detection component 95 is specifically composed of a protective shell, a radiation source and a detector.

[0042] The working principle of the double-separation palletizer and its use method based on the above is:

[0043] First, when using this device, first place the device in the working area, and then connect the device to an external power source to provide the device with the power required for operation;

[0044] Second, during the normal stacking process of objects, the walking device 5 and the pushing device 6 are arranged on the same guide rail 4, and the fixed frame 53 is adjusted on the guide rail 4 through the second driving assembly 52 and the walking shaft wheel 51, and then the clamp assembly 55 on the walking device 5 is controlled by the control terminal to descend to the position by the first lifting cylinder 552, and the triangular guide frame 551 drives the clamp assembly 56 to approach the object under the limiting action of the triangular wheel assembly 54, and the clamp assembly 56 uses the clamping cylinder 553 to expand and contract and the clamp body 561 to clamp the object, and then the walking device 5 clamps the object and moves it above the stacking turntable 3;

[0045] Third, since the conventional clamp body 561 is difficult to firmly clamp irregular objects with different centers of gravity, the second lifting cylinder 562 is used to drive the regulating motor 563 and the fixed sliding box 564 to move downward, and the regulating motor 563 drives the fixed sliding box 564 to adjust the angle, so that the fixed sliding box 564 and the permanent magnet 566 are in a parallel relationship with the bottom of the clamp body 561, and then the electromagnetic coils 565 arranged in series are energized one by one through the control terminal, so that the electromagnetic coils 565 are energized to generate magnetism and repel the magnetic field of the permanent magnet 566, and the permanent magnet 566 gradually withdraws from the fixed sliding box 564, thereby forming a support structure at the bottom of the clamped object to adapt to the irregular objects with deviated centers of gravity;

[0046] Fourth, the staff collects information about the object through the visual component 9 at the same time, and adjusts the displacement on the guide rail 4 through the control component 91 and the multi-axis robot 93. Here, the calibration plate and the calibration detector 568 in the calibration component 92 are used for data sensing to detect the spatial position data between the walking device 5 and the visual component 9, and the perspective detection component 95 is pushed to the side of the object and contacts the surface of the object, and then the internal situation of the object box is detected by the detection part inside the perspective detection component 95. At the same time, the visual camera 94 is also used to collect the surface information of the object, and a three-dimensional model of the object is formed at the control terminal, and the detection data of the perspective detection component 95 is combined to determine the center of gravity position. After fitting the data, the walking device 5 and the push-off device 6 are adjusted to re-adaptively clamp the object;

[0047] Fifth, the control terminal controls the stacking turntable 3 to be lifted and lowered to the right position through the sprocket and chain drive of the stacking lifting device 2, and the clamping head assembly 55 uses the clamping cylinder 553 to release the object and place the object on the stacking turntable 3. Similarly, the objects are clamped and placed layer by layer until the stacking turntable 3 is stacked.

[0048] Sixth, in the process of separate stacking of objects, according to the actual situation on site, the objects at the same position are pushed away laterally by the walking device 5 under the cooperation of the pushing device 6 and then clamped, or the walking device 5 is used to separate the objects by direct clamping; the pushing device 6 is controlled to push the objects to the belt device 8 through the transition plate 7, and the belt device 8 drives the roller 83 to rotate through the first driving component 82, so that the belt 84 is driven accordingly, so that after the objects are placed in the right position, the walking device 5 moves to the top of the belt device 8 At the designated position, the chuck assembly 55 of the walking device 5 is lowered into place by the first lifting cylinder 552, and the clamp assembly 56 is retracted and extended by the clamping cylinder 553 to clamp the object. Then, the first lifting cylinder 552 rises, and the walking device 5 moves to above the stacking turntable 3. The stacking turntable 3 is lifted and lowered into place by the sprocket and chain transmission of the stacking lifting device 2. After the chuck assembly 55 is lowered into place by the second lifting cylinder 562, the second lifting cylinder 562 releases the object, places the object on the stacking turntable 3 and stacks it into a stack.

[0049] The present invention provides a double-separation type palletizer and a method for using the same, by arranging the walking device 5 and the pushing device 6 on the same guide rail 4, and by the transition setting structure of the transition plate 7 and the belt device 8, and in combination with the data information detected by the visual component 9, it can adapt to different regular shapes of objects, and can clamp the objects in different ways according to the weight of the objects to avoid fatigue of the processing parts, so as to achieve that at the same position, the objects can be pushed away laterally and then clamped, and can also be separated by direct clamping, thereby solving the singleness of the separation mode of the stacked objects of the palletizer.

