Automatic stacking device

Abstract

The invention relates to the technical field of transportation equipment, in particular to an automatic stacking device which comprises a tray collecting and delivering module, a tray centering module, a grabbing module and a tray steering module. The tray collecting and delivering module is used for delivering the collected trays to a conveying line; the tray centering module is used for centering each tray sent by the tray collecting and sending module on a conveying line; the grabbing module is used for grabbing goods to the centered tray; the tray steering module is used for steering the transportation direction of a tray loaded with goods; and the turned tray is transported to the shaping table, and the shaping table is used for adjusting the placing position of the goods on the tray. The structural design of each process module is compact, the overall occupied area is small, operation is flexible, and the transportation efficiency is high.

Description

Technical Field

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

[0002] In modern industrial production, material handling and palletizing operations are an indispensable and important link. The traditional manual palletizing method is not only inefficient and labor-intensive, but also has potential safety hazards, making it difficult to meet the needs of modern industrial production for efficiency, safety, and precision. With the rapid development of industrial automation technology, automated palletizing devices have emerged and have gradually become an important tool in the field of material handling. The development of automated palletizing devices can be traced back to the middle of the last century, when they were initially mainly used in large-scale automobile manufacturing, steel smelting, and other industries. These devices use simple mechanical structures and electrical controls to automatically handle and stack materials of specific shapes and sizes. However, early automated palletizing devices had many limitations, such as poor flexibility, weak adaptability, and low intelligence, making it difficult to meet the increasingly diverse material handling needs.

[0003] As an important equipment in modern industrial automation production lines, the automated palletizing device has brought significant benefits to the manufacturing, logistics, and warehouse management industries with its efficient material handling capabilities, precise palletizing accuracy, and powerful intelligent features. However, with the continuous development of automation technology, the disadvantages of automated palletizing devices in terms of volume and floor space have gradually become prominent, becoming one of the key factors restricting its further popularization and application.

[0004] First of all, the large size and large floor space of the automated palletizing device directly lead to the complexity of its installation and deployment. Due to the large size of the device itself, a large installation space is often required, which not only increases the cost of site rental or purchase, but also limits its application in production environments with limited space. Especially in some small and medium-sized manufacturing companies or storage facilities, due to the shortage of site resources, the large size of the automated palletizing device often becomes a bottleneck for its deployment, resulting in the inability of companies to fully utilize the advantages of automation technology to improve production efficiency.

[0005] Secondly, the large size of the automated palletizing device also brings difficulties in transportation and installation. Due to the complex structure and heavy weight of the device, special transportation equipment and a professional transportation team are required during transportation, which increases transportation costs and risks. At the same time, during the installation process, due to the large size of the device, a professional installation team and complex installation process are required, which is not only time-consuming and labor-intensive, but also prone to failure or damage during the installation process, affecting the normal operation of the equipment and the production progress of the enterprise.

[0006] In addition, the large size of the automated palletizing device also has a certain impact on its flexibility and adaptability. Due to the large size of the device, its flexibility in movement and adjustment is limited, making it difficult to adapt to rapidly changing production needs. Especially in some scenarios where frequent adjustments to production line layout or material types are required, the large size of the automated palletizing device often becomes an obstacle to its adaptability, resulting in the company's inability to respond to market changes in a timely manner, reducing production efficiency and market competitiveness.

[0007] More importantly, the large size of the automated palletizing device also brings about the problem of energy and resource consumption. Due to the complex structure of the device, a large amount of electricity and other resources are required to maintain its normal operation. At the same time, a large amount of waste and pollutants will be generated during the production, transportation, installation and disposal of the device, which will have a certain impact on the environment. Therefore, while pursuing efficient production, how to reduce the energy and resource consumption of the automated palletizing device and reduce its impact on the environment is also one of the current problems that need to be solved urgently.

[0008] In summary, the shortcomings of large size and large floor space of automated palletizing devices not only increase the difficulty and cost of their installation, deployment and transportation, but also limit their application in production environments with limited space, reduce their flexibility and adaptability, and also bring about problems of energy and resource consumption and environmental impact. Therefore, in future development, continuous exploration and innovation are needed to reduce the size and floor space of automated palletizing devices and improve their flexibility and adaptability through optimized design, the use of new materials and new technologies, so as to better meet market demand and environmental protection requirements. Summary of the invention

[0009] In order to solve the above problems, the present invention provides an automatic palletizing device with compact structure, small footprint and strong flexibility in transportation and adjustment.

