Self-adaptive balance system of barreled water stacking forming platform

Abstract

The invention relates to the field of barreled water stacking equipment, in particular to a self-adaptive balance system of a barreled water stacking forming platform, which comprises a movable platform and a portal frame, a balance unit is mounted at the top of the movable platform, and a plurality of bucket clamping jaws which are equidistantly distributed front and back are mounted at the bottom of the movable platform in a front-back sliding manner; a plurality of bucket body stabilizing units are installed on the bucket clamping jaw at equal intervals in the left-right direction. According to the bucket stacking device, a bucket is clamped in multiple directions through mutual cooperation of a bucket clamping jaw and a bucket body stabilizing unit, when the bucket clamping jaw clamps a bucket neck, an arc-shaped clamping plate synchronously clamps a bucket body front and back, the situation that in the stacking process, the bucket body shakes, the stacking balance is affected, and the stacking quality is improved can be avoided. And meanwhile, the multiple water buckets arranged in the shape like the Chinese character'pin 'are connected into a whole, the stability of the water buckets in the stacking process is further improved, and then the stacking balance is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of barreled water palletizing equipment, and specifically to an adaptive balance system for a barreled water palletizing and forming platform. Background Art

[0002] Barreled water palletizing is a key process in the production and logistics links. After the barreled water is produced, it will be transported by a conveying mechanism to a bucket pushing mechanism, and the buckets are pushed to a bucket collecting platform by the bucket pushing mechanism. Through the repeated pushing operations of the bucket pushing mechanism, the buckets are neatly arranged on the bucket collecting platform, and finally, the arranged buckets are transferred to a pallet by a palletizing and forming platform for palletizing.

[0003] Common bucket arrangement methods generally include matrix arrangement and pyramid arrangement. Compared with the matrix arrangement, the pyramid arrangement can accommodate a larger number of buckets on one pallet. When palletizing the buckets arranged in a pyramid shape, since the buckets arranged in a pyramid shape will have a situation where one side protrudes outward and the other side sinks inward (as Figure 9 shown), the mass distribution of the buckets arranged in a pyramid shape is uneven. As a result, when the palletizing and forming platform transfers the buckets arranged in a pyramid shape, there will be a certain skew due to the uneven mass distribution of the buckets, affecting the stability of bucket palletizing. In addition, when driving the buckets to move and stop, the buckets will shake due to the change in the motion state, which will further affect the stability of bucket palletizing. Summary of the Invention

[0004] To solve the above problems, the present invention provides an adaptive balance system for a barreled water palletizing and forming platform, including a movable platform and a gantry. A balance unit is installed on the top of the movable platform. A plurality of bucket grippers are slidably installed back and forth at equal distances at the bottom of the movable platform, and a plurality of barrel body stabilizing units are installed at equal distances left and right on the bucket grippers.

[0005] The balance unit includes a mounting frame fixedly installed on the movable platform. A first counterweight and an XY-axis moving table one for driving the first counterweight to move horizontally are installed on the mounting frame. A second counterweight and an XY-axis moving table two for driving the second counterweight to move horizontally are installed on the first counterweight. Horizontal sensors are installed at the four corners of the movable platform, and a controller is also installed on the mounting frame. The controller is electrically connected to all the horizontal sensors, the XY-axis moving table one, and the XY-axis moving table two.

[0006] The barrel body stabilizing unit includes support arms symmetrically installed back and forth on the bucket grippers. An arc-shaped clamping plate is fixedly connected to the bottom of the support arms. Auxiliary clamping plates symmetrically distributed left and right are rotatably connected to the side of the arc-shaped clamping plate away from the corresponding bucket gripper, and a top-pushing component for pushing and rotating the auxiliary clamping plates is also installed on the support arms.

[0007] When the bucket gripper clamps the neck of the bucket, the arc-shaped clamping plate drives the pushing component to approach the front and rear sides of the bucket body and implement clamping. Under the extrusion of the bucket body, the pushing component pushes the auxiliary clamping plate to rotate away from the center of the arc-shaped clamping plate, and implements clamping and limiting on the adjacent bucket body.