[0050] The above shows and describes the basic principles, main features and advantages of the present invention, and the standard parts used in the present invention can be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt the conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt the conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0051] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A double-separation palletizer, comprising a palletizer (1); a palletizer lifting device (2) is fixedly installed on the left side of the frame of the palletizer (1) by bolts; a palletizer turntable (3) is fixedly installed on the top of the displacement frame of the palletizer lifting device (2); a guide rail (4) with a limiting function is arranged on the top of the frame of the palletizer (1), and a transmission rack is fixedly arranged on the square tube on the top side of the frame of the palletizer (1); the characteristics are: The rack gear transmission at the top of the square tube on the top side of the stacker (1) is provided with a walking device (5); the rack gear transmission at the bottom of the square tube on the top side of the stacker (1) is provided with a pushing device (6), and both the walking device (5) and the pushing device (6) are slidably connected to the guide rail (4); a transition plate (7) is slidably provided on the left connecting rod of the pushing device (6); a belt device (8) is fixedly installed on the middle side of the top of the frame of the stacker (1) by bolts; a visual component (9) with a detection function is provided on the side rack gear of the guide rail (4); The walking device (5) comprises a walking shaft wheel (51) which is transmission-mounted on a rack on the side of the guide rail (4); a second driving assembly (52) is arranged on the side of the walking shaft wheel (51) through a belt drive; the second driving assembly (52) is fixedly mounted on the side of a fixing frame (53) through bolts; a triangular wheel assembly (54) is fixedly mounted on the middle side of the top of the fixing frame (53) through bolts; a chuck assembly (55) is slidably mounted on the side of the wheel body of the triangular wheel assembly (54); clamp assemblies (56) are slidably mounted on all four sides of the chuck assembly (55); a hydraulic assembly (57) is fixedly mounted on the right side of the top of the fixing frame (53) through bolts; a limiting wheel (58) with a limiting function is rotatably mounted on the rear side of the bottom of the fixing frame (53); The clamp assembly (56) comprises a clamp body (561) fixedly arranged at the end of a piston rod on the side of a clamping cylinder (553), and an optical axis (555) is slidably arranged in a through slot at the top of the clamp body (561); a second lifting cylinder (562) with an adjusting function is fixedly installed in the frame of the clamp body (561) by bolts; the end of the piston rod at the bottom of the second lifting cylinder (562) is plugged and fixed to the transmission shaft of the regulating motor (563); the regulating motor (563) is fixedly installed on the top of a fixed sliding box (564) by bolts; Electromagnetic coils (565) are fixedly installed on both left and right sides of the sliding box (564); a permanent magnet (566) is slidably arranged inside the fixed sliding box (564); a pneumatic turntable (567) is fixedly installed on the side of the cylinder body of the second lifting cylinder (562), and a calibration detector (568) with a positioning function is fixedly installed on the side of the pneumatic turntable (567) by bolts; wherein five groups of electromagnetic coils (565) are fixedly installed on the left and right sides of the fixed sliding box (564), and the five groups of electromagnetic coils (565) are connected in series.

2. A double-separation palletizer according to claim 1, characterized in that: The chuck assembly (55) comprises a triangular guide rail frame (551) slidably arranged on the side of the wheel body of the triangular wheel assembly (54); the triangular guide rail frame (551) is rotatably mounted on the bottom of the piston rod of the first lifting cylinder (552), and the first lifting cylinder (552) is fixedly mounted on the middle side of the top of the triangular guide rail frame (551) through a latch; a clamping cylinder (553) having a tightening and fixing function is fixedly mounted on the middle side of the bottom of the triangular guide rail frame (551), and the side piston rod of the clamping cylinder (553) is fixedly mounted on the clamp assembly (56).

3. A double-separation palletizer according to claim 2, characterized in that: The side of the clamp assembly (56) is rotatably hingedly provided with a synchronous connecting rod (554); an optical axis (555) is slidably provided inside a limiting groove at the bottom of the frame body of the triangular guide rail frame (551), and bolts with limiting functions are sleeved on both sides of the shaft body of the optical axis (555); and the side of the optical axis (555) is slidably connected to the clamp assembly (56).

4. A double-separation palletizer according to claim 3, characterized in that: The belt device (8) comprises a belt frame (81) fixedly mounted on the middle side of a frame of the palletizer (1) by means of bolts; a first driving assembly (82) having a driving function is fixedly mounted on the left side of the bottom of the belt frame (81) by means of bolts; a roller (83) is arranged on the top side of a transmission member of the first driving assembly (82) for meshing transmission, and the roller (83) is rotatably arranged on the left and right sides of the belt frame (81); a belt (84) is arranged for transmission on the outer side of the roller (83); an adjusting roller (85) is fixedly mounted on the bottom of the belt frame (81) by means of bolts, and the bottom side of the adjusting roller (85) is pressed against the belt (84).

5. A double-separation palletizer according to claim 4, characterized in that: The visual component (9) comprises a regulating component (91) arranged on the bottom side of the guide rail (4) in a meshing transmission, and the regulating component (91) specifically comprises a housing, a drive motor and a meshing gear; an electromagnetic block with regulating function and a rotating sphere are fixedly arranged on the rear side of the housing of the regulating component (91), and a calibration component (92) is fixedly arranged on the side rod of the rotating sphere; and a multi-axis mechanical arm (93) with regulating function is fixedly installed on the bottom of the housing of the regulating component (91) by bolts.

