Multi-station auxiliary cooperation stacking system

Abstract

According to the multi-station auxiliary cooperation stacking system, when the technical scheme is implemented, the cargo stacking process is executed through a stacking gantry manipulator, the stacking accessory placing process is executed through an accessory manipulator, and the working rhythm of the stacking gantry manipulator is improved by reducing the working process of the stacking gantry manipulator. The operation that the stacking gantry mechanical arm moves to the goods taking station to grab the bulk goods and the operation that the accessory mechanical arm moves to the stacking station to release the stacking accessories are carried out at the same time. The operation that the stacking gantry mechanical arm moves to the stacking station to conduct whole-support stacking and the operation that the accessory mechanical arm moves to the accessory conveying line to grab stacked accessories are conducted at the same time, in this way, the two mechanical arms work concurrently and do not interfere with each other, and the stacking efficiency is greatly improved.

Description

Technical Field

[0001] The present application relates to the field of logistics packaging technology, and in particular to a multi-station auxiliary collaborative palletizing system. Background Art

[0002] In the field of material storage and material transportation, the process of stacking items neatly is called palletizing. Nowadays, in order to improve production efficiency, automated palletizing is usually completed by industrial robots or palletizing gantry manipulators.

[0003] The palletizing process is not just a simple stacking of items layer by layer. In order to improve the factory quality of the items and the stability of the stack after palletizing, in actual practice, palletizing accessories for improving the stability of the stacking are placed between each stack layer. For example, in the chemical fiber industry, there is a positioner for stabilizing the spindles. The positioner can be inserted into the spindle paper tube between two adjacent stack layers to stabilize the stack layers connected above and below.

[0004] In the prior art, there is a positioner automatic packaging and stacking device to assist the existing stacking system. It sets an independent accessory station on the moving path of the stacking gantry robot. At the independent station, the stacking accessories to be grabbed are placed in position in advance, and then the stacking gantry robot grabs the placed stacking accessories and places them at the stacking station.

[0005] However, in this technical solution, the palletizing gantry robot not only needs to execute the process of palletizing goods, but also needs to execute the process of placing palletizing accessories. This artificially increases the movement of the palletizing gantry robot, slows down the palletizing rhythm, and reduces the palletizing efficiency. Summary of the invention

[0006] In order to at least to some extent overcome the problem in the related art that the palletizing efficiency is reduced by using a palletizing gantry robot to simultaneously perform the cargo palletizing and the palletizing accessory placement processes, the present application provides a multi-station auxiliary collaborative palletizing system.

[0007] The scheme of this application is as follows:

[0008] A multi-station auxiliary collaborative palletizing system, comprising:

[0009] Bulk cargo transportation line, accessory transportation line, pallet transportation line, pickup station, palletizing station, palletizing gantry manipulator, and accessory manipulator;

[0010] The bulk cargo transportation line, accessory transportation line and pallet transportation line are arranged side by side;

[0011] The accessory transport line and the accessory manipulator are arranged on the side of the whole pallet transport line parallel to the conveying direction;

[0012] The palletizing gantry manipulator spans over the bulk cargo transport line, the accessory transport line and the whole pallet transport line;

[0013] The pickup station is arranged on the bulk cargo transportation line;

[0014] The palletizing station is arranged on the whole pallet transport line;

[0015] The bulk cargo transportation line is used to transport bulk cargo to the pickup station;

[0016] The accessory transport line is used for transporting palletizing accessories;

[0017] The whole-pallet transport line is used to output the stacked goods on the palletizing station;

[0018] The palletizing gantry manipulator grabs the bulk cargo at the pickup station, moves to the palletizing station to perform full palletizing, and moves to the pickup station to grab the bulk cargo again after the current full palletizing operation is completed, and executes a cycle;

[0019] The accessory manipulator grabs the palletizing accessory at the accessory transport line, moves to the palletizing station to release the palletizing accessory, moves from the palletizing station to the accessory transport line to re-grab the palletizing accessory after the current palletizing accessory is released, and executes a cycle;

[0020] Among them, the operation of the palletizing gantry manipulator moving to the pickup station to grab the bulk goods and the operation of the accessory manipulator moving to the palletizing station to release the palletizing accessories are carried out simultaneously;

[0021] The operation of the palletizing gantry manipulator moving to the palletizing station to perform palletizing and the operation of the accessory manipulator moving to the accessory transport line to grab the palletizing accessories are performed simultaneously.

