Carton stacking device and stacking method thereof

Abstract

The invention relates to the technical field of stacking devices, in particular to a carton stacking device and a stacking method.The carton stacking device comprises a base, a guide rail is fixedly assembled on the upper surface of the base, a walking chassis is arranged on the upper surface of the base, a stacking machine is arranged on the upper surface of the walking chassis, and the walking chassis is slidably connected with the guide rail; a laser radar is fixedly assembled in the walking chassis, the speed reduction structure is arranged on the side wall of the walking chassis and used for reducing the speed of the walking chassis, and the speed reduction structure comprises an electric push rod fixedly installed on the side wall of the walking chassis, a friction block and a friction groove which are used for reducing the speed of the walking chassis, and a spring used for increasing friction force. According to the carton stacking device, the speed reduction structure is arranged, in the carton stacking process, friction force between the friction block and the friction groove can decelerate the walking chassis, and therefore the collision strength between the walking ground and an obstacle is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizing devices, and in particular to a carton palletizing device and a palletizing method thereof. Background Art

[0002] Aisle palletizers are automated equipment used in the field of warehousing and logistics. They mainly operate in aisle-type warehouses. They run along aisle tracks and use devices such as forks to store and stack goods, accurately placing goods in different cargo locations. They have high operating speed and efficiency, which can greatly improve the level of automation in warehouse management. In actual applications, aisle palletizers are often used to stack cartons.

[0003] The prior art has a patent document with authorization publication number CN114408434B, which discloses an anti-skid aisle stacker, comprising a ground rail, a walking rail provided on the ground rail, a stacking machine body provided on the walking rail, and the stacking machine body being arranged on the walking rail via a walking mechanism, the walking mechanism comprising a walking frame, a plurality of drive motors, and a plurality of drive wheel assemblies, the drive motors being arranged inside the walking frame, the drive wheel assemblies being evenly distributed in a matrix at the bottom of the walking frame, and the drive wheel assemblies being arranged on the drive shaft of the drive motor, the walking rail comprising a main rail provided on the top surface of the ground rail and anti-skid rails provided on both sides of the main rail, the drive wheel assemblies being rotatably provided on the anti-skid rails, and the walking frame being able to move along the anti-skid rails under the action of the drive wheel assemblies. This patent document has the advantages of avoiding the aisle stacker from slipping on the walking rail, improving the stability during travel, and ensuring the reliability of cargo flow.

[0004] The above-mentioned and existing technologies have the following defects: when the stacker is stacking cartons, when foreign objects invade the stacker's ground rails, the stacker is prone to inertia and cannot slow down in time, resulting in a large collision force, which can easily damage the stacker or cause the cartons to fall and be damaged.

[0005] Therefore, a carton palletizing device and a palletizing method thereof are proposed. Summary of the Invention

[0006] The purpose of the present invention is to solve the problem that when foreign objects invade the ground rail of the stacker, the stacker is easily unable to slow down in time due to inertia. A carton stacking device and a stacking method are proposed.

[0007] In order to achieve the above-mentioned object, the present invention adopts the following technical solution: a carton palletizing device and a palletizing method thereof, comprising a base, a guide rail fixedly mounted on the upper surface of the base, a walking chassis disposed on the upper surface of the base, a stacker disposed on the upper surface of the walking chassis, the walking chassis being slidably connected to the guide rail, a laser radar fixedly mounted in the walking chassis, and further comprising:

[0008] A deceleration structure is provided on the side wall of the traveling chassis for decelerating the traveling chassis, the deceleration structure comprising an electric push rod fixedly mounted on the side wall of the traveling chassis, a friction block and a friction groove for decelerating the traveling chassis, and a spring for increasing friction;

[0009] A protective structure provided on the upper surface of the traveling chassis for protecting the traveling chassis, the protective structure comprising a fixed block fixedly mounted on the upper surface of the traveling chassis and a protective plate for protecting the traveling chassis;

[0010] An auxiliary structure is provided on the upper surface of the base for increasing the friction force on the upper surface of the base. The auxiliary structure includes a plurality of grooves provided on the upper surface of the base and a rubber strip for increasing the friction force on the upper surface of the base.

