Aerosol can stacker crane

Abstract

The invention discloses an aerosol can stacker crane, and belongs to the technical field of stackers, and the aerosol can stacker crane comprises a rotating base, a rotating shaft assembly is rotatably arranged at the upper end of the rotating base, a pitching large arm is rotatably arranged on the side edge of the rotating shaft assembly, and a small arm assembly is rotatably arranged on the side edge of the upper end of the pitching large arm; when the aerosol cans move to the position of the main limiting clamp, the aerosol cans are clamped through the auxiliary limiting clamp, the aerosol cans are upwards driven to rise through the electric lifting rod, and the device can collect and fix the aerosol cans which are scattered on an assembly line and have different sizes, so that subsequent stacking and packaging are facilitated; an elastic rubber pipe and an elastic fixing rope on the front side of the positioning outer shell can position the neck of the aerosol can, the problem that the surface of the aerosol can is prone to sinking due to a traditional fixing device is solved, when the device is used for stacking, the inclination angle of a contact plate and the inclination angle of a platform are the same, and when the aerosol can is placed, toppling of the aerosol can during stacking is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizers, and more particularly to an aerosol can palletizer. Background Art

[0002] Automatic palletizer is a high-tech product integrating machinery and electricity. The medium and low-level palletizer can meet the production needs of medium and low output. It can complete the palletizing of various products such as bags, rubber blocks, boxes, etc. according to the required grouping method and number of layers. The optimized design makes the stacking shape tight and neat. When the aerosol cans are distributed and packaged on the assembly line, it is usually necessary to pick up the aerosol cans from the assembly line for stacking to facilitate the subsequent packaging and sealing.

[0003] Since aerosol cans are cylindrical in structure, if a palletizer is needed to transfer them, the aerosol cans need to be fixed and stacked in advance to facilitate the palletizer to position and clamp them. However, if there are multiple aerosol cans of different specifications on the transportation line that need to be transferred and stacked, the traditional fixed-position clamping device cannot identify and clamp the aerosol cans in batches. Manual classification is required in advance to facilitate the transfer of the palletizer. In addition, when the palletizer transfers items on the production line, the production line and the storage position must be in a horizontal state. If the palletizing platform has a certain angle, when the cylindrical aerosol can is placed on the palletizer, it is easy to cause the aerosol can and the placement surface to have an angle, causing the can body to tip over, affecting the stacking effect. Summary of the invention

[0004] The object of the present invention is to provide an aerosol can palletizer to solve the problems raised in the above background technology.

[0005] An aerosol can palletizer, comprising a rotating base, a rotating shaft assembly is rotatably provided on the upper end of the rotating base, a pitching arm is rotatably provided on the side of the rotating shaft assembly, a small arm assembly is rotatably provided on the upper end side of the pitching arm, a rotating adjusting member is rotatably installed on the front side of the small arm assembly, a connecting frame is fixedly installed on the lower side of the rotating adjusting member, a device top plate is provided on the lower side of the connecting frame, the connecting frame and the device top plate are fixedly connected by a mounting rod, an adjusting electric rod is fixedly installed on the middle part of the upper side of the connecting frame, a pitch adjusting member is fixedly installed on the output end of the adjusting electric rod, the lower side of the pitch adjusting member is rotatably connected to the pitch mounting member, a mounting plate is provided on the lower side of the device top plate, and a plurality of stacking rods are fixedly installed on the upper side of the mounting plate; A fixed connection piece is fixedly installed on the side of the stacking rod, an annular positioning outer shell is fixedly installed on the lower end of the fixed connection piece, a second brushless motor is fixedly installed on the middle of the inner cavity of the positioning outer shell, an elastic fixing rope is fixedly installed on the output end of the second brushless motor, a plurality of pressure sensors are fixedly installed on the periphery of the lower end of the positioning outer shell, a first positioning rod is fixedly installed on one side of the front side of the positioning outer shell, a second positioning rod is fixedly installed on the other side of the front side of the positioning outer shell, and an elastic rubber tube is fixedly installed on the front end of the first positioning rod; An electric lifting rod is fixedly installed on the lower side of the stacking rod, a detection cylinder sleeve is fixedly installed on the lower end of the electric lifting rod, a fixed outer shell is fixedly installed on the outer middle part of the detection cylinder sleeve, a transmission gear is rotatably installed in the middle part of the inner cavity of the fixed outer shell, a first brushless motor is fixedly installed on the lower end of the fixed outer shell located at the transmission gear, a transmission rack is meshed with the side of the transmission gear, a push rod is fixedly installed on the side of the transmission rack, an auxiliary limiting clamp is arranged on the front side of the push rod, a fixed rod is fixedly installed on the other side of the push rod on the side of the fixed outer shell, a main limiting clamp is fixedly installed on one end of the fixed rod, and a contact sensor is fixedly installed on the side of the fixed rod located at the connection position of the main limiting clamp; A spherical connecting rod is fixedly mounted on the lower end of the detection sleeve, a connecting plate is rotatably mounted on the lower side of the spherical connecting rod, a contact plate is fixedly mounted on the lower end of the connecting plate, and a tilt sensor is fixedly mounted on the upper middle side of the contact plate.