[0022] Preferably, the workflow of the palletizing gantry robot includes:

[0023] Move to the pickup station and descend;

[0024] Grab the loose cargo and go up;

[0025] Carry the loose goods to the palletizing station and descend;

[0026] Palletizing, rising;

[0027] Move to the pickup station to complete the cycle.

[0028] Preferably, the workflow of the accessory manipulator specifically includes:

[0029] Move to the accessory transport line and descend;

[0030] Grab the palletizing attachment and raise it;

[0031] Carry the palletizing accessories and move to the designated position of the palletizing station, and then descend;

[0032] Release the palletizing attachment and raise it;

[0033] Move to the accessory transport line to complete the cycle.

[0034] Preferably, the process sequence of the accessory robot grabbing the palletizing accessories and ascending is before the palletizing gantry robot moves to the picking station.

[0035] Preferably, there are multiple palletizing stations, which are arranged at intervals along the conveying direction of the whole pallet transport line;

[0036] There are multiple accessory manipulators, which are arranged on both sides of the whole pallet transport line;

[0037] A plurality of the accessory robots serve a single palletizing station at the same time.

[0038] Preferably, it also includes: ground rails laid on both sides of the whole pallet transport line;

[0039] The accessory robot is arranged on the ground rail and is movable along the ground rail to switch the service object between the plurality of palletizing stations.

[0040] Preferably, there are multiple palletizing stations, which are arranged at intervals along the conveying direction of the whole pallet transport line;

[0041] There are multiple accessory manipulators, which are arranged on both sides of the whole pallet transport line;

[0042] All the accessory manipulators constitute a plurality of accessory manipulator groups, and the plurality of accessory manipulator groups are arranged at intervals along the conveying direction of the whole pallet transport line. The palletizing station is arranged between two adjacent accessory manipulator groups, and each of the accessory manipulator groups includes two accessory manipulators located on both sides of the whole pallet transport line and arranged opposite to each other.

[0043] Preferably, the plurality of accessory manipulator groups include an end accessory manipulator group located at the end and a middle accessory manipulator group located in the middle.

[0044] The attachment manipulator in the end attachment manipulator group is fixedly arranged relative to the whole pallet transport line;

[0045] A moving mechanism is provided at the bottom of the accessory manipulator in the middle accessory manipulator group to drive the accessory manipulator thereon to move along the direction of the whole pallet transport line.

[0046] Preferably, the moving mechanism comprises a base and a cylinder, and the cylinder connects the accessory manipulator and the base to drive the accessory manipulator to be movable relative to the base along the direction of the whole-pallet transport line.

[0047] Preferably, there are multiple accessory transport lines;

[0048] The accessory transport lines are arranged on both sides of the accessory manipulator.

[0049] The technical solution provided by the present application may include the following beneficial effects: the multi-station assisted collaborative palletizing system in the present application includes: a bulk cargo transport line, an accessory transport line, a whole pallet transport line, a pickup station, a palletizing station, a palletizing gantry robot, and an accessory robot; the bulk cargo transport line, the accessory transport line and the whole pallet transport line are arranged side by side; the accessory transport line is arranged on one side of the whole pallet transport line; the palletizing gantry robot spans over the bulk cargo transport line, the accessory transport line and the whole pallet transport line; the accessory robot is arranged on one side of the accessory transport line; the pickup station is arranged on the bulk cargo transport line; the palletizing station is arranged on the whole pallet transport line; the bulk cargo transport line is used to transport bulk cargo to the pickup station; the accessory transport line is used to transport palletizing accessories; the whole pallet transport line is used to transport stacked goods from the palletizing station The stacking gantry manipulator grabs the loose goods at the picking station, moves to the palletizing station to palletize the whole pallet, and moves to the picking station to grab the loose goods again after the current palletizing operation is completed, and executes a cycle; the accessory manipulator grabs the palletizing accessories at the accessory transportation line, moves to the palletizing station to release the palletizing accessories, and moves from the palletizing station to the accessory transportation line to grab the palletizing accessories again after the current palletizing accessories are released, and executes a cycle; wherein, the operation of the palletizing gantry manipulator moving to the picking station to grab the loose goods is performed simultaneously with the operation of the accessory manipulator moving to the palletizing station to release the palletizing accessories; the operation of the palletizing gantry manipulator moving to the palletizing station to palletize is performed simultaneously with the operation of the accessory manipulator moving to the accessory transportation line to grab the palletizing accessories.

