Automatic stacking equipment and method

Abstract

The invention discloses automatic stacking equipment, and relates to the technical field of stacking equipment, the automatic stacking equipment comprises a bottom plate, one end of the bottom plate is provided with a hollow base, a plurality of pressure sensors are installed between the lower end face of the hollow base and the upper end face of the bottom plate, and the upper end of the hollow base is fixedly connected with a stacking table; a stacking table is arranged at one end of the bottom plate, a tray positioning assembly is arranged on the stacking table, a roll shaft conveyor is arranged at the other end of the bottom plate, a limiting assembly used for limiting products is arranged on the roll shaft conveyor, a mounting rack is arranged on one side of the bottom plate, and a four-axis robot is mounted at the upper end of the mounting rack; by means of the arranged trimming assembly, stacked product stacks can be corrected in the working process, interlayers can be trimmed one by one along with stacking in the working process, then the product stacking uniformity can be improved, and the problem that stacking is irregular due to stacking errors, product sliding and packaging box deformation is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizing equipment, and specifically to an automatic palletizing equipment and method. Background Technique

[0002] Palletizing equipment is a product of the organic combination of machinery and computer programs. After the products are produced, they need to be boxed, and after the products are boxed, they need to be palletized and stacked to facilitate subsequent transportation. When boxing or palletizing products, generally an automatic palletizing equipment is used for palletizing.

[0003] For example, a palletizing equipment for a finished product workshop proposed in the authorized publication number CN111232812B includes a base, a bracket and a connecting plate. The connecting plate is horizontally arranged, the top of the connecting plate is arranged on the base through the bracket, a displacement device is arranged on the bracket, and an adsorption mechanism and an auxiliary mechanism are arranged at the bottom of the connecting plate. This equipment can grab products by using the adsorption mechanism and then perform palletizing operations as needed.

[0004] However, there are still certain defects in the application of the above palletizing equipment. When the palletizing equipment palletizes products, due to the combined effects of the inherent errors of the equipment's mechanical structure, the frictional sliding between products, and the slight deformation of the product boxes caused by external forces, etc., it is difficult for the formed product stacks to reach the ideal regularity. As the palletizing height continuously increases, this non-uniformity phenomenon magnifies exponentially. Especially when the height of the stacked goods is relatively high, this problem is particularly prominent. The low stacking neatness of products will affect the subsequent transportation or film wrapping quality, and seriously may lead to pallet collapse. In view of the above problems, we propose an automatic palletizing equipment and method to solve the problems mentioned above. Summary of the Invention

[0005] The purpose of the present invention is to provide an automatic palletizing equipment and method to solve the problems raised in the above background technique.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] An automatic palletizing device, including a bottom plate, one end of the bottom plate is provided with a hollow base, several pressure sensors are installed between the lower end face of the hollow base and the upper end face of the bottom plate, the upper end of the hollow base is fixedly connected with a palletizing table, and a positioning component for positioning the pallet is arranged on the palletizing table. The other end of the bottom plate is provided with a roller conveyor, and a limiting component for limiting the product is arranged on the roller conveyor. One side of the bottom plate is provided with an installation rack, and a four-axis robot is installed on the upper end of the installation rack. The action end of the four-axis robot is fixedly connected with a mounting plate, and a picking and placing component for picking and placing the product is arranged on the mounting plate. The other side of the bottom plate is provided with a pallet placing table, and positioning angle plates are fixedly connected to the four corners of the upper end of the pallet placing table. An electric turntable is arranged between the pallet placing table and the bottom plate, and a trimming component for shaping the product stack to be palletized is arranged on the electric turntable.

[0008] As a further solution of the present invention: the positioning component includes four limiting chutes, the four limiting chutes are arranged on the palletizing table, the four limiting chutes are evenly distributed, sliding blocks are slidably connected in the limiting chutes, U-shaped positioning teeth are slidably connected in the sliding blocks, the lower ends of the sliding blocks are fixedly connected with first cylinders, and the output ends of the first cylinders are fixedly connected with the U-shaped positioning teeth. A driving component for driving the sliding blocks to move synchronously is arranged in the hollow base.