[0006] By adopting the above technical solution, the rotating shaft assembly performs horizontal movement relative to the rotating base, the pitch arm performs up and down rotational movement relative to the rotating shaft assembly, the forearm assembly performs up and down rotational movement relative to the pitch arm, and the rotating adjustment member performs up and down rotational movement relative to the forearm assembly.

[0007] Furthermore, the horizontal movement of the upper device can be accomplished through the rotating shaft assembly, and the aerosol cans on the production line can be clamped and moved through the pitching arm and the second servo motor.

[0008] By adopting the above technical solution, the bottom of the device is fixedly installed on the lower end of the rotating base, the first servo motor is fixedly installed on the side of the rotating shaft assembly, the second servo motor is fixedly installed on the rear side of the forearm assembly, the third servo motor is fixedly installed on the side of the rotating adjustment member, and the fourth servo motor is fixedly installed on the upper front side of the rotating adjustment member.

[0009] Furthermore, the first servo motor drives the pitch arm to move up and down, the second servo motor can drive the arm assembly to move up and down, the third servo motor can drive the connecting frame to make fine adjustments up and down, and the fourth servo motor can drive the connecting frame to rotate horizontally to make fine adjustments to the connecting frame.

[0010] By adopting the above technical solution, steering wheels are rotatably installed in the middle of the inner cavities of the first positioning rod and the second positioning rod, the front end of the elastic fixing rope passes through the first positioning rod and the second positioning rod and is fixedly connected to the elastic rubber tube, and the elastic fixing rope is in a "Z" shape and bypasses the steering wheels on both sides.

[0011] Furthermore, when the second brushless motor starts the winding steering wheel, the elastic fixing rope will pull the elastic rubber tube from the front side to move toward the positioning outer shell. At this time, the space between the elastic rubber tube and the elastic fixing rope is reduced, which will clamp the neck of the aerosol can, thereby ensuring the vertical fixation of the aerosol can.

[0012] By adopting the above technical solution, a limiting groove is fixedly installed on the inner side wall of the rotating base of the fixed outer shell, a rectangular sliding groove is opened on the side of the limiting groove, and a sliding part corresponding to the rectangular sliding groove is fixedly installed on the side of the transmission rack.

[0013] Furthermore, when the transmission rack slides forward and backward, the sliding member on the side of the transmission rack moves inside the rectangular sliding groove on the side of the limiting groove, which can ensure the stability of the forward and backward movement of the transmission rack.

[0014] By adopting the above technical solution, the fixing rod and the main limiting clamp are rotationally connected through a torsion spring, the pushing rod and the auxiliary limiting clamp are rotationally connected through a torsion spring, and the main limiting clamp and the auxiliary limiting clamp are both hard rubber components.