[0010] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide an automated palletizing device, including a pallet collection module, a pallet centering module, a grabbing module and a pallet steering module;

[0011] The pallet collection module is used to send the collected pallets to the conveyor line;

[0012] The pallet centering module is used to complete the centering of each pallet sent out by the pallet collection and dispatching module on the conveyor line;

[0013] The grabbing module is used to grab the goods onto the centered pallet;

[0014] The pallet steering module is used to steer the pallet carrying goods in the transport direction;

[0015] The turned pallet is transported to a shaping table, which is used to adjust the placement of the goods on the pallet;

[0016] The pallet steering module is arranged on the side of the conveyor line's forward direction, and the pallet steering module includes a steering drive mechanism, which includes a base plate, a cylinder mounting plate fixed to the base plate, a first telescopic cylinder rotatably connected to the cylinder mounting plate, and a steering push plate fixedly connected to the head of the first telescopic cylinder, wherein the rotation center of the steering push plate is fixed to the base plate, and when the first telescopic cylinder extends outward, the steering push plate is driven to rotate outward, and the steering push plate extends above the conveyor line; when the first telescopic cylinder contracts inward, the steering push plate is driven to rotate inward, and the steering push plate is completely retracted from the conveyor line.

[0017] Furthermore, the pallet collection module includes a base, vertical columns are provided on the left and right sides of the base, a rotating shaft is connected between the tops of the vertical columns, one side of the rotating shaft is connected to the power output end of the motor, telescopic belt storage parts are provided at both ends of the rotating shaft, a telescopic belt connected to the circumferential surface of the rotating shaft is provided in the telescopic belt storage part, and the end of the telescopic belt is connected to the pallet lifting mechanism, the pallet lifting mechanism includes a first supporting plate and a second supporting plate arranged opposite to each other, the pallet lifting mechanism also includes a first lateral connecting plate and a second lateral connecting plate, the first lateral connecting plate and the second lateral connecting plate are connected by a cross plate, one end of the first supporting plate is connected to the second telescopic cylinder, the second supporting plate is connected to the third telescopic cylinder, the second telescopic cylinder drives the first supporting plate to move along the first transverse limit rod, and the third telescopic cylinder drives the second supporting plate to move along the second transverse limit rod, one end of the first transverse limit rod is fixed to the first lateral connecting plate, and one end of the second transverse limit rod is fixed to the second lateral connecting plate.

[0018] Furthermore, vertical guide grooves are provided on the inner sides of the two left and right vertical columns, and first limiting wheels with outer diameters matching the width of the vertical guide grooves are provided on the outer sides of the first lateral connecting plate and the second lateral connecting plate; a transverse guide groove is also connected between the first lateral connecting plate and the second lateral connecting plate, and second limiting wheels matching the width of the transverse guide grooves are respectively provided on the inner bottom of the first supporting plate and the second supporting plate.

[0019] Furthermore, the first supporting plate includes a first gear rod, a plurality of first L-shaped baffles fixed on the first gear rod, the plurality of first L-shaped baffles are equidistantly distributed on the first gear rod, and the upper portion of each of the first L-shaped baffles is bent outward at a certain angle; the second supporting plate includes a second gear rod, a plurality of second L-shaped baffles fixed on the second gear rod, the plurality of second L-shaped baffles are equidistantly distributed on the second gear rod, and the upper portion of each of the second L-shaped baffles is bent outward at a certain angle.

[0020] Furthermore, the conveyor line at the pallet steering module includes a deceleration roller, the arrangement length of the deceleration roller is adapted to the length of the steering push plate, and the starting position of the deceleration roller is close to the rotation center of the steering push plate.

[0021] Furthermore, a buffer plate which is perpendicular to the transport direction when the cartons approach is provided at one end of the steering push plate which is away from the rotation center.

[0022] Furthermore, the side of the buffer plate facing the carton is a convex arc surface; the buffer plate is made of any one of rubber, silicone rubber or spring steel.

[0023] Furthermore, the pallet centering module includes a fixed frame, a limiting guide rail, a fourth telescopic cylinder, a transmission chain and a pallet carrier, the fourth telescopic cylinder is used to drive the transmission chain to rotate clockwise or counterclockwise, the fixed frame includes a front fixed plate and a rear fixed plate, the limiting guide rail includes a first limiting guide rail and a second limiting guide rail, the first limiting guide rail and the second limiting guide rail are parallel, the first limiting guide rail and the second limiting guide rail are connected to the front fixed plate and the rear fixed plate at both ends, the pallet carrier includes a first pallet carrier and a second pallet carrier, the first pallet carrier and the second pallet carrier are relative to each other front and back The first tray carrier is provided with a first slider moving along the first limit guide rail and the second limit guide rail on both sides of the bottom of the first tray carrier, and a second slider moving along the first limit guide rail and the second limit guide rail on both sides of the bottom of the second tray carrier, a first bending connecting member is also provided at the bottom of the first tray carrier, and a second bending connecting member is also provided at the bottom of the second tray carrier, a first gear meshed with the transmission chain is fixedly connected to the first bending connecting member, and a second gear meshed with the transmission chain is fixedly connected to the second bending connecting member, and the first gear and the second gear are located on opposite sides of the transmission chain.

[0024] Furthermore, the grasping module is a robotic arm.