[0008] In a possible implementation manner, the horizontal sensor is used to monitor the tilt angle of the movable platform and transmit the measured data to the controller. The controller processes the detection data from the horizontal sensor and issues a signal to control the XY-axis moving stage one and the XY-axis moving stage two to drive the counterweight one and the counterweight two to move towards the side where the movable platform tilts upwards respectively. The mass of the counterweight two is less than the mass of the counterweight one.

[0009] In a possible implementation manner, the bucket gripper is composed of two L-shaped clamping plates arranged facing each other front and back. The horizontal section of the front clamping plate faces backward, and the horizontal section of the rear clamping plate faces forward. A clamping drive unit for driving the two clamping plates to move synchronously and in opposite directions is also installed on the movable platform.

[0010] In a possible implementation manner, a plurality of support plates are fixedly connected to the bottom of the movable platform at equal intervals front and back. The clamping drive unit includes a first linkage rod and a second linkage rod that are slidably installed on the support plates front and back and are symmetrically distributed left and right. The two left and right first linkage rods are located between the two left and right second linkage rods. A plurality of front clamping plates are fixedly connected between the two left and right first linkage rods, and a plurality of rear clamping plates are fixedly connected between the two left and right second linkage rods. A front and rear moving component for driving the first linkage rod and the second linkage rod to move synchronously and in opposite directions is installed on the movable platform.

[0011] In a possible implementation manner, the front and rear moving component includes a transmission gear rotatably installed inside the movable platform. Transmission racks are engaged on both the left and right sides of the transmission gear. The transmission racks are slidably connected to the first linkage rod front and back. The front end of the right transmission rack slides through the front of the movable platform and is fixedly connected to a first concave-shaped connecting piece. The left and right ends of the first concave-shaped connecting piece are respectively fixedly connected to the front ends of the corresponding first linkage rods. The rear end of the left transmission rack slides through the rear of the movable platform and is fixedly connected to a second concave-shaped connecting piece. The left and right ends of the second concave-shaped connecting piece are respectively fixedly connected to the rear ends of the corresponding second linkage rods.

[0012] In a possible implementation manner, a plurality of limiting grooves corresponding to the support arms one by one are formed on the horizontal section of the clamping plate. The limiting grooves on adjacent bucket clamping claws are arranged in a pin shape. An activity plate located below the limiting grooves is slidably mounted up and down on the horizontal section of the clamping plate. A plurality of guide rods evenly distributed left and right are fixedly connected to the bottom of the activity plate. The guide rods are slidably mounted up and down on the horizontal section of the clamping plate. A reset buffer spring sleeved outside the guide rods is fixedly connected between the bottom of the activity plate and the inner wall of the horizontal section of the clamping plate.

[0013] In a possible implementation manner, anti - detachment hooks are fixedly connected to both the left and right sides of the activity plate on the front clamping plate. Limiting holes corresponding to the anti - detachment hooks one by one are formed at the top of the horizontal section of the rear clamping plate. One end of the anti - detachment hook far from the corresponding activity plate is inserted into and cooperates with the corresponding limiting hole up and down.

[0014] In a possible implementation manner, the support arm is fixedly connected to the vertical section of the corresponding clamping plate. Shaft rods are fixedly connected symmetrically left and right inside the arc - shaped clamping plate. Arc - shaped rotating plates are fixedly connected to the opposite sides of the left and right auxiliary clamping plates. One end of the arc - shaped rotating plate far from the corresponding auxiliary clamping plate is rotatably connected to the corresponding shaft rod. A torsion spring for driving the arc - shaped rotating plate to rotate towards the center of the arc - shaped clamping plate is sleeved on the shaft rod.

[0015] In a possible implementation manner, the top - pushing assembly includes an activity rod slidably penetrating through the arc - shaped clamping plate back and forth. One end of the activity rod far from the corresponding bucket clamping claw is fixedly connected with a connecting frame located on the side of the arc - shaped clamping plate far from the corresponding bucket clamping claw. Connecting rods are hinged to both the left and right sides of the connecting frame. One end of the connecting rod far from the connecting frame is hinged to the corresponding arc - shaped rotating plate. A tension spring is fixedly connected between the connecting frame and the corresponding arc - shaped clamping plate. One end of the activity rod close to the corresponding bucket clamping claw is fixedly connected with a top - pushing plate located on the side of the connecting frame close to the corresponding bucket clamping claw.