[0015] Furthermore, when the push rod pushes the auxiliary limiting clamp forward, the auxiliary limiting clamp and the main limiting clamp will position and fix the bottom of the aerosol can.

[0016] By adopting the above technical solution, the bottom of the spherical connecting rod is a circular structure, and a circular limiting piece is fixedly installed in the middle of the upper side of the connecting plate.

[0017] Furthermore, the connecting plate can rotate on the lower side of the spherical connecting rod. When the device is performing palletizing, the contact plate contacts the palletizing platform, so that the contact plate rotates according to the angle of the platform, and the transmission gear can record the horizontal angle.

[0018] Compared with the prior art, the advantages of the present invention are: 1. In the present invention, a structure with a fixed outer shell is provided, and a plurality of stacking rods are provided on the side of the top plate of the device. When the aerosol can moves to the position of the main limit clamp, the contact sensor is subjected to pressure, and the detection tube sleeve is activated. The aerosol can is clamped by the auxiliary limit clamp, and the aerosol can is driven upward by the electric lifting rod. The subsequent main limit clamp can fix the remaining aerosol cans. The device can collect and fix aerosol cans of different sizes scattered on the assembly line, which is convenient for subsequent stacking and packaging.

[0019] In the present invention, by providing a structure for positioning the outer shell, when the aerosol can is raised or lowered, the elastic rubber tube and the elastic fixing rope on the front side of the positioning outer shell can position the neck of the aerosol can, so that aerosol cans of different sizes can always remain vertical during transfer, avoiding the problem that traditional fixing devices easily cause the surface of the aerosol can to be dented.

[0020] In the present invention, by providing a structure with a contact plate, when the device is stacking, the contact plate contacts the stacking platform, and the contact plate and the platform are inclined at the same angle. Adjusting the extension and retraction of the electric rod will control the overall angle of the mounting plate, so that the angle of the clamped aerosol can is parallel to the stacking platform, and when the aerosol can is placed, the tipping of the aerosol can during stacking is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of the mounting plate of the present invention; Figure 3 It is a schematic diagram of the structure of the electric lifting rod of the present invention; Figure 4 It is a structural cross-sectional view of the fixed outer shell of the present invention; Figure 5 It is a structural schematic diagram of the positioning outer shell of the present invention; Figure 6 It is a structural cross-sectional view of the positioning outer shell of the present invention; Figure 7 It is a structural schematic diagram of the connecting plate of the present invention; Figure 8 It is a working schematic diagram of the main limiting clamp of the present invention when clamping the aerosol can.

[0022] Explanation of the numbers in the figure: 1. Bottom of the device; 2. Rotating base; 3. Rotating shaft assembly; 4. First servo motor; 5. Pitching arm; 6. Second servo motor; 7. Forearm assembly; 8. Third servo motor; 9. Fourth servo motor; 10. Rotating adjustment member; 11. Connecting frame; 12. Mounting rod; 13. Device top plate; 14. Electric lifting rod; 15. Mounting plate; 1501. Pitching mounting member; 16. Stacking rod; 17. Fixed connecting member; 18. Positioning outer shell; 1801. First positioning rod; 1802. Second positioning rod; 19. Adjust the electric rod; 1901, pitch adjustment member; 20, fixed outer shell; 21, push rod; 22, auxiliary limit clamp; 23, fixed rod; 24, main limit clamp; 25, detection tube sleeve; 26, first brushless motor; 27, contact plate; 28, transmission gear; 29, contact sensor; 30, transmission rack; 31, limit groove; 32, elastic fixing rope; 33, elastic rubber tube; 34, steering wheel; 35, second brushless motor; 36, connecting plate; 37, spherical connecting rod; 38, tilt sensor; 39, pressure sensor. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments 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.