[0025] The technical solution of the present invention has the following advantages:

[0026] 1. The present invention uses effective structural design and transmission design. The entire process does not require the movement of one of the pallet carriers to be controlled separately. The movement of the first pallet carrier and the second pallet carrier is always transmitted through the same driving member and the same transmission chain. Therefore, the synchronization is high, and the movement speed of the first pallet carrier and the second pallet carrier is the same at any time. No deviation will occur during the movement process, which greatly improves the accuracy of pallet centering.

[0027] 2. The pallet steering mechanism of the present invention is small in size, more flexible, simple to operate, and the overall device space is more compact, which reduces unnecessary energy consumption and losses, helps to reduce production costs and improve energy utilization.

[0028] 3. The high degree of coordination between the various processes of the stacking device of the present invention ensures that the stacking operation is efficient, accurate and stable. This high degree of coordination brings many beneficial effects, not only improving the production efficiency, but also enhancing the reliability and stability of the equipment, which is specifically manifested in the following aspects: 1. Improving production efficiency and reducing waiting time: The close coordination between the various processes makes the connection between the various links such as material transportation, positioning, stacking, sealing and packaging, and finished product output smoother, reducing unnecessary waiting time, thereby improving the overall production efficiency. 2. Optimizing the production process: The highly coordinated stacking device can flexibly adjust the production process according to the actual situation, ensuring that the flow of materials on the production line is smoother, avoiding bottlenecks and waste in the production process. 3. Improving the accuracy of stacking and precise positioning: Through the highly synchronized centering movement, it is possible to keep the pallet in the middle position of the transport line during the movement, which is convenient for the accuracy of the fixed-point operation of the subsequent process. 4. Reducing the intensity of manual labor. The high degree of coordination of the stacking device makes the material handling and stacking operations more automated and intelligent, thereby reducing the labor intensity of workers and improving work efficiency.

[0029] It should be appreciated that all combinations of the foregoing concepts, as well as additional concepts described in greater detail below, may be considered to be part of the inventive subject matter of the present disclosure, provided such concepts are not mutually inconsistent.

[0030] The foregoing and other aspects, embodiments and features of the present invention can be more fully understood from the following description in conjunction with the accompanying drawings. Other additional aspects of the present invention, such as the features and / or beneficial effects of the exemplary embodiments, will be apparent from the following description or learned from the practice of the specific embodiments according to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are not drawn to scale according to actual reference objects. In the accompanying drawings, each identical or nearly identical component shown in various figures may be represented by the same reference numeral. For the sake of clarity, not every component is labeled in each figure. Now, embodiments of various aspects of the present invention will be described by way of example and with reference to the accompanying drawings, in which:

[0032] Figure 1 It is a schematic diagram of the overall layout of the automatic palletizing device of the present invention.

[0033] Figure 2 It is a schematic diagram of the overall structure of the pallet collection and distribution module in the automatic palletizing device of the present invention.

[0034] Figure 3 It is a schematic diagram of the pallet lifting mechanism in the pallet collection and distribution module of the automatic palletizing device of the present invention.

[0035] Figure 4 It is a schematic diagram of the structure of the pallet centering module in the automatic palletizing device of the present invention when viewed from above.

[0036] Figure 5 It is a schematic diagram of the structure of the pallet centering module in the automated palletizing device of the present invention from a top view.

[0037] Figure 6 It is a schematic diagram of the overall structure of the pallet steering module in the automated palletizing device of the present invention.

[0038] Figure 7 The figure is a schematic diagram of the structure of the steering drive mechanism in the pallet steering module in the automatic palletizing device of the present invention.

[0039] Description of Figure Numbers:

[0040] 1000-pallet centering module; 2000-pallet collection module; 3000-pallet steering module; 4000-shaping table; 5000-mechanical arm; 1001-transmission chain; 1002-first slider; 1003-second slider; 1004-first gear; 1005-second gear; 1006-first limit guide rail; 1007-second limit guide rail; 1008-first bending connector; 1009-second bending connector; 1010-fourth telescopic cylinder; 1011-first baffle; 1012-second baffle; 1013-first pallet carrier; 1014-second pallet carrier; 2001-telescopic belt; 2002-vertical column; 2003-base; 2004-vertical guide groove; 2005-horizontal guide groove; 200 6-bearing fixed end; 2007-tray; 2009-motor; 2010-first lateral connecting plate; 2011-second lateral connecting plate; 2012-first transverse limiting rod; 2013-second transverse limiting rod; 2014-second telescopic cylinder; 2015-third telescopic cylinder; 2016-second limiting wheel; 2017-first limiting wheel; 2018-first L-shaped baffle; 2019-first gear lever; 2020-cross plate; 2021-second L-shaped baffle; 2022-second gear lever; 3002-buffer plate; 3003-dust cover; 3004-deceleration roller; 3005-steering push plate; 3006-rotation center; 3007-first telescopic cylinder; 3008-articulated connecting rod; 3009-cylinder mounting plate; 3010-base plate. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein should be the common meaning understood by people with general skills in the field to which the present invention belongs.