[0050] In this technical solution, the palletizing gantry manipulator is used to perform the process of palletizing goods, and the accessory manipulator is used to perform the process of placing palletizing accessories. The work rhythm of the palletizing gantry manipulator is improved by reducing the work process of the palletizing gantry manipulator. In addition, the operation of the palletizing gantry manipulator moving to the pickup station to grab the loose goods and the operation of the accessory manipulator moving to the palletizing station to release the palletizing accessories are carried out simultaneously; the operation of the palletizing gantry manipulator moving to the palletizing station to perform the whole pallet palletizing and the operation of the accessory manipulator moving to the accessory transport line to grab the palletizing accessories are carried out simultaneously, so that the two manipulators work concurrently without interfering with each other, which greatly improves the palletizing efficiency.

[0051] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0053] Figure 1 It is a structural schematic diagram of a multi-station auxiliary collaborative palletizing system provided by an embodiment of the present application;

[0054] Figure 2 This is a schematic diagram of the workflow of a multi-station auxiliary collaborative palletizing system provided by an embodiment of the present application;

[0055] Figure 3 This is a structural diagram of another multi-station auxiliary collaborative palletizing system provided by an embodiment of the present application.

[0056] Figure 4 It is a top view of a multi-station auxiliary collaborative palletizing system provided by one embodiment of the present application;

[0057] Figure 5 It is a structural schematic diagram of an attachment manipulator provided by an embodiment of the present application;

[0058] Figure 6 It is a structural schematic diagram of a moving mechanism provided by an embodiment of the present application;

[0059] Figure 7 This is a schematic diagram of an accessory robot picking up an item provided in an embodiment of the present application.

[0060] Figure numerals: bulk cargo transportation line-1; accessory transportation line-2; pallet transportation line-3; picking station-4; palletizing station-5; palletizing gantry manipulator-6; accessory manipulator-7; ground rail-8; moving mechanism-9. DETAILED DESCRIPTION

[0061] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0062] Embodiment 1

[0063] Figure 1 This is a schematic diagram of a multi-station auxiliary collaborative palletizing system provided by an embodiment of the present application, referring to Figure 1 , a multi-station auxiliary collaborative palletizing system, comprising:

[0064] Bulk cargo transportation line 1, accessory transportation line 2, pallet transportation line 3, pickup station 4, palletizing station 5, palletizing gantry manipulator 6, and accessory manipulator 7;

[0065] Bulk cargo transportation line 1, accessory transportation line 2 and pallet transportation line 3 are arranged side by side;

[0066] The accessory transport line 2 and the accessory manipulator 7 are arranged beside the whole pallet transport line 3 parallel to the conveying direction;

[0067] The palletizing gantry manipulator 6 spans over the bulk cargo transportation line 1, the accessory transportation line 2 and the whole pallet transportation line 3;

[0068] The cargo pickup station 4 is arranged on the bulk cargo transportation line 1;

[0069] The palletizing station 5 is arranged on the pallet transport line 3;

[0070] The bulk cargo transportation line 1 is used to transport bulk cargo to the pickup station 4;

[0071] Accessory transport line 2 is used to transport palletizing accessories;

[0072] The pallet transport line 3 is used to output the stacked goods from the palletizing station 5;

[0073] The palletizing gantry manipulator 6 grabs the loose goods at the pickup station 4, moves to the palletizing station 5 to palletize the whole pallet, and moves to the pickup station 4 to grab the loose goods again after the current whole palletizing operation is completed, and executes the cycle;

[0074] The accessory manipulator 7 grabs the palletizing accessory at the accessory transport line 2, moves to the palletizing station 5 to release the palletizing accessory, and moves from the palletizing station 5 to the accessory transport line 2 to re-grab the palletizing accessory after the current palletizing accessory is released, and executes a cycle;

[0075] Among them, the operation of the stacking gantry manipulator 6 moving to the pickup station 4 to grab the bulk cargo and the operation of the accessory manipulator 7 moving to the stacking station 5 to release the stacking accessories are carried out simultaneously;

[0076] The operation of the palletizing gantry manipulator 6 moving to the palletizing station 5 for palletizing and the operation of the accessory manipulator 7 moving to the accessory transport line 2 for grabbing the palletizing accessories are performed simultaneously.