[0024] like Figure 1 - Figure 8 As shown, the embodiment of the present invention provides: comprising a rotating base 2, a rotating shaft assembly 3 is rotatably provided on the upper end of the rotating base 2, a pitching arm 5 is rotatably provided on the side of the rotating shaft assembly 3, a small arm assembly 7 is rotatably provided on the upper end side of the pitching arm 5, a rotating adjusting member 10 is rotatably installed on the front side of the small arm assembly 7, a connecting frame 11 is fixedly installed on the lower side of the rotating adjusting member 10, a device top plate 13 is provided on the lower side of the connecting frame 11, the connecting frame 11 and the device top plate 13 are fixedly connected by a mounting rod 12, an adjusting electric rod 19 is fixedly installed on the middle part of the upper side of the connecting frame 11, a pitch adjusting member 1901 is fixedly installed on the output end of the adjusting electric rod 19, the lower side of the pitch adjusting member 1901 is rotatably connected to the pitch mounting member 1501, a mounting plate 15 is provided on the lower side of the device top plate 13, and a plurality of stacking rods 16 are fixedly installed on the upper side of the mounting plate 15; A fixed connector 17 is fixedly installed on the side of the stacking rod 16, a ring-shaped positioning outer shell 18 is fixedly installed on the lower end of the fixed connector 17, a second brushless motor 35 is fixedly installed in the middle of the inner cavity of the positioning outer shell 18, an elastic fixing rope 32 is fixedly installed on the output end of the second brushless motor 35, a plurality of pressure sensors 39 are fixedly installed around the lower end of the positioning outer shell 18, a first positioning rod 1801 is fixedly installed on one side of the front side of the positioning outer shell 18, a second positioning rod 1802 is fixedly installed on the other side of the front side of the positioning outer shell 18, and an elastic rubber tube 33 is fixedly installed on the front end of the first positioning rod 1801; An electric lifting rod 14 is fixedly installed on the lower side of the stacking rod 16, a detection cylinder sleeve 25 is fixedly installed on the lower end of the electric lifting rod 14, a fixed outer shell 20 is fixedly installed on the middle outer side of the detection cylinder sleeve 25, a transmission gear 28 is rotatably installed in the middle of the inner cavity of the fixed outer shell 20, a first brushless motor 26 is fixedly installed on the fixed outer shell 20 at the lower end of the transmission gear 28, a transmission rack 30 is meshed with the side of the transmission gear 28, a push rod 21 is fixedly installed on the side of the transmission rack 30, an auxiliary limiting fixture 22 is provided on the front side of the push rod 21, a fixed rod 23 is fixedly installed on the side of the fixed outer shell 20 at the other side of the push rod 21, a main limiting fixture 24 is fixedly installed on one end of the fixed rod 23, and a contact sensor 29 is fixedly installed on the side of the fixed rod 23 at the connection position of the main limiting fixture 24; A spherical connecting rod 37 is fixedly mounted on the lower end of the detection sleeve 25, a connecting plate 36 is rotatably mounted on the lower side of the spherical connecting rod 37, a contact plate 27 is fixedly mounted on the lower end of the connecting plate 36, and a tilt sensor 38 is fixedly mounted on the upper middle side of the contact plate 27; The rotating shaft assembly 3 performs horizontal movement relative to the rotating base 2, the pitching arm 5 performs up-and-down rotational movement relative to the rotating shaft assembly 3, the small arm assembly 7 performs up-and-down rotational movement relative to the pitching arm 5, and the rotating adjustment member 10 performs up-and-down rotational movement relative to the small arm assembly 7. The rotating shaft assembly 3 can complete the horizontal movement of the upper device, and the pitching arm 5 and the second servo motor 6 can clamp and move the aerosol cans on the production line; The lower end of the rotating base 2 is fixedly installed with the device bottom 1, the side of the rotating shaft assembly 3 is fixedly installed with the first servo motor 4, the side and rear of the arm assembly 7 are fixedly installed with the second servo motor 6, the side of the rotating adjustment member 10 is fixedly installed with the third servo motor 8, and the front upper part of the rotating adjustment member 10 is fixedly installed with the fourth servo motor 9. The first servo motor 4 drives the pitch arm 5 to move up and down, the second servo motor 6 can drive the arm assembly 7 to move up and down, the third servo motor 8 can drive the connection frame 11 to make fine adjustments up and down, and the fourth servo motor 9 can drive the connection frame 11 to rotate horizontally to fine-tune the connection frame 11; A steering wheel 34 is rotatably mounted in the middle of the inner cavity of the first positioning rod 1801 and the second positioning rod 1802. The front end of the elastic fixing rope 32 passes through the first positioning rod 1801 and the second positioning rod 1802 and is fixedly connected to the elastic rubber tube 33. The elastic fixing rope 32 passes around the steering wheels 34 on both sides in a "Z" shape. When the second brushless motor 35 starts to reel in the steering wheels 34, the elastic fixing rope 32 pulls the elastic rubber tube 33 from the front side to move toward the positioning outer shell 18. At this time, the space between the elastic rubber tube 33 and the elastic fixing rope 32 is reduced, which will clamp the neck of the aerosol can, thereby ensuring the vertical fixation of the aerosol can. A limit groove 31 is fixedly installed on the inner cavity side wall of the rotating base 2 of the fixed outer shell 20, and a rectangular sliding groove is opened on the side of the limit groove 31. A sliding piece corresponding to the rectangular sliding groove is fixedly installed on the side of the transmission rack 30. When the transmission rack 30 slides back and forth, the sliding piece on the side of the transmission rack 30 moves inside the rectangular sliding groove on the side of the limit groove 31, which can ensure the stability of the transmission rack 30 moving forward and backward; The fixing rod 23 and the main limiting clamp 24 are rotatably connected by a torsion spring, and the pushing rod 21 and the auxiliary limiting clamp 22 are rotatably connected by a torsion spring. Both the main limiting clamp 24 and the auxiliary limiting clamp 22 are hard rubber components. When the pushing rod 21 pushes the auxiliary limiting clamp 22 forward, the auxiliary limiting clamp 22 and the main limiting clamp 24 will position and fix the bottom of the aerosol can. The bottom of the spherical connecting rod 37 is a circular structure, and a circular limit piece is fixedly installed in the middle of the upper side of the connecting plate 36. The connecting plate 36 can rotate on the lower side of the spherical connecting rod 37. When the device is stacking, the contact plate 27 contacts the stacking platform, so that the contact plate 27 will rotate according to the angle of the platform. At this time, the transmission gear 28 can record the horizontal angle.