[0042] The words "first", "second" and similar words used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, unless the context clearly indicates otherwise, the singular forms of "a", "an" or "the" and other similar words do not indicate a quantitative limitation, but indicate the existence of at least one. Words such as "include" or "comprise" mean that the elements or objects appearing before "include" or "comprise" cover the features, wholes, steps, operations, elements and / or components listed after "include" or "comprise", and do not exclude the existence or addition of one or more other features, wholes, steps, operations, elements, components and / or their collections. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0043] See also Figures 1 to 7 As shown, an embodiment of the present invention provides an automated palletizing device, including a pallet collection module 2000, a pallet centering module 1000, a grabbing module and a pallet steering module 3000;

[0044] The pallet collection module 2000 is used to send the collected pallets to the conveyor line;

[0045] The pallet centering module 1000 is used to complete the centering of each pallet sent out by the pallet collection module 2000 on the conveyor line; the pallet centering modules 1000 are arranged equidistantly along the conveyor line;

[0046] The grabbing module is used to grab the goods onto the centered pallet;

[0047] The pallet steering module 3000 is used to steer the pallet carrying goods in the transport direction;

[0048] The turned pallet is transported to the shaping table 4000, and the shaping table 4000 is used to adjust the placement of the goods on the pallet;

[0049] The pallet steering module 3000 is arranged on the side of the forward direction of the conveyor line, and the pallet steering module 3000 includes a steering drive mechanism, which includes a base plate 3010, a cylinder mounting plate 3009 fixed to the base plate 3010, a first telescopic cylinder 3007 rotatably connected to the cylinder mounting plate 3009, and a steering push plate 3005 fixedly connected to the head of the first telescopic cylinder 3007, wherein the rotation center 3006 of the steering push plate 3005 is fixed to the base plate 3010. When the first telescopic cylinder 3007 extends outward, the steering push plate 3005 is driven to rotate outward, and the steering push plate 3005 extends above the conveyor line; when the first telescopic cylinder 3007 contracts inward, the steering push plate 3005 is driven to rotate inward, and the steering push plate 3005 is completely retracted from the conveyor line.

[0050] The first telescopic cylinder 3007 is rotationally connected to the cylinder mounting plate 3009 via a hinged connecting rod 3008, so that the rotation is more flexible, and the rotation range of the first telescopic cylinder 3007 is further increased, thereby further expanding the rotation angle of the steering push plate 3005, so that the steering push of the carton by the rotating push plate is more effective.

[0051] The present invention achieves the change of the transport direction of the pallet on the same conveyor line by directly setting a pallet turning module 3000 on one side of the conveyor line's forward direction, without the need to set up additional transport lines with different forward directions, thereby greatly reducing the overall volume of the palletizing device.

[0052] In some embodiments of the present invention, the pallet collection module 2000 includes a base 2003, and vertical columns 2002 are provided on the left and right sides of the base 2003. A rotating shaft is connected between the tops of the vertical columns 2002, and one side of the rotating shaft is connected to the power output end of the motor 2009. Retractable belt 2001 storage parts are provided at both ends of the rotating shaft. The retractable belt 2001 storage part is provided with a retractable belt 2001 connected to the circumferential surface of the rotating shaft, and the end of the retractable belt 2001 is connected to a pallet lifting mechanism, and the pallet lifting mechanism includes a first supporting plate and a second supporting plate arranged opposite to each other, and the pallet lifting mechanism also includes a first lateral connecting plate 2010 and a first lateral connecting plate 2011. Two lateral connecting plates 2011, the first lateral connecting plate 2010 and the second lateral connecting plate 2011 are connected by a horizontal plate 2020, one end of the first supporting plate is connected to the second telescopic cylinder 2014, the second supporting plate is connected to the third telescopic cylinder 2015, the second telescopic cylinder 2014 drives the first supporting plate to move along the first transverse limiting rod 2012, the third telescopic cylinder 2015 drives the second supporting plate to move along the second transverse limiting rod 2013, one end of the first transverse limiting rod 2012 is fixed to the first lateral connecting plate 2010, and one end of the second transverse limiting rod 2013 is fixed to the second lateral connecting plate 2011. A bearing fixing end 2006 is provided at the top of the vertical column 2002, and the two ends of the rotating shaft are concentrically connected to the bearing fixing end 2006.

[0053] In some embodiments of the present invention, vertical guide grooves 2004 are provided on the inner sides of the left and right vertical columns 2002, and first limiting wheels 2017 whose outer diameters match the width of the vertical guide grooves 2004 are provided on the outer sides of the first lateral connecting plate 2010 and the second lateral connecting plate 2011; a transverse guide groove 2005 is also connected between the first lateral connecting plate 2010 and the second lateral connecting plate 2011, and second limiting wheels 2016 matching the width of the transverse guide grooves 2005 are respectively provided on the inner bottoms of the first supporting plate and the second supporting plate.