[0009] As a further solution of the present invention: the driving component includes a second threaded rod, the second threaded rod is rotatably connected to the palletizing table at a position below the limiting chute by a support, the second threaded rod is threadedly connected with the sliding block, a second reduction motor is installed in the middle of the hollow base, the output end of the second reduction motor is fixedly connected with a first bevel gear, and a second bevel gear meshing with the first bevel gear is arranged at a position of the second threaded rod close to the first bevel gear.

[0010] As a further solution of the present invention: the limiting component includes limiting side plates, the limiting side plates are respectively arranged on both sides above the rollers of the roller conveyor, L-shaped fixing frames are fixedly connected to the casings on both sides of the roller conveyor, and the end parts of the L-shaped fixing frames are respectively fixedly connected with the corresponding limiting side plates. A travel switch is installed at one end of the roller conveyor close to the palletizing table by a bracket, and two second cylinders are fixedly connected to the casing of the roller conveyor close to the travel switch. The two second cylinders are arranged in the intervals between the upper rollers of the roller conveyor, and the output ends of the two second cylinders are fixedly connected with push top plates.

[0011] As a further solution of the present invention: The picking and placing component includes two synchronous belt pulleys, which are respectively rotatably connected to both ends of the lower end surface of the mounting plate by rotating shafts. One end of the upper end surface of the mounting plate is provided with a third servo motor, and the output end of the third servo motor is fixedly connected to the axle of the synchronous belt pulley. A synchronous belt is installed between the two synchronous belt pulleys. Both sides of the lower end surface of the mounting plate are fixedly connected with T-shaped slide rails, and slide plates are slidably connected between both ends of the T-shaped slide rails. The two slide plates are respectively fixedly connected to both side surfaces of the synchronous belt. The lower ends of the slide plates are fixedly connected with positioning clamping plates, and an auxiliary fixing component for cooperating with the positioning clamping plates to fix the product is further provided on the slide plates.

[0012] As a further solution of the present invention: The auxiliary fixing component includes a third air cylinder, which is respectively fixedly connected to both sides of the upper end surface of the slide plate. An upper pushing plate is fixedly connected between the output ends of the two third air cylinders. The lower end surface of the slide plate is fixedly connected with a fourth air cylinder, and the output end of the fourth air cylinder is fixedly connected with an L-shaped bottom supporting plate, and the upper end of the L-shaped bottom supporting plate is slidably connected to the T-shaped slide rail.

[0013] As a further solution of the present invention: The trimming component includes a hollow column, which is fixedly connected to the rotating end of the electric turntable. Vertical sliding grooves are respectively opened on both sides of the hollow column, and a lifting platform is slidably connected inside between the two vertical sliding grooves. A fixing frame is fixedly connected to the lifting platform, and fifth air cylinders are respectively fixedly connected to the middle of the four sides of the fixing frame. The output ends of the fifth air cylinders are respectively fixedly connected with shaping pushing plates, and limiting sliding rods are respectively fixedly connected to both ends of the shaping pushing plates, and the limiting sliding rods are slidably connected to the fixing frame. An elevating component for driving the lifting platform to lift is provided inside the hollow column.

[0014] As a further solution of the present invention: The elevating component includes a second threaded rod, which is rotatably connected to the middle position inside the hollow column. A first reduction motor for driving the second threaded rod to rotate is installed on the upper end surface of the hollow column, and the second threaded rod is threadedly connected to the lifting platform.

[0015] As a further solution of the present invention: A controller is further provided on the bottom plate.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] Through the provided trimming component, the present invention can correct the stacked product stacks during operation. During operation, as the palletizing progresses, each layer can be trimmed one by one, thereby improving the neatness of product palletizing and eliminating the problem of uneven palletizing caused by palletizing errors, product sliding, and packaging box deformation. At the same time, while trimming the product stack, the trimming component can automatically add a new pallet after palletizing is completed, reducing worker intervention. Additionally, the provided positioning component can position the pallet after it is placed on the palletizing table, preventing the pallet from being skewed during placement and affecting the subsequent palletizing quality. Brief Description of the Drawings

[0018] Figure 1 It is a schematic structural diagram of the present invention.

[0019] Figure 2 It is a schematic structural diagram of the positioning component in the present invention.

[0020] Figure 3 It is a schematic internal structural diagram of the hollow base in the present invention.