[0025] Working principle of the present invention: the pitch arm 5, the second servo motor 6 and the rotating adjustment member 10 can control the connection frame 11 to move to the upper side of the conveyor belt, the electric lifting rod 14 drives the detection sleeve 25 to descend to the top of the conveyor belt, and the aerosol can moves on the conveyor belt to the side of the main limit clamp 24 and the auxiliary limit clamp 22. As the aerosol can contacts the position of the main limit clamp 24, since the fixing rod 23 and the main limit clamp 24 are connected by the torsion spring, the main limit clamp 24 is pushed and squeezed to contact the sensor 29, and the contact sensor 29 is subjected to pressure to start the detection sleeve 25, and the detection sleeve 25 drives the transmission gear 28 The rack 30 rotates, and the transmission rack 30 pushes the push rod 21, and the auxiliary limit clamp 22 approaches the main limit clamp 24. Since the push rod 21 and the auxiliary limit clamp 22 are also connected by the torsion spring, when the auxiliary limit clamp 22 contacts the shell of the aerosol can, the auxiliary limit clamp 22 will fit with the shell of the aerosol can, and finally clamp and fix the aerosol can. At this time, the electric lifting rod 14 drives the detection tube sleeve 25 to move upward, thereby driving the aerosol can out of the range of the conveyor belt, and the subsequent aerosol cans will repeat the above steps to be lifted, so that the aerosol cans of different sizes scattered on the assembly line can be collected and fixed, which is convenient for subsequent packaging and palletizing; When the electric lifting rod 14 moves upward to the lower side of the positioning outer shell 18, the top of the aerosol can extends between the elastic rubber tube 33 and the elastic fixing rope 32, the pressure sensor 39 is subjected to pressure, and the second brushless motor 35 is started. When the second brushless motor 35 rotates, the elastic fixing rope 32 will shrink and deform the elastic rubber tube 33. As the elastic fixing rope 32 is rolled up, the bottleneck of the aerosol can will be clamped by the elastic rubber tube 33 and the elastic fixing rope 32. Since the bottleneck of the aerosol can is an arc-shaped structure, the elastic fixing rope 32 and the elastic rubber tube 33 will make the aerosol can be in a vertical state when the arc structure is tightened. As the conveyor belt moves the subsequent aerosol cans toward the palletizer, the remaining electric lifting rods 14 will clamp and lift the aerosol cans of different sizes and fix them vertically in turn. This device can keep aerosol cans of different sizes vertical during transfer, avoiding the problem that the traditional fixing device easily causes the surface of the aerosol can to be dented. After the device fixes the aerosol can, the front connection frame 11 can be driven to move above the stacking platform through the rotating shaft assembly 3, the pitching arm 5 and the small arm assembly 7, and the electric lifting rod 14 can push the detection tube sleeve 25 down to the stacking platform position, and the lower side of the contact plate 27 first contacts the stacking platform. Since the detection tube sleeve 25 is connected to the first brushless motor 26 through the spherical connecting rod 37, after the contact plate 27 contacts the stacking platform and is subjected to force, the contact plate 27 and the stacking platform are synchronized in angle. Since the front side of the electric rod 19 is provided with a pitch adjusting member 1901, the pitch adjusting member 1901 is rotatably connected to the pitch mounting member 1501. The pitch mounting member 1501 is rotatably arranged inside the top plate 13 of the device. When the adjusting electric rod 19 pushes the pitch mounting member 1501 forward through the pitch adjusting member 1901, the pitch mounting member 1501 will rotate. At this time, the tilt sensor 38 detects the tilt of the device and controls the adjusting electric rod 19 to push forward, thereby changing the pitch angle of the mounting plate 15, so that the fixed outer shell 20 is level with the stacking platform. At this time, the bottom of the clamped aerosol can is level with the stacking platform. When the second brushless motor 35 and the auxiliary limit clamp 22 are released, the aerosol can can be stably placed on the stacking platform, effectively preventing the aerosol can from tipping over during stacking.