[0077] It should be noted that the bulk cargo transportation line 1 is used to transport bulk cargo. A pickup station 4 is provided on the bulk cargo transportation line 1. The bulk cargo transportation line 1 can collect the bulk cargo at the pickup station 4 according to the required quantity of the cargo.

[0078] The whole pallet transport line is used to transport neatly stacked whole pallets of goods to subsequent workstations for subsequent packaging. A palletizing station 5 is provided on the whole pallet transport line. At the palletizing station 5, single-layer goods can be stacked and palletized to finally form a whole pallet of goods.

[0079] The palletizing gantry robot 6 is used to grab the goods from the picking station 4 and put them into the palletizing station 5 according to the specified stacking shape.

[0080] The accessory transport line 2 is used for conveying palletizing accessories.

[0081] Preferably, an accessory picking station is provided on the accessory conveying line.

[0082] The accessory manipulator 7 includes a rotating column and a swing arm movable up and down along the column. The front section of the swing arm is provided with an accessory grabbing portion. The accessory manipulator 7 can grab the stacking accessories from the accessory picking station and place them at a designated position at the stacking station 5.

[0083] It should be noted that, refer to Figure 2 , the work flow of the palletizing gantry robot 6 includes:

[0084] Move to pickup station 4 and descend;

[0085] Grab the loose cargo and go up;

[0086] Carry the loose goods and move to the palletizing station 5, and descend;

[0087] Palletizing, rising;

[0088] Move to pickup station 4 to complete the cycle.

[0089] It should be noted that, refer to Figure 2 , the working process of the attachment manipulator 7 specifically includes:

[0090] Move to accessory transport line 2 and descend;

[0091] Grab the palletizing attachment and raise it;

[0092] Carry the palletizing accessories and move to the designated position at palletizing station 5, and descend;

[0093] Release the palletizing attachment and raise it;

[0094] Move to accessory transport line 2 to complete the cycle.

[0095] Furthermore, the process sequence of the accessory robot 7 grabbing the stacking accessories and ascending is before the stacking gantry robot 6 moves to the picking station 4.

[0096] It can be understood that the operation of the palletizing gantry robot 6 moving to the picking station 4 to grab the bulk cargo and the operation of the accessory robot 7 moving to the palletizing station 5 to release the palletizing accessories are performed simultaneously; the operation of the palletizing gantry robot 6 moving to the palletizing station 5 to perform palletizing and the operation of the accessory robot 7 moving to the accessory transport line 2 to grab the palletizing accessories are performed simultaneously, so that the two robots work concurrently without interfering with each other.

[0097] In addition, the process sequence of the accessory manipulator 7 grabbing the palletizing accessories and ascending is before the palletizing gantry manipulator 6 moves to the pickup station 4, so that when the palletizing gantry manipulator 6 moves to the pickup station 4, the accessory manipulator 7 just moves to the palletizing station 5, thereby realizing a close connection between the work flow of the palletizing gantry manipulator 6 and the work flow of the accessory manipulator 7, thereby improving the palletizing efficiency.

[0098] Embodiment 2

[0099] In this embodiment, refer to Figure 1 There are multiple palletizing stations 5, which are arranged at intervals along the conveying direction of the whole pallet conveying line 3;

[0100] There are multiple accessory manipulators 7, which are arranged on both sides of the whole pallet transport line 3;

[0101] A plurality of accessory robots 7 serve a single palletizing station 5 at the same time.

[0102] by Figure 1 For example, Figure 1 The system includes two palletizing stations 5 and four accessory manipulators 7. The four accessory manipulators 7 can serve Figure 1 Palletizing station 5 on the middle right.