[0054] In some embodiments of the present invention, the first supporting plate includes a first gear rod 2019, a plurality of first L-shaped baffles 2018 fixed on the first gear rod 2019, the plurality of first L-shaped baffles 2018 are equidistantly distributed on the first gear rod 2019, and the upper portion of each first L-shaped baffle 2018 is bent outward at a certain angle; the second supporting plate includes a second gear rod 2022, a plurality of second L-shaped baffles 2021 fixed on the second gear rod 2022, the plurality of second L-shaped baffles 2021 are equidistantly distributed on the second gear rod 2022, and the upper portion of each second L-shaped baffle 2021 is bent outward at a certain angle.

[0055] In some embodiments of the present invention, the conveyor line located at the pallet steering module 3000 includes a deceleration roller 3004, the arrangement length of the deceleration roller 3004 is adapted to the length of the steering push plate 3005, and the starting position of the deceleration roller 3004 is close to the rotation center 3006 of the steering push plate 3005.

[0056] In some embodiments of the present invention, the end of the steering push plate 3005 away from the rotation center 3006 is provided with a buffer plate 3002 which is perpendicular to the transport direction when the carton approaches, so as to block the forward movement of the carton and facilitate the steering push plate 3005 to complete the pushing work of steering the carton.

[0057] In some embodiments of the present invention, the side of the buffer plate 3002 facing the carton is a convex arc surface. On the one hand, the buffer plate 3002 plays a blocking role, reduces the contact surface with the pallet, reduces unnecessary friction when the pallet turns, and facilitates the smooth turning of the pallet. The buffer plate 3002 is made of any material of rubber, silicone rubber or spring steel, has a good buffering effect, and will not cause damage to the pallet.

[0058] In some embodiments of the present invention, a dust cover 3003 is provided above the base plate 3010, and the first telescopic cylinder 3007 is arranged in the dust cover 3003 to prevent other debris in the workshop from affecting the operation of the first telescopic cylinder 3007 and causing blockage of the rotating part, thereby avoiding the problem of insensitive movement of the first telescopic cylinder 3007.

[0059] In some embodiments of the present invention, the pallet centering module 1000 includes a fixed frame, a limiting guide rail, a fourth telescopic cylinder 1010, a transmission chain 1001 and a pallet carrier, the fourth telescopic cylinder 1010 is used to drive the transmission chain 1001 to rotate clockwise or counterclockwise, the fixed frame includes a front fixed plate and a rear fixed plate, the limiting guide rail includes a first limiting guide rail 1006 and a second limiting guide rail 1007, the first limiting guide rail 1006 and the second limiting guide rail 1007 are parallel, and the first limiting guide rail 1006 and the second limiting guide rail 1007 are connected to the front fixed plate and the rear fixed plate at both ends, the pallet carrier includes a first pallet carrier 1013 and a second pallet carrier 1014, the first pallet carrier 1013 and the second pallet carrier 1014 are arranged front to back relative to each other, and ... First sliders 1002 that move along the first limiting guide rail 1006 and the second limiting guide rail 1007 are respectively arranged on both sides of the bottom of the tray carrier 1013, and second sliders 1003 that move along the first limiting guide rail 1006 and the second limiting guide rail 1007 are respectively arranged on both sides of the bottom of the second tray carrier 1014. A first bending connector 1008 is also provided at the bottom of the first tray carrier 1013, and a second bending connector 1009 is also provided at the bottom of the second tray carrier 1014. The first bending connector 1008 is fixedly connected to a first gear 1004 that meshes with the transmission chain 1001, and the second bending connector 1009 is fixedly connected to a second gear 1005 that meshes with the transmission chain 1001. The first gear 1004 and the second gear 1005 are located on opposite sides of the transmission chain 1001.

[0060] The upper surface of the first pallet carrier 1013 is also connected to a first baffle 1011, and the upper surface of the second pallet carrier 1014 is also connected to a second baffle 1012, which can effectively prevent the pallet from falling or shifting during transportation and improve the stability of the pallet during transportation.

[0061] In some embodiments of the present invention, the grasping module is a robotic arm 5000, which can flexibly switch and adjust the working direction between the shaping table 4000 and the conveyor line.

[0062] The overall workflow of the embodiment of the present invention is: the pallet collection and distribution module 2000 first distributes the coded pallets to the conveyor line, and the telescopic belt 2001 in the pallet collection and distribution module 2000 can be precisely adjusted in length during the telescopic process, so that the height of the pallet lifting mechanism can be highly flexibly adjusted according to actual needs, and the pallet lifting mechanism is designed with a first supporting plate and a second supporting plate that are relatively arranged, and the pallet lifting mechanism also includes a first lateral connecting plate 2010 and a second lateral connecting plate 2011, and the first lateral connecting plate 2010 and the second lateral connecting plate 2011 are connected by a cross plate 2020, and one end of the first supporting plate is connected to the second telescopic cylinder 2014, and the second supporting plate is connected to the third telescopic cylinder. Cylinder 2015, the second telescopic cylinder 2014 drives the first supporting plate to move along the first transverse limit rod 2012, and the third telescopic cylinder 2015 drives the second supporting plate to move along the second transverse limit rod, one end of the first transverse limit rod 2012 is fixed to the first lateral connecting plate 2010, and one end of the second transverse limit rod is fixed to the second lateral connecting plate 2011, thereby realizing the distance adjustment between the first supporting plate and the second supporting plate, that is, only by controlling the start and stop of the second telescopic cylinder 2014 and the third telescopic cylinder 2015, the horizontal distance between the first supporting plate and the second supporting plate can be adjusted in real time, thereby realizing the collection and distribution of pallets of different width sizes.