[0026] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and the above embodiments and descriptions are only preferred examples of the present invention, and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. An aerosol can palletizer, comprising a rotating base (2), characterized in that: The upper end of the rotating base (2) is rotatably provided with a rotating shaft assembly (3), the side of the rotating shaft assembly (3) is rotatably provided with a pitching arm (5), the upper side of the pitching arm (5) is rotatably provided with a small arm assembly (7), the front side of the small arm assembly (7) is rotatably provided with a rotating adjustment member (10), the lower side of the rotating adjustment member (10) is fixedly provided with a connecting frame (11), the lower side of the connecting frame (11) is provided with a device top plate (13), the connecting frame (11) and the device top plate are connected to each other. The plate (13) is fixedly connected via a mounting rod (12); an adjusting electric rod (19) is fixedly mounted in the middle of the upper fixed mounting portion of the connecting frame (11); a pitch adjusting member (1901) is fixedly mounted on the output end of the adjusting electric rod (19); the lower side of the pitch adjusting member (1901) is rotatably connected to the pitch mounting member (1501); a mounting plate (15) is provided on the lower side of the top plate (13) of the device; and a plurality of stacking rods (16) are fixedly mounted on the upper side of the mounting plate (15); A fixed connection piece (17) is fixedly mounted on the side of the stacking rod (16); a ring-shaped positioning outer shell (18) is fixedly mounted on the lower end of the fixed connection piece (17); a second brushless motor (35) is fixedly mounted in the middle of the inner cavity of the positioning outer shell (18); an elastic fixing rope (32) is fixedly mounted on the output end of the second brushless motor (35); a plurality of pressure sensors (39) are fixedly mounted on the periphery of the lower end of the positioning outer shell (18); a first positioning rod (1801) is fixedly mounted on one side of the front side of the positioning outer shell (18); a second positioning rod (1802) is fixedly mounted on the other side of the front side of the positioning outer shell (18); and an elastic rubber tube (33) is fixedly mounted on the front end of the first positioning rod (1801); An electric lifting rod (14) is fixedly mounted on the lower side of the stacking rod (16); a detection sleeve (25) is fixedly mounted on the lower end of the electric lifting rod (14); a fixed outer shell (20) is fixedly mounted on the outer side of the middle part of the detection sleeve (25); a transmission gear (28) is rotatably mounted in the middle part of the inner cavity of the fixed outer shell (20); a first brushless motor (26) is fixedly mounted on the lower end of the fixed outer shell (20) at the lower end of the transmission gear (28); and a side meshing device (26) of the transmission gear (28) is provided. A transmission rack (30) is arranged, a push rod (21) is fixedly mounted on the side of the transmission rack (30), an auxiliary limit clamp (22) is arranged on the front side of the push rod (21), a fixed rod (23) is fixedly mounted on the side of the fixed outer shell (20) located on the other side of the push rod (21), a main limit clamp (24) is fixedly mounted on one end of the fixed rod (23), and a contact sensor (29) is fixedly mounted on the side of the fixed rod (23) located at the connection position of the main limit clamp (24); A spherical connecting rod (37) is fixedly mounted on the lower end of the detection cylinder sleeve (25), a connecting plate (36) is rotatably mounted on the lower side of the spherical connecting rod (37), a contact plate (27) is fixedly mounted on the lower end of the connecting plate (36), and a tilt sensor (38) is fixedly mounted on the upper middle side of the contact plate (27).