[0011] The effects achieved by the above components are: by setting a deceleration structure, in the process of stacking cartons, the friction between the friction block and the friction groove can decelerate the walking chassis, thereby reducing the collision force between the walking ground and the obstacle; by setting a protective structure, when the walking chassis hits an obstacle, the protective plate will first contact the obstacle, and at this time the walking chassis can be cushioned by the elastic force of the spring, further reducing the collision force between the walking chassis and the obstacle; by setting an auxiliary structure, when the walking chassis brakes, the rubber strip can also improve the braking effect of the walking chassis, making it convenient for the walking chassis to stop quickly, thereby reducing the collision force between the walking chassis and the obstacle.

[0012] Preferably, the output end of the electric push rod is fixedly equipped with a mounting plate, a sliding rod is slidingly passed through the mounting plate, the lower end of the sliding rod is fixedly equipped with a clamping plate, the inner wall of the clamping plate is slidingly connected to the friction block, the friction groove is opened on the upper surface of the base, the spring is sleeved on the circumferential surface of the sliding rod, and the two ends of the spring are respectively fixedly connected to the upper surface of the mounting plate and the upper end of the sliding rod.

[0013] The effect achieved by the above components is: when an obstacle appears, the output end of the electric push rod extends, and the output end of the electric push rod will drive the mounting plate to move downward, and the mounting plate will drive the slide rod to move, and the slide rod will drive the card plate to move, and the card plate will drive the friction block to move, so that the friction block is against the surface of the base or the inner wall of the friction groove. At this time, the spring will be stretched by the mounting plate, and the movement of the walking chassis will drive the electric push rod to move, and finally drive the friction block to move. When the friction block slides along the inner wall of the friction groove, the friction force between the friction block and the friction groove can slow down the walking chassis, thereby reducing the collision force between the walking ground and the obstacle.

[0014] Preferably, a limit bar is fixedly assembled on the side wall of the base, and the limit bar is slidably connected to the mounting plate.

[0015] The effect achieved by the above components is that when the mounting plate moves downward along the surface of the limiting strip, the limiting strip can limit the moving path of the mounting plate.

[0016] Preferably, a latch is vertically slidably passed through the card plate, the latch is engaged with the friction block, a magnetic block is fixedly mounted on the upper end of the latch, the magnetic block rests on the upper surface of the card plate, and the card plate is an iron plate.

[0017] The effect achieved by the above components is: the pin is passed through the card plate and engaged with the friction block, the pin limits the position of the friction block, and the magnetic block is attracted to the surface of the card plate to prevent the pin from slipping out of the friction block due to the vibration of the card plate.

[0018] Preferably, a U-shaped plate slides through the fixed block, the U-shaped plate is fixedly connected to the protective plate, two traction ropes slide through the fixed block, and the two ends of the traction ropes are fixedly connected to the U-shaped plate and the sliding rod respectively.

[0019] The effect achieved by the above components is: when the walking chassis hits an obstacle, the protective plate will first contact the obstacle. At this time, the walking chassis continues to move, and the traction rope will pull the slide bar to slide the slide bar upward. The sliding of the slide bar will stretch the spring. At this time, the spring will use its own elastic force to cushion the roller, thereby further reducing the collision force between the walking chassis and the obstacle.

[0020] Preferably, a fixing plate is fixedly mounted on the side wall of the walking chassis, a roller is rotatably connected inside the fixing plate, and the roller is slidably connected to the traction rope.

[0021] The effect achieved by the above components is that the roller can adjust the moving direction of the traction rope.

[0022] Preferably, four retaining rings are fixedly mounted on the circumferential surface of the drum, the four retaining rings are arranged in groups of two, and the traction rope is located between the two retaining rings.

[0023] The effect achieved by the above components is that the retaining ring can limit the contact position between the traction rope and the drum, thereby preventing the traction rope from being out of contact with the drum.

[0024] Preferably, the inner wall of the groove is slidably connected to a rectangular plate, the rectangular plate is fixedly connected to the rubber strip, the surface of the base is provided with an arc groove connected to the groove, the upper surface of the rectangular plate is rotatably connected to a rotating block, and the rotating block is slidably connected to the inner wall of the arc groove.