6. A double-separation palletizer according to claim 5, characterized in that: A visual camera (94) having a detection function is fixedly mounted on the outer side of the arm body of the multi-axis mechanical arm (93) by means of bolts; a perspective detection component (95) having a detection function is fixedly mounted on the end of the arm of the multi-axis mechanical arm (93) by means of bolts, and the perspective detection component (95) specifically comprises a protective housing, a radiation source and a detector.

7. A double-separation palletizer according to claim 6, characterized in that: The push-off device (6) is specifically composed of a gear set that is transmission-mounted on the top guide rail (4) of the palletizer (1), a motor that drives the gear set, and a frame for pushing away, and the bottom side of the push-off frame of the push-off device (6) is at the same level as the top of the transition plate (7) and the top of the belt (84); a blocking block that has a limiting effect on the push-off device (6) is arranged on the guide rail (4) above the transition plate (7).

8. A method for using a double-separation palletizer, implementing the double-separation palletizer as claimed in claim 7, characterized in that: The following steps are involved: Step 1: During normal stacking of objects, the walking device (5) and the pushing device (6) are arranged on the same guide rail (4), the fixed frame (53) is adjusted on the guide rail (4) by the second driving assembly (52) and the walking shaft wheel (51), and then the clamp assembly (55) on the walking device (5) is controlled by the control terminal to descend to the position by the first lifting cylinder (552), and the triangular guide frame (551) drives the clamp assembly (56) to approach the object under the limiting action of the triangular wheel assembly (54), and the clamp assembly (56) clamps the object by the extension and contraction of the clamping cylinder (553) and the clamp body (561), and then the walking device (5) clamps the object and moves it to the top of the stacking turntable (3); Step 2: The regulating motor (563) and the fixed sliding box (564) are driven to move downward by the second lifting cylinder (562), and the regulating motor (563) is used to drive the fixed sliding box (564) to adjust its angle, so that the fixed sliding box (564) and the permanent magnet (566) are in parallel with the bottom of the clamp body (561), and then the electromagnetic coils (565) arranged in series are energized one by one through the control terminal, so that the electromagnetic coils (565) are energized to generate magnetism and repel each other with the magnetic field of the permanent magnet (566), so that the permanent magnet (566) gradually withdraws from the interior of the fixed sliding box (564), thereby forming a support structure at the bottom of the clamped object to adapt to irregular objects with deviated center of gravity; Step 3: Displacement adjustment is performed on the guide rail (4) by means of the control component (91) and the multi-axis robot arm (93). Here, data sensing is performed by means of the calibration plate and the calibration detector (568) in the calibration component (92) to detect the spatial position data between the walking device (5) and the visual component (9), and the perspective detection component (95) is pushed to the side of the object and contacts the surface of the object. Then, the internal situation of the object box is detected by the detection component inside the perspective detection component (95). At the same time, the surface information of the object is collected by means of the visual camera (94), and a three-dimensional model of the object is formed at the control terminal. The center of gravity position is determined by combining the detection data of the perspective detection component (95). After fitting the data, the walking device (5) and the pushing device (6) are adjusted to adaptively clamp the object again. Step 4: After the stacking turntable (3) is lifted and lowered into position by the sprocket and chain drive of the stacking lifting device (2), the clamping head assembly (55) releases the object by means of the clamping cylinder (553) and places the object on the stacking turntable (3). Similarly, the objects are clamped and placed layer by layer until the objects are stacked on the stacking turntable (3); Step 5: During the separate stacking of the objects, according to the actual situation on site, the objects at the same position are pushed away laterally by the walking device (5) in cooperation with the pushing device (6) and then clamped, or the objects are separated by direct clamping by the walking device (5); the objects are pushed to the belt device (8) through the transition plate (7) by controlling the pushing device (6); the belt device (8) drives the roller (83) to rotate through the first driving component (82), thereby causing the belt (84) to be driven accordingly, so that after the objects are placed in the right position, the walking device (5) moves to the top of the belt device (8) to point The walking device (5) is positioned, the chuck assembly (55) of the walking device (5) is lowered into position by means of the first lifting cylinder (552), the clamp assembly (56) is extended and retracted by means of the clamping cylinder (553) to clamp the object, the first lifting cylinder (552) is raised, the walking device (5) is moved above the stacking turntable (3), the stacking turntable (3) is raised and lowered into position by means of the sprocket and chain transmission of the stacking lifting device (2), the chuck assembly (55) is lowered into position by means of the second lifting cylinder (562), the second lifting cylinder (562) releases the object, the object is placed on the stacking turntable (3) and stacked into a stack.

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