[0103] In an embodiment not shown, the number of accessory robots 7 serving a palletizing station 5 can be set according to actual needs to meet different usage scenarios.

[0104] Furthermore, the multi-station auxiliary collaborative palletizing system may also include ground rails 8 laid on both sides of the whole pallet transport line, and the ground rails 8 extend along the conveying direction of the whole pallet transport line 3.

[0105] The accessory robot is arranged on the ground rail 8 and can move along the ground rail 8 to switch the service object between multiple palletizing stations 5.

[0106] Reference Figure 1, multiple accessory manipulators 7 are arranged on the ground rail 8, and can slide through the ground rail 8 to switch the service object between the right palletizing station 5 and the left palletizing station 5, that is, the multiple accessory manipulators 7 can be controlled to serve the right palletizing station 5 in the current cycle, slide to the left palletizing station 5 for service through the ground rail in the next cycle, and slide to the right palletizing station 5 for service through the ground rail in the next cycle, and so on.

[0107] The technical solution in this embodiment can reduce the number of attachment manipulators 7. Figure 1 As shown, the service operations for all the palletizing stations 5 can be completed by only four accessory robots 7. The reduced number of accessory robots 7 makes the installation and debugging of the accessory robots 7 relatively simple, thereby reducing time and debugging costs.

[0108] Embodiment 3

[0109] In this embodiment, refer to Figure 3-Figure 4 There are multiple palletizing stations 5, which are arranged at intervals along the conveying direction of the whole pallet conveying line 3;

[0110] There are multiple accessory manipulators 7, which are arranged on both sides of the whole pallet transport line 3;

[0111] All the accessory manipulators 7 constitute a plurality of accessory manipulator groups, and the plurality of accessory manipulator groups are arranged at intervals along the conveying direction of the whole pallet transport line 3. The palletizing station 5 is arranged between two adjacent accessory manipulator groups. Each accessory manipulator group may include two accessory manipulators 7 located on both sides of the whole pallet transport line 3 and arranged opposite to each other.

[0112] In this embodiment, there are multiple groups of accessory manipulators 7, and a palletizing station 5 is arranged between every two groups of accessory manipulators 7, that is, when N palletizing stations 5 are arranged, the number of groups of accessory manipulators 7 is N+1.

[0113] In one possible implementation of this embodiment, the bottom of the accessory manipulator 7 is fixed.

[0114] like Figure 3-Figure 4 As shown, there are three accessory manipulator groups, left, middle and right. The accessory manipulator group on the left is only used to pick up and place the locators at the upper left and lower left points of the left palletizing station 5. The accessory manipulator group on the right is only used to pick up and place the locators at the upper right and lower right points of the right palletizing station 5. The middle accessory manipulator group takes into account the pick-up and placement of the locators at the upper right and lower right points of the left palletizing station 5, and the upper left and lower left points of the right palletizing station 5.

[0115] In specific practice, Figure 3 For example, two adjacent palletizing stations 5 on the left and right do not perform palletizing operations at the same time, that is, only one of the palletizing stations 5 can be selected to perform the operation. Figure 3 In the example, only the left palletizing station 5 can be selected for operation. At this time, only the left and middle accessory robot groups are required to work. Without changing the overall layout of the accessory robot groups, it can adapt to the palletizing needs of multiple stations and various pallet shapes, improve the flexible operation function of the assembly line, and improve work efficiency.

[0116] Preferably, in order to improve the palletizing efficiency, all palletizing stations 5 can be started at the same time to perform operations, and the middle accessory manipulator group will take care of the palletizing stations 5 on both sides at the same time. In this way, multiple accessory manipulator groups can serve multiple palletizing stations at the same time, which can greatly improve work efficiency.

[0117] Further, the plurality of accessory manipulator groups may include an end accessory manipulator group located at the end and a middle accessory manipulator group located in the middle. The accessory manipulator 7 in the end accessory manipulator group is fixedly arranged relative to the whole pallet transport line 3. A moving mechanism 9 is arranged at the bottom of the accessory manipulator 7 in the middle accessory manipulator group to drive the accessory manipulator 7 thereon to move along the whole pallet transport line 3.