[0063] The first supporting plate and the second supporting plate respectively limit the collected stack of plates by designing the first gear rod 2019 and the second gear rod 2022 to prevent the stack of plates from falling from the side. The first L-shaped baffle plate 2018 and the second L-shaped baffle plate 2021 are respectively arranged on the first gear rod 2019 and the second gear rod 2022 to further strengthen the position limitation of the stack of plates within a certain height range. The first L-shaped baffle plate 2018 and the second L-shaped baffle plate 2021 have a certain length in the horizontal direction and can be inserted into the hollowed-out trays on both sides. When several trays are stacked in a pile, the first L-shaped baffle plate 2018 and the second L-shaped baffle plate 2021 provide supporting force in the horizontal direction. In addition, since the first L-shaped baffle plate 2018 and the second L-shaped baffle plate 2021 have a certain length in the horizontal direction, the first L-shaped baffle plate 2018 and the second L-shaped baffle plate 2021 can be adjusted by starting and stopping the first telescopic cylinder 3007 and the second telescopic cylinder 2014. When the horizontal distance between the L-shaped baffles 2021 is large, the plates of the first L-shaped baffle 2018 and the second L-shaped baffle 2021 in the horizontal direction are not necessarily fully inserted into the hollow trays on both sides. When carrying pallets with a larger width, by shortening the length of the plates of the first L-shaped baffle 2018 and the second L-shaped baffle 2021 in the horizontal direction inserted into the hollow trays on both sides and widening the distance between the plates of the first L-shaped baffle 2018 and the second L-shaped baffle 2021 in the vertical direction, the collection and carrying of pallets with a larger width can be met.

[0064] When the distance between the first support plate and the second support plate is adjusted so that the horizontal plates of the first L-shaped baffle 2018 and the second L-shaped baffle 2021 are pulled out from the hollow positions on both sides of the pallet, the bottom pallet in the stack of pallets will automatically fall onto the conveyor line, and then the conveyor line will continue to transport this pallet to the next process, and then shorten the distance between the first support plate and the second support plate to support the next pallet, and wait until the right time to release it again, so that the distance between adjacent released pallets can be controlled so that the distance between the pallets that fall on the conveyor line is equal, which is convenient for the arrangement of the next process.

[0065] The pallet lowered from the pallet collection and distribution module 2000 is transported to the pallet centering module 1000 via the transportation line. The pallet centering module 1000 is provided with a first bending connector 1008 at the bottom of the first pallet carrier 1013, and a second bending connector 1009 at the bottom of the second pallet carrier 1014. The first bending connector 1008 is fixedly connected to a first gear 1004 meshing with the transmission chain 1001, and the second bending connector 1009 is fixedly connected to a second gear 1005 meshing with the transmission chain 1001. The first gear 1004 and the second gear 1005 are arranged on opposite sides of the transmission chain 1001 moving clockwise or counterclockwise. In this way, when the driving member drives the transmission chain 1001 to move clockwise or counterclockwise, the moving directions of the first gear 1004 and the second gear 1005 are opposite, which can drive the first pallet carrier 1013 and the second pallet carrier 1014 to achieve relative or divergent movement. Specifically, for example, when the driving member drives the transmission chain 1001 to move clockwise, the transmission chains 1001 on both sides move in a direction away from the middle of the tray centering device. Since the first gear 1004 and the second gear 1005 are both meshed with the transmission chain 1001, they are affected by the movement of the transmission chain 1001. At this time, the first gear 1004 and the second gear 1005 move in a direction close to the middle of the tray centering device. Since the first gear 1004 and the second gear 1005 are fixedly connected to the bottom of the first tray carrier 1013 and the second tray carrier 1014, they can drive the first tray carrier 1013 and the second tray carrier 1014 to synchronously complete the relative movement. When the driving member drives the transmission chain 1001 to move counterclockwise, similarly, the first tray carrier 1013 and the second tray carrier 1014 synchronously complete the movement away from each other.

[0066] Since the entire process does not require the control of the movement of each of the pallet carriers separately, the movement of the first pallet carrier 1013 and the second pallet carrier 1014 is always transmitted through the same driving member and the same transmission chain 1001. Therefore, the synchronization is high, and the movement speeds of the first pallet carrier 1013 and the second pallet carrier 1014 are the same at any time, and no deviation will occur during the movement, which greatly improves the accuracy of pallet alignment.