[0021] Figure 4 It is a schematic structural diagram of the limiting component in the present invention.

[0022] Figure 5 It is a schematic structural diagram of the second cylinder in the present invention.

[0023] Figure 6 It is a schematic structural diagram of the picking and placing component in the present invention.

[0024] Figure 7 It is a schematic structural diagram of the auxiliary fixing component in the present invention.

[0025] Figure 8 It is a schematic structural diagram of the trimming component in the present invention.

[0026] Figure 9 It is a schematic internal structural diagram of the hollow column in the present invention.

[0027] Wherein: 1. bottom plate; 2. roller conveyor; 3. limiting side plate; 4. installation rack; 5. four-axis robot; 6. mounting plate; 7. first reduction motor; 8. hollow column; 9. shaping push plate; 10. fixed frame; 11. positioning angle plate; 12. pallet placing table; 13. electric turntable; 14. palletizing table; 15. hollow base; 16. pressure sensor; 17. second threaded rod; 18. U-shaped positioning tooth; 19. sliding block; 20. limiting chute; 21. first cylinder; 22. L-shaped fixing frame; 23. second reduction motor; 24. second cylinder; 25. travel switch; 26. push top plate; 27. T-shaped slide rail; 28. third cylinder; 29. third servo motor; 30. sliding plate; 31. upper push plate; 32. L-shaped bottom support plate; 33. positioning clamping plate; 34. fourth cylinder; 35. synchronous belt; 36. synchronous belt pulley; 37. vertical chute; 38. lifting table; 39. second threaded rod; 40. limiting slide bar; 41. fifth cylinder. Detailed implementation manner

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0029] Please refer to Figures 1-9, in the embodiment of the present invention, an automatic palletizing device includes a bottom plate 1, a controller is further provided on the bottom plate 1, a hollow base 15 is provided at one end of the bottom plate 1, a plurality of pressure sensors 16 are installed between the lower end surface of the hollow base 15 and the upper end surface of the bottom plate 1, a palletizing table 14 is fixedly connected to the upper end of the hollow base 15, and a positioning component for positioning the pallet is provided on the palletizing table 14. The positioning component includes four limit chutes 20. The four limit chutes 20 are arranged on the palletizing table 14 and are evenly distributed. A sliding block 19 is slidably connected in each limit chute 20. A U-shaped positioning tooth 18 is slidably connected in the sliding block 19. The lower end of the sliding block 19 is fixedly connected to a first cylinder 21. The output end of the first cylinder 21 is fixedly connected to the U-shaped positioning tooth 18. A driving component for driving the second threaded rod 17 to rotate synchronously is provided in the hollow base 15. During operation, the driving component can drive the second threaded rod 17 to rotate synchronously. The rotation of the second threaded rod 17 can drive the four sliding blocks 19 to move synchronously. After the four sliding blocks 19 move, the pallet can be positioned and fixed, preventing the pallet from tilting when stacking products. At the same time, the provided first cylinder 21 can drive the U-shaped positioning tooth 18 to move downward. When the U-shaped positioning tooth 18 moves downward, its upper end retracts into the sliding block 19, releasing the restriction on the pallet, so that the U-shaped positioning tooth 18 can be moved downward after palletizing is completed, which is convenient for a forklift to remove the palletized products.

[0030] The driving component includes a second threaded rod 17. The second threaded rod 17 is rotatably connected to the palletizing table 14 at a position below the limit chute 20 by a support. The second threaded rod 17 is threadedly connected to the sliding block 19. A second reduction motor 23 is installed in the middle of the hollow base 15. The output end of the second reduction motor 23 is fixedly connected to a first bevel gear. A second bevel gear meshing with the first bevel gear is provided at a position of the second threaded rod 17 close to the first bevel gear. When driving the second threaded rod 17 to rotate synchronously, the output end of the second reduction motor 23 drives the first bevel gear to rotate. The rotation of the first bevel gear can drive the second bevel gear to rotate. The rotation of the second bevel gear can drive the second threaded rod 17 to rotate.