[0016] The beneficial effects of the present invention are as follows: 1. The present invention clamps the water bucket in multiple directions through the mutual cooperation of the bucket clamping claws and the barrel body stabilizing unit. When the bucket clamping claws clamp the bucket neck, the arc - shaped clamping plate synchronously clamps the barrel body back and forth, which can avoid the shaking of the barrel body during the palletizing process and affect the balance of palletizing. At the same time, when the arc - shaped clamping plate clamps the barrel body, the top - pushing assembly can be pushed by the barrel body to push the auxiliary clamping plates to rotate and open to both sides. When a plurality of water buckets are arranged in a pin shape, the auxiliary clamping plates clamp the adjacent barrel bodies and form a support between the adjacent barrel bodies, making the plurality of water buckets arranged in a pin shape form a whole, further improving the stability of the water bucket palletizing and thus improving the balance of palletizing.

[0017] 2. The present invention adaptively adjusts the levelness of the movable platform by setting a balancing unit. During the process of palletizing barreled water, a level sensor is used to monitor the levelness of the movable platform. When the movable platform tilts due to uneven distribution of water buckets, the level sensor measures the tilt angle and direction of the movable platform, and then transmits the measured data to the controller. After analyzing the data, the controller sends signals to the XY-axis moving stage 1 and the XY-axis moving stage 2, controlling the XY-axis moving stage 1 and the XY-axis moving stage 2 to drive the corresponding counterweight 1 and counterweight 2 to move towards the side where the movable platform tilts upwards, using the counterweight 1 and counterweight 2 to re-adjust the mass distribution on the movable platform, so that the movable platform returns to the horizontal state again, avoiding the situation of skew during the process of the movable platform transporting water buckets due to uneven distribution of water buckets, which affects the stability of water bucket palletizing.

[0018] 3. The present invention adaptively adjusts the tilt angle of the movable platform through the cooperation of counterweight 1 and counterweight 2 with different sizes and masses. When the tilt angle of the movable platform is greater than 1°, the controller controls the XY-axis moving stage 1 to drive the counterweight 1 to move towards the side where the movable platform tilts upwards. Since the mass of the counterweight 1 is relatively large, it can quickly make the movable platform return to the horizontal state. When the tilt angle of the movable platform is less than 1°, the counterweight 1 stops moving. At this time, the XY-axis moving stage 2 drives the XY-axis moving stage 2 to move towards the side where the movable platform tilts upwards. Since the mass of the counterweight 2 is relatively small, the adjustment amount of the levelness of the movable platform is also small, which can finely adjust the levelness of the movable platform, avoiding over-adjustment resulting in the reverse tilt of the movable platform and improving the accuracy of adjusting the levelness of the movable platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a three-dimensional structural schematic diagram of the present invention.

[0020] Figure 2 is a three-dimensional structural schematic diagram of the balancing unit of the present invention.

[0021] Figure 3 is a three-dimensional structural schematic diagram of the mounting bracket of the present invention.

[0022] Figure 4 is a three-dimensional structural schematic diagram of the XY-axis moving stage 2 of the present invention.

[0023] Figure 5 is a partial cross-sectional view of the clamping drive unit of the present invention.

[0024] Figure 6 is a partial structural diagram of the water bucket gripper of the present invention.

[0025] Figure 7 is a right-side cross-sectional view of the water bucket gripper of the present invention.

[0026] Figure 8 It is a three-dimensional structural schematic diagram of the top support assembly of the present invention.

[0027] Figure 9 It is a top view when the arc-shaped clamping plate and the auxiliary clamping plate of the present invention clamp a water bucket.