[0025] The effect achieved by the above components is: during the normal operation of the walking chassis, the rubber strip can increase the friction of the base surface to prevent the walking chassis from slipping during driving; when the walking chassis brakes, the rubber strip can also improve the braking effect of the walking chassis, making it easier to stop the walking chassis quickly, thereby reducing the collision force between the walking chassis and obstacles.

[0026] Preferably, a positioning groove communicating with the groove is provided on the surface of the base, and a positioning bar is fixedly mounted on the side wall of the rectangular plate, and the positioning bar is slidably connected to the inner wall of the positioning groove.

[0027] The effects achieved by the above components are as follows: the rectangular plate drives the positioning bar to slide into the inner wall of the positioning groove, and the positioning groove and the positioning bar cooperate to limit the moving path of the rectangular plate and support the rectangular plate.

[0028] The palletizing method of the carton palletizing device comprises the following steps:

[0029] S1: Start the traveling chassis and stacker, scan the working environment with the laser radar, confirm whether there are any obstacles in the running path of the guide rail on the base, and control the traveling chassis to move along the guide rail to the initial position for stacking cartons;

[0030] S2. When the laser radar detects an obstacle, the electric push rod starts, and the output end of the electric push rod extends, driving the mounting plate to move down along the limit bar, so that the friction block presses into the friction groove of the base. The spring is stretched, and the friction between the friction block and the friction groove forces the walking chassis to slow down. At the same time, the protective plate contacts the obstacle first, and the traction rope pulls the slide rod to compress the spring, and the spring elastic force further cushions the impact force.

[0031] S3: When normal braking is required, the traveling chassis triggers the rubber strip to contact the base surface, increasing friction and stopping quickly and smoothly.

[0032] S4, the stacker grabs the cartons to be stacked and simultaneously starts the traveling chassis to move slowly along the guide rails;

[0033] S5. The stacker places the carton in a suitable position.

[0034] Compared with the prior art, the advantages and positive effects of the present invention are:

[0035] 1. In the present invention, by providing a deceleration structure, during the process of stacking cartons, the friction between the friction block and the friction groove can decelerate the walking chassis, thereby reducing the collision force between the walking ground and obstacles.

[0036] 2. In the present invention, by providing a protective structure, when the walking chassis collides with an obstacle, the protective plate will first contact the obstacle. At this time, the elastic force of the spring can be used to cushion the walking chassis, further reducing the collision force between the walking chassis and the obstacle.

[0037] 3. In the present invention, by providing an auxiliary structure, when the traveling chassis brakes, the rubber strip can also improve the braking effect of the traveling chassis, making it convenient to stop the traveling chassis quickly, thereby reducing the collision force between the traveling chassis and obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0039] Figure 2 It is a schematic diagram of the cross-sectional structure of the base of the present invention;

[0040] Figure 3 For the present invention Figure 2 Enlarged view of point A in the middle;

[0041] Figure 4 This is a structural diagram of the fixing block of the present invention;

[0042] Figure 5 This is a schematic diagram of the structure of the present invention after the fixed block is split;

[0043] Figure 6 It is a structural schematic diagram of the fixing plate of the present invention;

[0044] Figure 7 For the present invention Figure 2 Enlarged view of point B in the middle;

[0045] Figure 8 It is a structural schematic diagram of the rectangular plate of the present invention.

[0046] Legend: 1. Base; 2. Guide rail; 3. Walking chassis; 4. Stacker; 5. Deceleration structure; 501. Electric push rod; 502. Mounting plate; 503. Sliding rod; 504. Card plate; 505. Friction block; 506. Spring; 507. Friction groove; 508. Limiting strip; 509. Latch; 510. Magnetic block; 6. Protective structure; 61. Fixed block; 62. U-shaped plate; 63. Protective plate; 64. Traction rope; 65. Fixed plate; 66. Roller; 67. Retaining ring; 7. Auxiliary structure; 71. Groove; 72. Rectangular plate; 73. Rubber strip; 74. Arc groove; 75. Rotating block; 76. Positioning groove; 77. Positioning strip; 8. LiDAR. DETAILED DESCRIPTION