[0031] At the other end of the bottom plate 1, there is a roller conveyor 2. A limiting component for limiting the product is provided on the roller conveyor 2. The limiting component includes limiting side plates 3, and the limiting side plates 3 are respectively arranged on both sides above the rollers of the roller conveyor 2. L-shaped fixing frames 22 are fixedly connected to the machine casings on both sides of the roller conveyor 2, and the end parts of the L-shaped fixing frames 22 are respectively fixedly connected to the corresponding limiting side plates 3. A travel switch 25 is installed at one end of the roller conveyor 2 close to the palletizing table 14 by means of a bracket. Two second cylinders 24 are fixedly connected to the machine casing of the roller conveyor 2 close to the travel switch 25. The second cylinders 24 are arranged in the intervals between the upper rollers of the roller conveyor 2. The output ends of the two second cylinders 24 are both fixedly connected with push top plates 26. During operation, the conveyed products can be limited by the provided limiting side plates 3 to prevent the products from shifting during movement. When the product touches the travel switch 25, the second cylinders 24 will act to push the push top plates 26 upward, and the push top plates 26 will lift the product upward, thus facilitating the four-axis robot 5 to grab the product.

[0032] On one side of the bottom plate 1, there is an installation rack 4. A four-axis robot 5 is installed at the upper end of the installation rack 4. An installation plate 6 is fixedly connected to the action end of the four-axis robot 5. A picking and placing component for picking and placing the product is provided on the installation plate 6. The picking and placing component includes two synchronous belt pulleys 36, and the two synchronous belt pulleys 36 are respectively rotatably connected to both ends of the lower end face of the installation plate 6 by means of rotating shafts. A third servo motor 29 is arranged at one end of the upper end face of the installation plate 6, and the output end of the third servo motor 29 is fixedly connected to the axle of the synchronous belt pulley 36. A synchronous belt 35 is installed between the two synchronous belt pulleys 36. T-shaped slide rails 27 are fixedly connected to both sides of the lower end face of the installation plate 6. Slide plates 30 are slidably connected between both ends of the T-shaped slide rails 27. The two slide plates 30 are respectively fixedly connected to the two side belts of the synchronous belt 35. Positioning clamping plates 33 are fixedly connected to the lower ends of the slide plates 30. An auxiliary fixing component for cooperating with the positioning clamping plates 33 to fix the product is also provided on the slide plates 30. When grabbing the product, the four-axis robot 5 drives the installation plate 6 to move to the product position, and then the third servo motor 29 drives the synchronous belt pulleys 36 to rotate. The rotation of the synchronous belt pulleys 36 can drive the synchronous belt 35 to operate. When the synchronous belt 35 operates, the movement directions of the two side belts are opposite, so as to drive the two positioning clamping plates 33 to approach or move away from each other, thereby realizing the clamping of the product.

[0033] The auxiliary fixing component includes a third cylinder 28, which is fixedly connected to both sides of the upper end surface of the sliding plate 30 respectively. A push plate 31 is fixedly connected between the output ends of the two third cylinders 28. The lower end surface of the sliding plate 30 is fixedly connected with a fourth cylinder 34, and the output end of the fourth cylinder 34 is fixedly connected with an L-shaped bottom support plate 32, and the upper end of the L-shaped bottom support plate 32 is slidably connected with the T-shaped slide rail 27; during operation, the action of the output end of the fourth cylinder 34 can drive the L-shaped bottom support plate 32 to move towards the positioning clamping plate 33 to support the bottom of the product. Then, the action of the output end of the third cylinder 28 drives the push plate 31 to move downward, and the push plate 31 presses down on the product during its downward movement. The L-shaped bottom support plate 32, the push plate 31, and the positioning clamping plate 33 cooperate with each other to firmly fix the product, avoiding the problem of the product falling during the transfer of the product.