[0028] In the figure: 1. movable platform; 11. support plate; 2. gantry; 3. balance unit; 31. mounting frame; 32. first counterweight; 33. XY-axis moving stage one; 34. horizontal sensor; 35. controller; 36. second counterweight; 37. XY-axis moving stage two; 4. water bucket gripper; 41. limit groove; 42. movable plate; 421. guide rod; 43. anti-disengagement hook; 44. limit hole; 45. reset buffer spring; 5. clamping drive unit; 51. first linkage rod; 52. second linkage rod; 53. front-back moving assembly; 531. driving gear; 532. driving rack; 533. first concave connecting piece; 534. second concave connecting piece; 535. electric push rod; 6. barrel body stabilizing unit; 61. support arm; 62. arc-shaped clamping plate; 621. shaft rod; 63. auxiliary clamping plate; 631. arc-shaped rotating plate; 632. torsion spring; 64. pushing assembly; 641. movable rod; 642. connecting frame; 643. connecting rod; 644. tension spring; 645. pushing plate. Detailed implementation manners

[0029] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the following will describe the detailed implementation manners of the present invention with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described below, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific implementation manners disclosed below.

[0030] Please refer to Figure 1 and Figure 2 , an adaptive balance system for a barreled water palletizing and forming platform, including a movable platform 1 and a gantry 2. A balance unit 3 is installed on the top of the movable platform 1. A plurality of water bucket grippers 4 are slidably installed back and forth at equal distances on the bottom of the movable platform 1, and a plurality of barrel body stabilizing units 6 are installed at equal distances left and right on the water bucket grippers 4.

[0031] Please refer to Figures 1-4, the balance unit 3 includes a mounting frame 31 fixedly installed on the movable platform 1. The moving part of the gantry 2 is fixedly connected to the mounting frame 31 and is used to drive the mounting frame 31 to move left and right and up and down. A first counterweight 32 and an XY-axis moving stage 33 for driving the first counterweight 32 to move horizontally are installed on the mounting frame 31. A second counterweight 36 and an XY-axis moving stage 37 for driving the second counterweight 36 to move horizontally are installed on the first counterweight 32. Horizontal sensors 34 are installed at the four corners of the movable platform 1. A controller 35 is also installed on the mounting frame 31. The controller 35 is electrically connected to all the horizontal sensors 34, the XY-axis moving stage 33, and the XY-axis moving stage 37.

[0032] Please refer to Figure 1 , Figure 2 , Figure 5 and Figure 6 , the barrel body stabilizing unit 6 includes support arms 61 symmetrically installed front and back on the water bucket gripper 4. An arc-shaped clamping plate 62 is fixedly connected to the bottom of the support arm 61. Auxiliary clamping plates 63 symmetrically distributed left and right are rotatably connected to the side of the arc-shaped clamping plate 62 away from the corresponding water bucket gripper 4. A pushing component 64 for pushing and rotating the auxiliary clamping plates 63 is also installed on the support arm 61.

[0033] Please refer to Figures 2-4 , the horizontal sensor 34 is used to monitor the tilt angle of the movable platform 1 and transmit the measured data to the controller 35. The controller 35 processes the detection data from the horizontal sensor 34 and sends a signal to control the XY-axis moving stage 33 and the XY-axis moving stage 37 to drive the first counterweight 32 and the second counterweight 36 to move towards the side where the movable platform 1 tilts upwards respectively. The mass of the second counterweight 36 is less than the mass of the first counterweight 32.

[0034] When stacking water buckets distributed in a triangular pyramid shape, when the movable platform 1 deflects towards the side with a heavier mass under the action of the gravity of the water buckets, the horizontal sensor 34 monitors the deflection angle and direction, and then the horizontal sensor 34 transmits the measured data to the controller 35. After processing the data, the controller 35 sends a signal to the XY-axis moving stage 33 and the XY-axis moving stage 37 to control the XY-axis moving stage 33 and the XY-axis moving stage 37 to push the corresponding first counterweight 32 and second counterweight 36 to move towards the side where the movable platform 1 tilts, re-adjust the mass distribution, and make the movable platform 1 recover to a horizontal state.