[0047] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0048] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0049] like Figures 1-8 As shown, the present invention provides a carton palletizing device and a palletizing method thereof, comprising a base 1, a guide rail 2 being fixedly mounted on the upper surface of the base 1, a walking chassis 3 being provided on the upper surface of the base 1, a stacker 4 being provided on the upper surface of the walking chassis 3, the walking chassis 3 being slidably connected to the guide rail 2, a laser radar 8 being fixedly mounted inside the walking chassis 3, and further comprising: a deceleration structure 5 arranged on the side wall of the walking chassis 3 for decelerating the walking chassis 3, the deceleration structure 5 comprising an electric push rod 501 fixedly mounted on the side wall of the walking chassis 3, a push rod 501 for decelerating the walking chassis 3 Speed-reducing friction blocks 505 and friction grooves 507, and a spring 506 for increasing friction; a protective structure 6 provided on the upper surface of the walking chassis 3 for protecting the walking chassis 3, the protective structure 6 includes a fixed block 61 fixedly mounted on the upper surface of the walking chassis 3, and a protective plate 63 for protecting the walking chassis 3; an auxiliary structure 7 provided on the upper surface of the base 1 for increasing the friction force of the upper surface of the base 1, the auxiliary structure 7 includes a plurality of grooves 71 provided on the upper surface of the base 1, and a rubber strip 73 for increasing the friction force of the upper surface of the base 1.

[0050] The output end of the electric push rod 501 is fixedly equipped with a mounting plate 502, and a slide rod 503 is slidably penetrated in the mounting plate 502. The lower end of the slide rod 503 is fixedly equipped with a clamping plate 504. The inner wall of the clamping plate 504 is slidably connected to the friction block 505. The friction groove 507 is provided on the upper surface of the base 1. The spring 506 is sleeved on the circumferential surface of the slide rod 503. The two ends of the spring 506 are fixedly connected to the upper surface of the mounting plate 502 and the upper end of the slide rod 503 respectively. When an obstacle appears, the electric push rod 5 01 extends, the output end of the electric push rod 501 will drive the mounting plate 502 to move downward, the mounting plate 502 will drive the slide bar 503 to move, the slide bar 503 will drive the card plate 504 to move, the card plate 504 will drive the friction block 505 to move, so that the friction block 505 is against the surface of the base 1 or the inner wall of the friction groove 507. At this time, the spring 506 will be stretched by the mounting plate 502, and the movement of the walking chassis 3 will drive the electric push rod 501 to move, and finally drive the friction block 505 to move. When the friction block When 505 slides along the inner wall of the friction groove 507, the friction between the friction block 505 and the friction groove 507 can decelerate the walking chassis 3, thereby reducing the collision force between the walking ground and the obstacle. The side wall of the base 1 is fixedly assembled with a limit bar 508, and the limit bar 508 is slidably connected to the mounting plate 502. When the mounting plate 502 moves downward along the surface of the limit bar 508, the limit bar 508 reaches the effect of limiting the moving path of the mounting plate 502. The vertical sliding inside the card plate 504 is penetrated by the plug Pin 509, the latch 509 is engaged with the friction block 505, and the upper end of the latch 509 is fixedly equipped with a magnetic block 510, which is against the upper surface of the card plate 504. The card plate 504 is an iron plate. The latch 509 is passed through the card plate 504 and engaged with the friction block 505. The latch 509 has the function of limiting the position of the friction block 505. The magnetic block 510 will be sucked onto the surface of the card plate 504 to prevent the latch 509 from slipping out of the friction block 505 due to the vibration of the card plate 504.