[0067] The robot arm 5000 then grabs the goods onto the centered pallet. When the pallet carrying the goods passes through the conveying line of the pallet steering module 3000, the transport direction is adjusted. When the pallet is transported from the conveying line to a position close to the steering drive mechanism, the first telescopic cylinder 3007 is activated to extend, driving the steering push plate 3005 to rotate around its rotation center 3006 and extend outward to the conveying line. The steering push plate 3005 contacts the side of the pallet while rotating and extending outward and pushes the pallet to deflect, thereby completing the steering transportation of the pallet. After the pallet is turned, it continues to move forward on the same conveying line, realizing the steering transportation of the pallet without adding another conveying line in a different transport direction. In addition, when the pallet is transported to a position close to the steering drive mechanism, it is also transported to the deceleration roller 3004, and the pallet transportation speed is reduced, which is more conducive to the steering push plate 3005 to complete the push of the side of the pallet at this position, avoiding the problem of the pallet slipping caused by the large impact force between the pallet and the steering push plate 3005 when the pallet is turned at a high speed.

[0068] The pallet after the change of transport direction is transported to the shaping table 4000 via the transport line. The shaping table 4000 is a prior art and can be any mechanism that applies external force to the goods on the pallet. By adjusting the position of the goods on the pallet, the goods are located in the center of the pallet. In this way, when stacking, the center of gravity of the stacked goods and pallets will not shift, avoiding the problem of the goods tilting and collapsing, and increasing the stacking height, so that more goods can be transported at one time.

[0069] In the field of industrial automation, as the core equipment for material handling and storage, the structural design of the palletizing device is directly related to production efficiency, space utilization, and the stability and reliability of equipment operation. In recent years, with the pursuit of lean production, space optimization, and efficient operation in the manufacturing industry, compact palletizing devices have gradually become the mainstream trend in the market. This design not only reflects technological progress, but also brings many significant beneficial effects, profoundly affecting all aspects of the material handling process.

[0070] First, the compact palletizing device significantly improves space utilization. Traditional large-scale palletizing equipment often takes up a lot of space, which not only increases the company's operating costs, but also limits the flexible layout of the production line. The compact palletizing device optimizes the internal structure and reduces the size of the equipment, so that more equipment or production lines can be deployed in the same space, thereby improving production efficiency and space utilization. This is undoubtedly a great boon for manufacturing companies with limited land resources and high production costs.

[0071] Secondly, the compact structure of the palletizing device enhances the flexibility and adaptability of the equipment. The compact design makes the equipment lighter, easier to move and adjust, and can quickly adapt to the changing needs of the production line. This flexibility is particularly important in the production mode of rapid iteration, small batch and multi-variety. At the same time, the compact structure also facilitates the maintenance and maintenance of the equipment, reduces the risk of production interruption due to equipment failure, and ensures the stable operation of the production line.

[0072] Furthermore, the compact structure of the palletizing device also has significant advantages in terms of energy consumption and environmental protection. As the size of the equipment is reduced, the required electricity and other resource consumption is also reduced accordingly, which not only reduces the operating costs of the enterprise, but also reduces energy consumption and environmental pollution. In today's pursuit of sustainable development, this environmentally friendly design is undoubtedly more in line with the requirements of the times.

[0073] Finally, compact palletizing devices also promote technological innovation and industrial upgrading. As the market demand for efficient, intelligent, and environmentally friendly equipment grows, manufacturers continue to invest in research and development resources to explore more compact and efficient palletizing technologies. This not only promotes technological progress in the palletizing device itself, but also drives innovation and development in the entire material handling field.

[0074] In summary, the compact palletizing device has significant beneficial effects in improving space utilization, enhancing equipment flexibility, reducing energy consumption, improving operation convenience and promoting technological innovation. This design not only meets the current market demand for efficient, intelligent and environmentally friendly equipment, but also provides strong support for the transformation and upgrading and sustainable development of the manufacturing industry. In the future, with the continuous advancement of technology and the continuous changes in the market, the compact palletizing device will continue to play its unique advantages and bring more innovations and changes to the field of material handling.

[0075] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. A person with ordinary knowledge in the technical field to which the present invention belongs may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be determined by the definition of the claims.

Claims

1. An automated palletizing device, characterized in that: It includes pallet collection and dispatching module, pallet centering module, grabbing module and pallet steering module; The pallet collection module is used to send the collected pallets to the conveyor line; The pallet centering module is used to complete the centering of each pallet sent by the pallet collection module on the conveyor line; the pallet centering modules are arranged equidistantly along the conveyor line; The grabbing module is used to grab the goods onto the centered pallet; The pallet steering module is used to steer the pallet carrying goods in the transport direction; The turned pallet is transported to a shaping table, which is used to adjust the placement of the goods on the pallet; The pallet steering module is arranged on the side of the conveyor line's forward direction, and the pallet steering module includes a steering drive mechanism, which includes a base plate, a cylinder mounting plate fixed to the base plate, a first telescopic cylinder rotatably connected to the cylinder mounting plate, and a steering push plate fixedly connected to the head of the first telescopic cylinder, wherein the rotation center of the steering push plate is fixed to the base plate, and when the first telescopic cylinder extends outward, the steering push plate is driven to rotate outward, and the steering push plate extends above the conveyor line; when the first telescopic cylinder contracts inward, the steering push plate is driven to rotate inward, and the steering push plate is completely retracted from the conveyor line.