[0034] On the other side of the bottom plate 1, there is a tray placement table 12. At each of the four corners of the upper end of the tray placement table 12, there is a positioning angle plate 11 fixedly connected. Between the tray placement table 12 and the bottom plate 1, there is an electric turntable 13, and on the electric turntable 13, there is a trimming component for shaping the product stack for stacking; the trimming component includes a hollow column 8, which is fixedly connected to the rotating end of the electric turntable 13. On both sides of the hollow column 8, there are vertical sliding grooves 37 opened. An elevator platform 38 is slidably connected inside between the two vertical sliding grooves 37. A fixed frame 10 is fixedly connected to the elevator platform 38. In the middle of each of the four sides of the fixed frame 10, there is a fifth cylinder 41 fixedly connected. The output ends of the fifth cylinders 41 are all fixedly connected with shaping push plates 9. At both ends of the shaping push plates 9, there are limit sliding rods 40 fixedly connected, and the limit sliding rods 40 are slidably connected with the fixed frame 10. Inside the hollow column 8, there is a lifting component for driving the elevator platform 38 to lift and lower; during operation, the lifting component can drive the fixed frame 10 to move along with the stacking height, and then through the simultaneous action of the four fifth cylinders 41, it drives the shaping push plates 9 to move together to push and press the stacked products layer by layer, making the product stack neater and tighter, ensuring the neatness of the stacking. At the same time, the multiple fifth cylinders 41 and the shaping push plates 9 provided can also grab the tray, and then a new tray can be placed on the stacking table 14 after the stacking is completed.

[0035] The lifting component includes a second threaded rod 39, which is rotatably connected to the middle position inside the hollow column 8. A first reduction motor 7 for driving the second threaded rod 39 to rotate is installed on the upper end surface of the hollow column 8, and the second threaded rod 39 is threadedly connected with the elevator platform 38; when driving the elevator platform 38 to lift and lower, the first reduction motor 7 drives the second threaded rod 39 to rotate, and the rotation of the second threaded rod 39 can drive the elevator platform 38 to lift and lower.

[0036] The working principle of the present invention is as follows: During operation, first stack the required pallets on the pallet placement table 12, then the fixing frame 10 moves to the position of the pallet, and drives the shaping push plate 9 to move through the fifth cylinder 41 to clamp the pallet. Then, the electric turntable 13 drives the hollow column 8 to rotate 180 degrees. After rotation, the fixing frame 10 is moved to a position close to the palletizing table 14 through the lifting assembly. Then, the output end of the fifth cylinder 41 is reset, and the pallet is placed on the palletizing table 14. After the placement is completed, the driving assembly can drive the second threaded rod 17 to rotate synchronously. The rotation of the second threaded rod 17 can drive the four sliding blocks 19 to move synchronously. After the four sliding blocks 19 move, they can position and fix the pallet. During palletizing, the product is conveyed from the roller conveyor 2 to the position of the travel switch 25. When the product touches the travel switch 25, the second cylinder 24 can drive the push top plate 26 to rise and lift the product. Then, the four-axis robot 5 drives the mounting plate 6 to move to the position of the product. Then, the third servo motor 29 drives the synchronous pulley 36 to rotate. The rotation of the synchronous pulley 36 can drive the synchronous belt 35 to operate. When the synchronous belt 35 operates, the movement directions of the two belt surfaces on both sides are opposite, and thus can drive the two positioning clamping plates 33 to approach each other to clamp the product. At the same time, the action of the output end of the fourth cylinder 34 can drive the L-shaped bottom support plate 32 to move towards the positioning clamping plate 33 to support the bottom of the product. Then, the action of the output end of the third cylinder 28 drives the upper push plate 31 to move downward. The downward movement of the upper push plate 31 presses on the product. The L-shaped bottom support plate 32, the upper push plate 31, and the positioning clamping plate 33 cooperate with each other to firmly fix the product. Then, the four-axis robot 5 stacks the grabbed product on the pallet on the palletizing table 14. After stacking one layer, the four fifth cylinders 41 act simultaneously to drive the shaping push plate 9 to move together to push and press the stacked product to make the product stack neater and tighter. Then, stack the next layer, and so on. In this way, the stacked products are shaped layer by layer. At the same time, the set pressure sensor 16 can sense the weight of the goods on the palletizing table 14, and thus can sense the number of layers of goods palletized. After palletizing is completed, the positioning assembly releases the fixation of the pallet, and then the forklift removes the palletized product.

[0037] In the present invention, each moving part is controlled by a controller. The controller is a programmable controller. The control shaping and circuit of the controller can be realized by simple programming by those skilled in the art, which belongs to the common knowledge in the art and will not be elaborated here.