[0051] A U-shaped plate 62 is slidably passed through the fixed block 61, and the U-shaped plate 62 is fixedly connected to the protective plate 63. Two traction ropes 64 are slidably passed through the fixed block 61, and the two ends of the traction rope 64 are fixedly connected to the U-shaped plate 62 and the slide bar 503 respectively. When the walking chassis 3 hits an obstacle, the protective plate 63 will first contact the obstacle. At this time, the walking chassis 3 continues to move, and the traction rope 64 will pull the slide bar 503 to make the slide bar 503 slide upward. The sliding of the slide bar 503 will stretch the spring 506. At this time, the spring 506 will use its own elastic force to buffer the roller 66, In order to further reduce the collision force between the walking chassis 3 and the obstacle, the side wall of the walking chassis 3 is fixedly equipped with a fixed plate 65, and a roller 66 is rotatably connected inside the fixed plate 65. The roller 66 is slidably connected to the traction rope 64. The roller 66 can adjust the moving direction of the traction rope 64. The circumferential surface of the roller 66 is fixedly equipped with four retaining rings 67. The four retaining rings 67 are grouped in twos, and the traction rope 64 is located between the two retaining rings 67. The retaining ring 67 can limit the contact position between the traction rope 64 and the roller 66 to prevent the traction rope 64 from being out of contact with the roller 66.

[0052] The inner wall of the groove 71 is slidably connected with a rectangular plate 72, which is fixedly connected to a rubber strip 73. The surface of the base 1 is provided with an arc groove 74 connected to the groove 71. The upper surface of the rectangular plate 72 is rotatably connected with a rotating block 75. The rotating block 75 is slidably connected to the inner wall of the arc groove 74. During the normal operation of the walking chassis 3, the rubber strip 73 can increase the friction force on the surface of the base 1 to prevent the walking chassis 3 from slipping during driving. When the walking chassis 3 brakes, the rubber strip 73 can also change The braking effect of the walking chassis 3 is improved, which makes it convenient to stop the walking chassis 3 quickly, thereby reducing the collision force between the walking chassis 3 and the obstacle. A positioning groove 76 connected to the groove 71 is provided on the surface of the base 1, and the side wall of the rectangular plate 72 is fixedly equipped with a positioning bar 77. The positioning bar 77 is slidably connected to the inner wall of the positioning groove 76. The rectangular plate 72 will drive the positioning bar 77 to slide into the inner wall of the positioning groove 76. The positioning groove 76 and the positioning bar 77 cooperate to limit the moving path of the rectangular plate 72 and support the rectangular plate 72.

[0053] The palletizing method of the carton palletizing device comprises the following steps:

[0054] S1. Start the traveling chassis 3 and the stacker 4, scan the working environment with the laser radar 8, confirm whether there are any obstacles in the running path of the guide rail 2 on the base 1, and control the traveling chassis 3 to move along the guide rail 2 to the initial position for stacking cartons;

[0055] S2. When the laser radar 8 detects an obstacle, the electric push rod 501 is activated, and the output end of the electric push rod 501 extends, driving the mounting plate 502 to move downward along the limit bar 508, so that the friction block 505 is pressed into the friction groove 507 of the base 1. The spring 506 is stretched, and the friction force between the friction block 505 and the friction groove 507 forces the walking chassis 3 to slow down. At the same time, the protective plate 63 contacts the obstacle first, and the traction rope 64 pulls the slide bar 503 to compress the spring 506, and the elastic force of the spring 506 further cushions the impact force.

[0056] S3: When normal braking is required, the traveling chassis 3 triggers the rubber strip 73 to contact the surface of the base 1, increasing the friction force and stopping quickly and smoothly;

[0057] S4, the stacker 4 grabs the cartons to be stacked and simultaneously starts the traveling chassis 3 to move slowly along the guide rail 2;

[0058] S5. The stacker 4 places the carton in a suitable position.