[0118] In this implementation, since a moving mechanism 9 is provided at the bottom of the accessory manipulator in the middle accessory manipulator group, the middle accessory manipulator can be translated left and right to adapt to its working position at the adjacent palletizing station. Such a setting can reduce the installation difficulty and positioning accuracy of the middle accessory manipulator group and improve the flexibility of the middle accessory manipulator group.

[0119] Furthermore, the moving mechanism 9 may include a base and a cylinder. The cylinder may connect the accessory manipulator and the base to drive the accessory manipulator to move relative to the base along the whole pallet transport line.

[0120] Figure 5 This is a schematic diagram of the structure of an attachment manipulator provided by an embodiment of the present application, referring to Figure 5 The enlarged view of the moving mechanism 9, that is, Figure 6 . In this embodiment, considering the small space on site, the accessory manipulator 7 in the middle component manipulator group has only two fixed positions, and in order to control costs, the cylinder drive mechanism is preferably used. In order to further reduce the difficulty of installation and debugging, the movable range of the fine-tuning ground rail is limited to between 0-100mm, so that the installation and design of the moving mechanism are relatively simple and the cost is relatively low. It can be understood that in other embodiments, the moving mechanism can also include a ball screw mechanism, a gear rack mechanism, a chain drive mechanism or a pulley drive mechanism, etc.

[0121] Embodiment 4

[0122] It should be noted that, refer to Figure 7 , there are multiple accessory transport lines 2;

[0123] The accessory transport line 2 is arranged on both sides of the accessory manipulator 7 .

[0124] like Figure 7 As shown, in specific practice, of the two adjacent accessory manipulators 7, the accessory manipulator on the left picks up items on the accessory transport line 2 close to the whole pallet transport line 3, and the accessory manipulator on the right picks up items on the accessory transport line 2 far away from the whole pallet transport line 3, that is, the two adjacent accessory manipulators pick up items on different accessory transport lines 2. In this embodiment, by respectively arranging accessory transport lines on both sides of the accessory manipulator, it is not only convenient for the accessory manipulator 7 to grab accessories and improve the picking speed of the accessory manipulator 7, but also a single accessory manipulator can be made to correspond one-to-one with a single accessory transport line, thereby reducing the difficulty of installing the accessory manipulator.

[0125] In practice, the accessory conveyor line is also provided with a stripper, which can load a large number of accessories at one time, thereby reducing the frequency of manual loading of accessories. The accessory conveyor line adopts a step-by-step feeding method, that is, after the accessory manipulator 7 grabs an accessory from the accessory conveyor line each time, the accessory conveyor line advances one station to replenish the accessory, preparing for the next attachment manipulator 7 to grab the accessory.

[0126] In this technical solution, the palletizing gantry manipulator 6 is used to perform the process of palletizing goods, and the accessory manipulator 7 is used to perform the process of placing palletizing accessories. The work rhythm of the palletizing gantry manipulator 6 is improved by reducing the work process of the palletizing gantry manipulator 6. In addition, the operation of the palletizing gantry manipulator 6 moving to the pickup station 4 to grab the loose goods and the operation of the accessory manipulator 7 moving to the palletizing station 5 to release the palletizing accessories are performed simultaneously; the operation of the palletizing gantry manipulator 6 moving to the palletizing station 5 to perform the whole pallet palletizing and the operation of the accessory manipulator 7 moving to the accessory transport line 2 to grab the palletizing accessories are performed simultaneously, so that the two manipulators work concurrently without interfering with each other, which greatly improves the palletizing efficiency.