2. The aerosol can palletizer according to claim 1, characterized in that: The rotating shaft assembly (3) performs horizontal movement relative to the rotating base (2), the pitching arm (5) performs up-and-down rotational movement relative to the rotating shaft assembly (3), the forearm assembly (7) performs up-and-down rotational movement relative to the pitching arm (5), and the rotating adjustment member (10) performs up-and-down rotational movement relative to the forearm assembly (7).

3. The aerosol can palletizer according to claim 1, characterized in that: The bottom of the device (1) is fixedly mounted on the lower end of the rotating base (2), the side of the rotating shaft assembly (3) is fixedly mounted with a first servo motor (4), the rear of the side of the arm assembly (7) is fixedly mounted with a second servo motor (6), the side of the rotating adjustment member (10) is fixedly mounted with a third servo motor (8), and the front upper portion of the rotating adjustment member (10) is fixedly mounted with a fourth servo motor (9).

4. The aerosol can palletizer according to claim 1, characterized in that: A steering wheel (34) is rotatably mounted in the middle of the inner cavity of the first positioning rod (1801) and the second positioning rod (1802); the front end of the elastic fixing rope (32) passes through the first positioning rod (1801) and the second positioning rod (1802) and is fixedly connected to the elastic rubber tube (33); the elastic fixing rope (32) is in a "Z" shape and passes around the steering wheels (34) on both sides.

5. The aerosol can palletizer according to claim 1, characterized in that: A limiting groove (31) is fixedly mounted on the inner cavity side wall of the rotating base (2) of the fixed outer shell (20), a rectangular sliding groove is provided on the side of the limiting groove (31), and a sliding member corresponding to the rectangular sliding groove is fixedly mounted on the side of the transmission rack (30).

6. The aerosol can palletizer according to claim 1, characterized in that: The fixing rod (23) and the main limiting clamp (24) are rotatably connected via a torsion spring, and the pushing rod (21) and the auxiliary limiting clamp (22) are rotatably connected via a torsion spring. Both the main limiting clamp (24) and the auxiliary limiting clamp (22) are hard rubber components.

7. The aerosol can palletizer according to claim 1, characterized in that: The bottom of the spherical connecting rod (37) is a circular structure, and a circular limiting piece is fixedly mounted on the middle part of the upper side of the connecting plate (36).

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