[0059] Its overall working principle is that in the process of stacking cartons, the walking chassis 3 can drive the stacker 4 to move, and the stacker 4 can transport and place cartons. The laser radar 8 can monitor in real time whether there is an obstacle in front of the walking chassis 3. When an obstacle appears, the output end of the electric push rod 501 extends, and the output end of the electric push rod 501 will drive the mounting plate 502 to move down along the surface of the limit bar 508. The limit bar 508 has the effect of limiting the moving path of the mounting plate 502. The mounting plate 502 will drive the sliding rod 503 to move, and the sliding rod 503 will drive the card plate 504 to move. The card plate 504 will drive the friction block 505 to move, so that the friction block 505 rests on the surface of the base 1 or the inner wall of the friction groove 507. At this time, the spring 506 will be stretched by the mounting plate 502, and the movement of the walking chassis 3 will drive the electric push rod 501 to move. Finally, The friction block 505 is driven to move. When the friction block 505 slides along the inner wall of the friction groove 507, the friction force between the friction block 505 and the friction groove 507 can slow down the walking chassis 3, thereby reducing the collision force between the walking ground and the obstacle. When the friction block 505 is worn and needs to be replaced, the output end of the electric push rod 501 is controlled to retract, and then the magnetic block 510 is pulled to pull the latch 509 out of the friction block 505, and then the friction block 505 is pulled out from the card plate 504, and then the new friction block 505 is slid into the card plate 504, and then the latch 509 is passed through the card plate 504 and engaged with the friction block 505. The latch 509 reaches the function of limiting the position of the friction block 505, and the magnetic block 510 will be attracted to the surface of the card plate 504 to prevent the latch 509 from sliding out of the friction block 505 due to the vibration of the card plate 504.

[0060] When the walking chassis 3 hits the obstacle, the effect of continuing to reduce the collision force of the walking chassis 3 with the obstacle by decelerating will decrease. At this time, the protective plate 63 will first contact the obstacle, and the walking chassis 3 will continue to move, and the walking chassis 3 will drive the fixed plate 65 to move, and the fixed plate 65 will drive the roller 66 to move, and the roller 66 will squeeze the traction rope 64, and the traction rope 64 will pull the slide bar 503 to make the slide bar 503 slide upward, and the sliding of the slide bar 503 will stretch the spring 506. At this time, the spring 506 will use its own elastic force to buffer the roller 66, thereby further reducing the collision force between the walking chassis 3 and the obstacle. While the spring 506 reduces the deceleration effect of the walking chassis 3, the walking chassis 3 is directly buffered by the elastic force of the spring 506, thereby better protecting the walking chassis 3. The roller 66 can adjust the moving direction of the traction rope 64, and the retaining ring 67 can limit the contact position of the traction rope 64 and the roller 66, preventing the traction rope 64 from being out of contact with the roller 66.

[0061] When the vehicle 3 is in a normal state, the rubber strip 73 can increase the friction force on the surface of the base 1 and prevent the vehicle 3 from slipping during driving. When the vehicle 3 brakes, the rubber strip 73 can also improve the braking effect of the vehicle 3, making it convenient for the vehicle 3 to stop quickly, thereby reducing the collision force between the vehicle 3 and the obstacle. When the damaged rubber strip 73 needs to be replaced, the rotating block 75 is rotated to rotate the rotating block 75 out of the positioning groove 76, and then the rectangular plate 72 is pulled out of the groove 71, and then the rectangular plate 72 with the new rubber strip 73 is slid into the groove 71. At this time, the rectangular plate 72 will drive the positioning strip 77 to slide into the inner wall of the positioning groove 76. The positioning groove 76 and the positioning strip 77 cooperate to limit the moving path of the rectangular plate 72 and support the rectangular plate 72. Then the rotating block 75 is rotated into the inner wall of the arc groove 74. The arc groove 74 reaches the position of limiting the rotating block 75, thereby limiting the position of the rectangular plate 72.

[0062] The above description is merely a preferred embodiment of the present invention and does not constitute any other form of limitation to the present invention. Any person skilled in the art may utilize the technical contents disclosed above to change or modify them into equivalent embodiments with equivalent changes for application in other fields. However, any simple modification, equivalent change, and modification of the above embodiments made in accordance with the technical essence of the present invention without departing from the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A carton stacking device, comprising a base (1), characterized in that: The upper surface of the base (1) is fixedly equipped with a guide rail (2), the upper surface of the base (1) is provided with a walking chassis (3), the upper surface of the walking chassis (3) is provided with a stacker (4), the walking chassis (3) is slidably connected to the guide rail (2), a laser radar (8) is fixedly equipped in the walking chassis (3), and further comprises: A deceleration structure (5) is provided on the side wall of the traveling chassis (3) for decelerating the traveling chassis (3), wherein the deceleration structure (5) comprises an electric push rod (501) fixedly mounted on the side wall of the traveling chassis (3), a friction block (505) and a friction groove (507) for decelerating the traveling chassis (3), and a spring (506) for increasing friction force; A protective structure (6) is provided on the upper surface of the traveling chassis (3) for protecting the traveling chassis (3), wherein the protective structure (6) comprises a fixed block (61) fixedly mounted on the upper surface of the traveling chassis (3) and a protective plate (63) for protecting the traveling chassis (3); An auxiliary structure (7) is provided on the upper surface of the base (1) for increasing the friction force of the upper surface of the base (1), wherein the auxiliary structure (7) comprises a plurality of grooves (71) provided on the upper surface of the base (1) and a rubber strip (73) for increasing the friction force of the upper surface of the base (1).