[0035] When the inclination angle of the movable platform 1 is greater than 1°, the controller 35 first controls the XY-axis moving platform 1 to drive the first counterweight 32 to move towards the side where the movable platform 1 tilts upwards. Since the mass of the first counterweight 32 is relatively large, it can quickly increase the counterweight on the tilted side of the movable platform 1, enabling the movable platform 1 to quickly return to the horizontal state. When the inclination angle of the movable platform 1 returns below 1°, the XY-axis moving platform 1 stops driving the first counterweight 32 to move. At this time, the controller 35 then controls the XY-axis moving platform 2 to drive the second counterweight 36 to move in the direction where the movable platform 1 tilts. Since the mass of the second counterweight 36 is small, the increase in the counterweight on the tilted side of the movable platform 1 is relatively small, which can finely adjust the levelness of the movable platform 1 and prevent over-adjustment from causing the movable platform 1 to tilt in the opposite direction.

[0036] Please refer to Figure 2 、 Figure 5 and Figure 6 Figure, the bucket clamp 4 is composed of two L-shaped clamping plates arranged facing each other front and back. The horizontal section of the front clamping plate faces backward, and the horizontal section of the rear clamping plate faces forward. A clamping drive unit 5 for driving the two clamping plates to move synchronously and in opposite directions is also installed on the movable platform 1.

[0037] Please refer to Figures 1-5 Figure, when palletizing the arranged buckets, the gantry 2 drives the movable platform 1 to move above the arranged buckets, aligning the bucket clamp 4 with the corresponding row of buckets vertically. In the initial state, the front and rear clamping plates are in an open state. Then, the gantry 2 drives the movable platform 1 to move downward, causing the front and rear clamping plates to move to the front and rear sides of the corresponding bucket neck respectively. At this time, the arc-shaped clamping plate 62 just moves to the front and rear sides of the bucket body. Then, the clamping drive unit 5 drives the two clamping plates to move towards each other to clamp the bucket neck front and back, and at the same time, the arc-shaped clamping plate 62 clamps the bucket body front and back. By clamping the bucket neck and the bucket body simultaneously, the stability during bucket palletizing is improved, and the situation of the bucket shaking at the moment of movement and stop is avoided.

[0038] Please refer to Figure 2 and Figure 5 Figure, a plurality of support plates 11 are fixedly connected to the bottom of the movable platform 1 at equal intervals front and back. The clamping drive unit 5 includes a first linkage rod 51 and a second linkage rod 52 that are slidably installed on the support plates 11 front and back and are symmetrically distributed left and right. The two left and right first linkage rods 51 are located between the two left and right second linkage rods 52. A plurality of front clamping plates are fixedly connected between the two left and right first linkage rods 51, and a plurality of rear clamping plates are fixedly connected between the two left and right second linkage rods 52. A front and rear moving assembly 53 for driving the first linkage rod 51 and the second linkage rod 52 to move synchronously and in opposite directions is installed on the movable platform 1.

[0039] Please refer to Figure 5, the front-back moving component 53 includes a transmission gear 531 rotatably installed inside the movable platform 1. Both the left and right sides of the transmission gear 531 are engaged with transmission racks 532. The transmission racks 532 are slidably connected to the first linkage rod 51 in the front-back direction. The front end of the right transmission rack 532 slides through the front of the movable platform 1 and is fixedly connected to a first concave-shaped connector 533. The left and right ends of the first concave-shaped connector 533 are respectively fixedly connected to the front ends of the corresponding first linkage rods 51. The rear end of the left transmission rack 532 slides through the rear of the movable platform 1 and is fixedly connected to a second concave-shaped connector 534. The left and right ends of the second concave-shaped connector 534 are respectively fixedly connected to the rear ends of the corresponding second linkage rods 52.

[0040] Please refer to Figures 1-6 , when clamping the water bucket, in the initial state, the front and rear clamping plates are in an open state. The gantry 2 drives the clamping plates to move to the front and rear sides of the bucket neck, and the clamping plates drive the arc-shaped clamping plates 62 to move to the front and rear sides of the bucket body. The right transmission rack 532 is pulled backward by the electric push rod 535. The right transmission rack 532 drives the left transmission rack 532 to move forward through the transmission of the transmission gear 531. The left and right transmission racks 532 are respectively used to drive the second concave-shaped connector 534 and the first concave-shaped connector 533 to move towards each other. Then, the first concave-shaped connector 533 and the second concave-shaped connector 534 respectively drive the corresponding first linkage rod 51 and the second linkage rod 52 to move together. The first linkage rod 51 and the second linkage rod 52 respectively drive the front and rear corresponding clamping plates to move towards each other to clamp the bucket neck. The clamping plates drive the corresponding support arms 61 and the arc-shaped clamping plates 62 to move synchronously, so that the arc-shaped clamping plates 62 clamp the bucket body in the front and rear directions.