[0038] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Although this specification is described in terms of embodiments, not every embodiment contains only one technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An automatic palletizing device, comprising a bottom plate (1), characterized in that: One end of the bottom plate (1) is provided with a hollow base (15). A plurality of pressure sensors (16) are installed between the lower end surface of the hollow base (15) and the upper end surface of the bottom plate (1). A palletizing table (14) is fixedly connected to the upper end of the hollow base (15). A positioning assembly for positioning the pallet is provided on the palletizing table (14). A roller conveyor (2) is provided at the other end of the bottom plate (1). A limiting assembly for limiting the product is provided on the roller conveyor (2). An installation rack (4) is provided on one side of the bottom plate (1). A four-axis robot (5) is installed at the upper end of the installation rack (4). The operating end of the four-axis robot (5) is fixedly connected to a mounting plate (6). A picking and placing assembly for picking and placing the product is provided on the mounting plate (6). A pallet placing table (12) is provided on the other side of the bottom plate (1). Positioning angle plates (11) are fixedly connected to the four corners of the upper end of the pallet placing table (12). An electric turntable (13) is provided between the pallet placing table (12) and the bottom plate (1). A trimming assembly for shaping the product stack for palletizing is provided on the electric turntable (13).

2. An automatic palletizing device according to claim 1, characterized in that, The positioning assembly includes four limiting chutes (20). The four limiting chutes (20) are arranged on the palletizing table (14). The four limiting chutes (20) are evenly distributed. A sliding block (19) is slidably connected in each of the limiting chutes (20). A U-shaped positioning tooth (18) is slidably connected in the sliding block (19). The lower end of the sliding block (19) is fixedly connected to a first cylinder (21). The output end of the first cylinder (21) is fixedly connected to the U-shaped positioning tooth (18). A driving assembly for driving the sliding blocks (19) to move synchronously is provided in the hollow base (15).

3. An automatic palletizing device according to claim 2, characterized in that, The driving assembly includes a second threaded rod (17). The second threaded rod (17) is rotatably connected to the palletizing table (14) at a position below the limiting chutes (20) by a support. The second threaded rod (17) is threadedly connected to the sliding block (19). A second reduction motor (23) is installed in the middle of the interior of the hollow base (15). The output end of the second reduction motor (23) is fixedly connected to a first bevel gear. A second bevel gear meshing with the first bevel gear is provided at a position of the second threaded rod (17) close to the first bevel gear.

4. An automatic palletizing device according to claim 1, characterized in that, The limiting assembly includes limiting side plates (3). The limiting side plates (3) are respectively arranged on both sides above the rollers of the roller conveyor (2). L-shaped fixing frames (22) are fixedly connected to the casings on both sides of the roller conveyor (2). The end parts of the L-shaped fixing frames (22) are respectively fixedly connected to the corresponding limiting side plates (3). A travel switch (25) is installed at one end of the roller conveyor (2) close to the palletizing table (14) by a bracket. Two second cylinders (24) are fixedly connected to the casing of the roller conveyor (2) at one end close to the travel switch (25). The two second cylinders (24) are arranged in the intervals between the upper rollers of the roller conveyor (2). The output ends of the two second cylinders (24) are both fixedly connected to a push top plate (26).

5. An automatic palletizing device according to claim 1, characterized in that, The pick-and-place component includes two synchronous belt pulleys (36). The two synchronous belt pulleys (36) are respectively rotatably connected to both ends of the lower end face of the mounting plate (6) by rotating shafts. One end of the upper end face of the mounting plate (6) is provided with a third servo motor (29). The output end of the third servo motor (29) is fixedly connected to the shaft of the synchronous belt pulley (36). A synchronous belt (35) is installed between the two synchronous belt pulleys (36). Both sides of the lower end face of the mounting plate (6) are fixedly connected with T-shaped sliding rails (27). A sliding plate (30) is slidably connected between both ends of the T-shaped sliding rail (27). The two sliding plates (30) are respectively fixedly connected to both side belts of the synchronous belt (35). A positioning clamping plate (33) is fixedly connected to the lower end of the sliding plate (30). An auxiliary fixing component for cooperating with the positioning clamping plate (33) to fix the product is further provided on the sliding plate (30).