[0127] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0128] It should be noted that, in the description of this application, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0129] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0130] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0131] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0132] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0133] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0134] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0135] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A multi-station auxiliary collaborative palletizing system, characterized in that: include: Bulk cargo transportation line, accessory transportation line, pallet transportation line, pickup station, palletizing station, palletizing gantry manipulator, and accessory manipulator; The bulk cargo transportation line, accessory transportation line and pallet transportation line are arranged side by side; The accessory transport line and the accessory manipulator are arranged on the side of the whole pallet transport line parallel to the conveying direction; The palletizing gantry manipulator spans over the bulk cargo transport line, the accessory transport line and the whole pallet transport line; The pickup station is arranged on the bulk cargo transportation line; The palletizing station is arranged on the whole pallet transport line; The bulk cargo transportation line is used to transport bulk cargo to the pickup station; The accessory transport line is used for transporting palletizing accessories; The whole-pallet transport line is used to output the stacked goods on the palletizing station; The palletizing gantry manipulator grabs the bulk cargo at the pickup station, moves to the palletizing station to perform full palletizing, and moves to the pickup station to grab the bulk cargo again after the current full palletizing operation is completed, and executes a cycle; The accessory manipulator grabs the palletizing accessory at the accessory transport line, moves to the palletizing station to release the palletizing accessory, moves from the palletizing station to the accessory transport line to re-grab the palletizing accessory after the current palletizing accessory is released, and executes a cycle; Among them, the operation of the palletizing gantry manipulator moving to the pickup station to grab the bulk goods and the operation of the accessory manipulator moving to the palletizing station to release the palletizing accessories are carried out simultaneously; The operation of the palletizing gantry manipulator moving to the palletizing station to perform palletizing and the operation of the accessory manipulator moving to the accessory transport line to grab the palletizing accessories are performed simultaneously.

2. The multi-station assisted collaborative palletizing system according to claim 1 is characterized in that: The working process of the palletizing gantry manipulator includes: Move to the pickup station and descend; Grab the loose cargo and go up; Carry the loose goods to the palletizing station and descend; Palletizing, rising; Move to the pickup station to complete the cycle.

3. The multi-station auxiliary collaborative palletizing system according to claim 2 is characterized in that: The workflow of the attachment manipulator specifically includes: Move to the accessory transport line and descend; Grab the palletizing attachment and raise it; Carry the palletizing accessories and move to the designated position of the palletizing station, and then descend; Release the palletizing attachment and raise it; Move to the accessory transport line to complete the cycle.

4. The multi-station auxiliary collaborative palletizing system according to claim 3 is characterized in that: The process sequence of the accessory robot grabbing the palletizing accessories and rising is before the palletizing gantry robot moves to the picking station.

5. The multi-station auxiliary collaborative palletizing system according to claim 1 is characterized in that: There are multiple palletizing stations, which are arranged at intervals along the conveying direction of the whole pallet transport line; There are multiple accessory manipulators, which are arranged on both sides of the whole pallet transport line; A plurality of the accessory robots serve a single palletizing station at the same time.

6. The multi-station auxiliary collaborative palletizing system according to claim 5 is characterized in that: Also includes: Ground rails laid on both sides of the whole pallet transport line; The accessory robot is arranged on the ground rail and is movable along the ground rail to switch the service object between the plurality of palletizing stations.

7. The multi-station auxiliary collaborative palletizing system according to claim 1, characterized in that: There are multiple palletizing stations, which are arranged at intervals along the conveying direction of the whole pallet transport line; There are multiple accessory manipulators, which are arranged on both sides of the whole pallet transport line; All the accessory manipulators constitute a plurality of accessory manipulator groups, and the plurality of accessory manipulator groups are arranged at intervals along the conveying direction of the whole pallet transport line. The palletizing station is arranged between two adjacent accessory manipulator groups, and each of the accessory manipulator groups includes two accessory manipulators located on both sides of the whole pallet transport line and arranged opposite to each other.

8. The multi-station auxiliary collaborative palletizing system according to claim 7, characterized in that: The plurality of accessory manipulator groups include an end accessory manipulator group located at the end and a middle accessory manipulator group located in the middle. The attachment manipulator in the end attachment manipulator group is fixedly arranged relative to the whole pallet transport line; A moving mechanism is provided at the bottom of the accessory manipulator in the middle accessory manipulator group to drive the accessory manipulator thereon to move along the direction of the whole pallet transport line.

9. The multi-station auxiliary collaborative palletizing system according to claim 8, characterized in that: The moving mechanism includes a base and a cylinder, wherein the cylinder connects the accessory manipulator and the base to drive the accessory manipulator to move relative to the base along the direction of the whole-pallet transport line.

10. The multi-station auxiliary collaborative palletizing system according to any one of claim 1, characterized in that: There are multiple accessory transportation lines; The accessory transport lines are arranged on both sides of the accessory manipulator.

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