[0041] Please refer to Figure 5 , Figure 6 and Figure 7 , a number of limiting grooves 41 corresponding to the support arms 61 one by one are formed on the horizontal section of the clamping plate. The limiting grooves 41 on the adjacent water bucket claws 4 are arranged in a staggered pattern. An activity plate 42 located below the limiting grooves 41 is slidably installed on the horizontal section of the clamping plate. The bottom of the activity plate 42 is fixedly connected with a number of guide rods 421 evenly distributed left and right. The guide rods 421 are slidably installed on the horizontal section of the clamping plate. A reset buffer spring 45 sleeved outside the guide rods 421 is fixedly connected between the bottom of the activity plate 42 and the inner wall of the horizontal section of the clamping plate.

[0042] Please refer to Figure 2 , Figure 5 , Figure 6 and Figure 7 , when the clamping plate clamps the bucket neck, the limiting grooves 41 just clamp the bucket neck. The limiting grooves 41 are used to limit the bucket neck, which can prevent the bucket neck from sliding left and right on the clamping plate and further improve the stability during the palletizing of the water bucket.

[0043] After the splint clamps the barrel neck, the gantry 2 drives the movable platform 1 and the bucket clamp 4 to move upward to lift the barrel. During the lifting process, the horizontal section of the splint will slide upward a short distance relative to the barrel neck, so that the convex ring of the barrel neck is pressed on the movable plate 42 and the movable plate 42 slides downward in the horizontal section of the splint. At this time, the reset buffer spring 45 can buffer the barrel, reduce the shaking generated at the moment the barrel is lifted, and further improve the stability of the barrel when stacking.

[0044] See also Figure 6 and Figure 7 The left and right sides of the movable plate 42 on the front splint are fixedly connected with anti-slip hooks 43, and the top of the horizontal section of the rear splint is provided with limiting holes 44 corresponding to the anti-slip hooks 43 one by one, and the end of the anti-slip hook 43 away from the corresponding movable plate 42 is plugged into the corresponding limiting hole 44 up and down.

[0045] When the movable plate 42 moves downward, the movable plate 42 located on the front side clamping plate will drive the corresponding anti-detachment hook 43 to move downward together. At this time, the end of the anti-detachment hook 43 away from the corresponding movable plate 42 will be inserted into the corresponding limiting hole 44, and the two corresponding front and rear clamping plates are connected by the mutual cooperation of the anti-detachment hook 43 and the limiting hole 44 to prevent the front and rear clamping plates from loosening during the stacking of buckets.

[0046] See also Figure 6 , Figure 8 and Figure 9 The support arm 61 is fixedly connected to the vertical section of the corresponding splint, and the inside of the arc-shaped splint 62 is symmetrically fixedly connected with an axle rod 621. The opposite sides of the left and right auxiliary splints 63 are fixedly connected with an arc-shaped rotating plate 631. The end of the arc-shaped rotating plate 631 away from the corresponding auxiliary splint 63 is rotatably connected to the corresponding axle rod 621. The axle rod 621 is provided with a torsion spring 632 for driving the arc-shaped rotating plate 631 to rotate toward the center direction of the arc-shaped splint 62.

[0047] See also Figure 6 , Figure 8 and Figure 9 The pushing assembly 64 includes a movable rod 641 that slides back and forth and passes through the arc-shaped clamping plate 62. The end of the movable rod 641 away from the corresponding bucket clamping claw 4 is fixedly connected to a connecting frame 642 located on the side of the arc-shaped clamping plate 62 away from the corresponding bucket clamping claw 4. The left and right sides of the connecting frame 642 are hinged with connecting rods 643. The end of the connecting rod 643 away from the connecting frame 642 is hinged to the corresponding arc-shaped rotating plate 631. A tension spring 644 is fixedly connected between the connecting frame 642 and the corresponding arc-shaped clamping plate 62. The end of the movable rod 641 close to the corresponding bucket clamping claw 4 is fixedly connected to a pushing plate 645 located on the side of the connecting frame 642 close to the corresponding bucket clamping claw 4.