2. The automated palletizing device according to claim 1, characterized in that: The pallet collection module includes a base, vertical columns are provided on the left and right sides of the base, a rotating shaft is connected between the tops of the vertical columns, one side of the rotating shaft is connected to the power output end of the motor, telescopic belt receiving parts are provided at both ends of the rotating shaft, a telescopic belt connected to the circumferential surface of the rotating shaft is provided in the telescopic belt receiving part, and the end of the telescopic belt is connected to the pallet lifting mechanism, the pallet lifting mechanism includes a first supporting plate and a second supporting plate arranged opposite to each other, the pallet lifting mechanism also includes a first lateral connecting plate and a second lateral connecting plate, the first lateral connecting plate and the second lateral connecting plate are connected by a transverse plate, one end of the first supporting plate is connected to the second telescopic cylinder, the second supporting plate is connected to the third telescopic cylinder, the second telescopic cylinder drives the first supporting plate to move along the first transverse limit rod, and the third telescopic cylinder drives the second supporting plate to move along the second transverse limit rod, one end of the first transverse limit rod is fixed to the first lateral connecting plate, and one end of the second transverse limit rod is fixed to the second lateral connecting plate.

3. The automated palletizing device according to claim 2, characterized in that: Vertical guide grooves are provided on the inner sides of the two left and right vertical columns, and first limiting wheels with outer diameters matching the width of the vertical guide grooves are provided on the outer sides of the first lateral connecting plate and the second lateral connecting plate; a transverse guide groove is also connected between the first lateral connecting plate and the second lateral connecting plate, and second limiting wheels matching the width of the transverse guide grooves are respectively provided on the inner bottom of the first supporting plate and the second supporting plate.

4. The automated palletizing device according to claim 2, characterized in that: The first supporting plate includes a first gear rod, a plurality of first L-shaped baffles fixed on the first gear rod, the plurality of first L-shaped baffles are equidistantly distributed on the first gear rod, and the upper part of each of the first L-shaped baffles is bent outward at a certain angle; the second supporting plate includes a second gear rod, a plurality of second L-shaped baffles fixed on the second gear rod, the plurality of second L-shaped baffles are equidistantly distributed on the second gear rod, and the upper part of each of the second L-shaped baffles is bent outward at a certain angle.

5. The automated palletizing device according to claim 1, characterized in that: The conveyor line at the pallet steering module includes a deceleration roller, the arrangement length of the deceleration roller is adapted to the length of the steering push plate, and the starting position of the deceleration roller is close to the rotation center of the steering push plate.

6. The automated palletizing device according to claim 1, characterized in that: The end of the steering push plate away from the rotation center is provided with a buffer plate which is perpendicular to the transport direction when the cartons approach.

7. The automated palletizing device according to claim 6, characterized in that: The side of the buffer plate facing the carton is a convex arc surface; the buffer plate is made of any material selected from rubber, silicon rubber or spring steel.

8. The automated palletizing device according to claim 1, characterized in that: The pallet centering module includes a fixed frame, a limiting guide rail, a fourth telescopic cylinder, a transmission chain and a pallet carrier, the fourth telescopic cylinder is used to drive the transmission chain to rotate clockwise or counterclockwise, the fixed frame includes a front fixed plate and a rear fixed plate, the limiting guide rail includes a first limiting guide rail and a second limiting guide rail, the first limiting guide rail and the second limiting guide rail are parallel, the first limiting guide rail and the second limiting guide rail are connected to the front fixed plate and the rear fixed plate at both ends, the pallet carrier includes a first pallet carrier and a second pallet carrier, the first pallet carrier and the second pallet carrier are arranged relatively front and back, First sliders that move along the first limiting guide rail and the second limiting guide rail are respectively arranged on both sides of the bottom of the first tray carrier, and second sliders that move along the first limiting guide rail and the second limiting guide rail are respectively arranged on both sides of the bottom of the second tray carrier, a first bending connecting member is also provided at the bottom of the first tray carrier, and a second bending connecting member is also provided at the bottom of the second tray carrier, the first bending connecting member is fixedly connected to a first gear that meshes with the transmission chain, and the second bending connecting member is fixedly connected to a second gear that meshes with the transmission chain, and the first gear and the second gear are located on opposite sides of the transmission chain.

9. The automated palletizing device according to claim 1, characterized in that: The grabbing module is a robotic arm.

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