6. An automatic palletizing device according to claim 5, characterized in that, The auxiliary fixing component includes a third air cylinder (28). The third air cylinders (28) are respectively fixedly connected to both sides of the upper end face of the sliding plate (30). An upper pushing plate (31) is fixedly connected between the output ends of the two third air cylinders (28). A fourth air cylinder (34) is fixedly connected to the lower end face of the sliding plate (30). The output end of the fourth air cylinder (34) is fixedly connected with an L-shaped bottom support plate (32). The upper end of the L-shaped bottom support plate (32) is slidably connected to the T-shaped sliding rail (27).

7. An automatic palletizing device according to claim 1, characterized in that, The trimming component includes a hollow column (8). The hollow column (8) is fixedly connected to the rotating end of the electric turntable (13). Vertical sliding grooves (37) are formed on both sides of the hollow column (8). A lifting platform (38) is slidably connected inside between the two vertical sliding grooves (37). A fixed frame (10) is fixedly connected to the lifting platform (38). Fifth air cylinders (41) are fixedly connected to the middle of the four sides of the fixed frame (10). The output ends of the fifth air cylinders (41) are fixedly connected with shaping pushing plates (9). Limiting sliding rods (40) are fixedly connected to both ends of the shaping pushing plate (9). The limiting sliding rods (40) are slidably connected to the fixed frame (10). A lifting component for driving the lifting platform (38) to lift is provided inside the hollow column (8).

8. An automatic palletizing device according to claim 7, characterized in that, The lifting component includes a second threaded rod (39). The second threaded rod (39) is rotatably connected to the middle of the inside of the hollow column (8). A first reduction motor (7) for driving the second threaded rod (39) to rotate is installed on the upper end face of the hollow column (8). The second threaded rod (39) is threadedly connected to the lifting platform (38).

9. An automatic palletizing device according to claim 1, characterized in that, A controller is further provided on the bottom plate (1).

10. A palletizing method for the automatic palletizing equipment according to any one of claims 1-9, characterized in that, Including the following steps; Step 1: During operation, first stack the required pallets on the pallet placement table (12). Then, the fixing frame (10) moves to the pallet position. The shaping push plate (9) is driven by the fifth cylinder (41) to move, clamping the pallet. Then, the electric turntable (13) drives the hollow column (8) to rotate 180 degrees. After rotation, the fixing frame (10) is moved to a position close to the palletizing table (14) by the lifting assembly. Then, the output end of the fifth cylinder (41) resets, and the pallet is placed on the palletizing table (14). After the placement is completed, the driving assembly can drive the second threaded rod (17) to rotate synchronously. The rotation of the second threaded rod (17) can drive the four sliding blocks (19) to move synchronously. After the four sliding blocks (19) move, the pallet can be positioned and fixed. Step 2: During palletizing, the product is conveyed from the roller conveyor (2) to the position of the travel switch (25). When the product touches the travel switch (25), the second cylinder (24) can drive the push top plate (26) to rise, lifting the product. Then, the four-axis robot (5) drives the mounting plate (6) to move to the product position. Then, the third servo motor (29) drives the synchronous pulley (36) to rotate. The rotation of the synchronous pulley (36) can drive the synchronous belt (35) to operate. When the synchronous belt (35) operates, the movement directions of the two side belts are opposite, so that the two positioning clamping plates (33) can be driven to approach each other to clamp the product. At the same time, the output end of the fourth cylinder (34) acts to drive the L-shaped bottom support plate (32) to move towards the positioning clamping plate (33) to support the bottom of the product. Then, the output end of the third cylinder (28) acts to drive the upper push plate (31) to move downward. The downward movement of the upper push plate (31) presses on the product. The L-shaped bottom support plate (32), the upper push plate (31), and the positioning clamping plate (33) cooperate with each other to firmly fix the product. Step 3: Then, the four-axis robot (5) stacks the grabbed products on the pallets on the palletizing table (14). After one layer of palletizing is completed, the four fifth cylinders (41) act simultaneously to drive the shaping push plate (9) to move together, pressing the palletized products to make the product stack more neat and compact. Then, the next layer is palletized, and so on. The palletized products are shaped layer by layer in this way. At the same time, the set pressure sensor (16) can sense the weight of the goods on the palletizing table (14), and thus can sense the number of layers of goods palletized. After palletizing is completed, the positioning assembly releases the fixation of the pallet, and then the forklift takes down the palletized products.

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