[0048] See alsoFigure 2 , Figure 5 , Figure 6 , Figure 8 and Figure 9 , during the process of the arc-shaped clamping plate 62 clamping the barrel body, the pushing plate 645 will first contact the barrel body. As the arc-shaped clamping plate 62 gradually approaches the barrel body, the barrel body will push the pushing plate 645 and the movable rod 641 to move away from the corresponding water bucket clamp 4. The movable rod 641 pushes the connecting frame 642 to move away from the corresponding water bucket clamp 4, so that the connecting rod 643 pushes the arc-shaped rotating plate 631 and the auxiliary clamping plate 63 to rotate away from the center of the corresponding arc-shaped clamping plate 62, so that the auxiliary clamping plate 63 clamps the adjacent barrel body. The arc-shaped clamping plate 62 and the two auxiliary clamping plates 63 form a triangular support structure to support between adjacent water buckets, so that a plurality of water buckets arranged in a triangular pyramid shape are connected into a whole, improving the stability during the palletizing of water buckets, and further improving the balance during the palletizing of water buckets.

[0049] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "connected", "installed", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection, or a sliding connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0050] The embodiments of the specific implementation manners are all preferred embodiments of the present invention, and do not limit the protection scope of the present invention accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present invention should be covered within the protection scope of the present invention.

Claims

1. An adaptive balancing system for a palletizing and forming platform of barreled water, comprising a movable platform and a gantry, characterized in that: A balance unit is installed on the top of the movable platform. A number of bucket grippers are slidably installed on the front and rear of the bottom of the movable platform at equal intervals. A number of barrel body stabilizing units are installed on the bucket grippers at equal intervals left and right. The balance unit includes a mounting frame fixedly installed on the movable platform. A first counterweight block and an XY-axis moving stage one for driving the first counterweight block to move horizontally are installed on the mounting frame. A second counterweight block is installed on the first counterweight block, and an XY-axis moving stage two for driving the second counterweight block to move horizontally is installed. Horizontal sensors are installed at the four corners of the movable platform. A controller is also installed on the mounting frame. The controller is electrically connected to all the horizontal sensors, the XY-axis moving stage one, and the XY-axis moving stage two. The barrel body stabilizing unit includes support arms symmetrically installed on the front and rear of the bucket gripper. An arc-shaped clamping plate is fixedly connected to the bottom of the support arm. On the side of the arc-shaped clamping plate away from the corresponding bucket gripper, auxiliary clamping plates symmetrically distributed left and right are rotatably connected. A pushing component for pushing and rotating the auxiliary clamping plates is also installed on the support arm. When the bucket gripper clamps the neck of the bucket, the arc-shaped clamping plate drives the pushing component to approach the front and rear sides of the barrel body and clamp it. Under the pushing of the barrel body, the pushing component pushes the auxiliary clamping plate to rotate in a direction away from the center of the arc-shaped clamping plate, so as to clamp and limit the adjacent barrel body.

2. The adaptive balance system of a barreled water palletizing and forming platform according to claim 1, characterized in that: The horizontal sensor is used to monitor the tilt angle of the movable platform and transmit the measured data to the controller. The controller processes the detection data from the horizontal sensor and sends a signal to control the XY-axis moving stage one and the XY-axis moving stage two to drive the first counterweight block and the second counterweight block to move towards the side where the movable platform tilts upwards respectively. The mass of the second counterweight block is less than the mass of the first counterweight block.

3. The adaptive balance system of a barreled water palletizing and forming platform according to claim 1, wherein: The bucket gripper is composed of two L-shaped clamping plates arranged facing each other front and back. The horizontal section of the front clamping plate faces the rear, and the horizontal section of the rear clamping plate faces the front. A clamping drive unit for driving the two clamping plates to move synchronously and in opposite directions is also installed on the movable platform.

4. The adaptive balance system of a barreled water palletizing and forming platform according to claim 3, characterized in that: A number of support plates are fixedly connected to the bottom of the movable platform at equal intervals front and back. The clamping drive unit includes a first linkage rod and a second linkage rod that are slidably installed on the support plates at equal intervals left and right and symmetrically distributed. The two left and right first linkage rods are located between the two left and right second linkage rods. A number of front clamping plates are fixedly connected between the two left and right first linkage rods. A number of rear clamping plates are fixedly connected between the two left and right second linkage rods. A front and rear moving component for driving the first linkage rod and the second linkage rod to move synchronously and in opposite directions is installed on the movable platform.

5. The adaptive balance system of a barreled water palletizing and forming platform according to claim 4, characterized in that: The front and rear moving component includes a transmission gear rotatably installed inside the movable platform. Transmission racks are engaged on both the left and right sides of the transmission gear. The transmission racks are slidably connected to the first linkage rod front and back. The front end of the right transmission rack slides through the front of the movable platform and is fixedly connected to a first concave-shaped connecting piece. The left and right ends of the first concave-shaped connecting piece are respectively fixedly connected to the front ends of the corresponding first linkage rods. The rear end of the left transmission rack slides through the rear of the movable platform and is fixedly connected to a second concave-shaped connecting piece. The left and right ends of the second concave-shaped connecting piece are respectively fixedly connected to the rear ends of the corresponding second linkage rods.

6. The adaptive balance system of a barreled water palletizing and forming platform according to claim 3, characterized in that: A plurality of limiting grooves corresponding to the support arms one by one are formed in the horizontal section of the clamping plate. The limiting grooves on adjacent bucket clamping claws are arranged in a zigzag pattern. An activity plate located below the limiting grooves is slidably installed up and down on the horizontal section of the clamping plate. The bottom of the activity plate is fixedly connected with a plurality of guide rods evenly distributed left and right. The guide rods are slidably installed up and down on the horizontal section of the clamping plate. A reset buffer spring sleeved outside the guide rods is fixedly connected between the bottom of the activity plate and the inner wall of the horizontal section of the clamping plate.

7. The adaptive balance system of a barreled water palletizing and forming platform according to claim 6, characterized in that: Anti-disengagement hooks are fixedly connected to both the left and right sides of the activity plate on the front clamping plate. Limiting holes corresponding to the anti-disengagement hooks one by one are formed in the top of the horizontal section of the rear clamping plate. The end of the anti-disengagement hook far from the corresponding activity plate is inserted and matched with the corresponding limiting hole up and down.

8. The adaptive balance system of a barreled water palletizing and forming platform according to claim 3, characterized in that: The support arm is fixedly connected with the vertical section of the corresponding clamping plate. Shaft rods are symmetrically and fixedly connected to the left and right inside the arc-shaped clamping plate. Arc-shaped rotating plates are fixedly connected to the opposite sides of the left and right auxiliary clamping plates. The end of the arc-shaped rotating plate far from the corresponding auxiliary clamping plate is rotatably connected to the corresponding shaft rod. A torsion spring for driving the arc-shaped rotating plate to rotate towards the center of the arc-shaped clamping plate is sleeved on the shaft rod.

9. The adaptive balance system of a barreled water palletizing and forming platform according to claim 8, characterized in that: The top-pushing assembly includes an activity rod slidably penetrating through the arc-shaped clamping plate back and forth. The end of the activity rod far from the corresponding bucket clamping claw is fixedly connected with a connecting frame located on the side of the arc-shaped clamping plate far from the corresponding bucket clamping claw. Connecting rods are hinged to both the left and right sides of the connecting frame. The end of the connecting rod far from the connecting frame is hinged to the corresponding arc-shaped rotating plate. A tension spring is fixedly connected between the connecting frame and the corresponding arc-shaped clamping plate. The end of the activity rod close to the corresponding bucket clamping claw is fixedly connected with a top-pushing plate located on the side of the connecting frame close to the corresponding bucket clamping claw.

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