2. A carton palletizing device according to claim 1, characterized in that: The output end of the electric push rod (501) is fixedly equipped with a mounting plate (502), a slide rod (503) is slidably passed through the mounting plate (502), a clamping plate (504) is fixedly equipped at the lower end of the slide rod (503), the inner wall of the clamping plate (504) is slidably connected to the friction block (505), the friction groove (507) is provided on the upper surface of the base (1), the spring (506) is sleeved on the circumferential surface of the slide rod (503), and the two ends of the spring (506) are fixedly connected to the upper surface of the mounting plate (502) and the upper end of the slide rod (503) respectively.

3. The carton palletizing device according to claim 2, characterized in that: A limit strip (508) is fixedly mounted on the side wall of the base (1), and the limit strip (508) is slidably connected to the mounting plate (502).

4. The carton palletizing device according to claim 2, characterized in that: A latch (509) is vertically slidably passed through the card plate (504), and the latch (509) is engaged with the friction block (505). A magnetic block (510) is fixedly mounted on the upper end of the latch (509), and the magnetic block (510) is against the upper surface of the card plate (504). The card plate (504) is an iron plate.

5. The carton palletizing device according to claim 2, characterized in that: A U-shaped plate (62) is slidably passed through the fixed block (61), and the U-shaped plate (62) is fixedly connected to the protective plate (63). Two traction ropes (64) are slidably passed through the fixed block (61), and the two ends of the traction ropes (64) are fixedly connected to the U-shaped plate (62) and the sliding rod (503) respectively.

6. The carton palletizing device according to claim 5, characterized in that: A fixing plate (65) is fixedly mounted on the side wall of the walking chassis (3), a roller (66) is rotatably connected inside the fixing plate (65), and the roller (66) is slidably connected to the traction rope (64).

7. The carton palletizing device according to claim 6, characterized in that: Four retaining rings (67) are fixedly mounted on the circumferential surface of the drum (66), and the four retaining rings (67) are arranged in pairs, and the traction rope (64) is located between the two retaining rings (67).

8. The carton palletizing device according to claim 2, characterized in that: The inner wall of the groove (71) is slidably connected to a rectangular plate (72), and the rectangular plate (72) is fixedly connected to the rubber strip (73). The surface of the base (1) is provided with an arc groove (74) connected to the groove (71). The upper surface of the rectangular plate (72) is rotatably connected to a rotating block (75), and the rotating block (75) is slidably connected to the inner wall of the arc groove (74).

9. The carton palletizing device according to claim 8, characterized in that: The surface of the base (1) is provided with a positioning groove (76) connected to the groove (71); the side wall of the rectangular plate (72) is fixedly equipped with a positioning bar (77); the positioning bar (77) is slidably connected to the inner wall of the positioning groove (76).

10. The palletizing method of the carton palletizing device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, start the walking chassis (3) and the stacker (4), scan the working environment through the laser radar (8), confirm whether there are obstacles in the running path of the guide rail (2) on the base (1), and control the walking chassis (3) to move along the guide rail (2) to the initial position for stacking cartons; S2. When the laser radar (8) detects an obstacle, the electric push rod (501) is started, and the output end of the electric push rod (501) extends, driving the mounting plate (502) to move downward along the limit bar (508), so that the friction block (505) is pressed into the friction groove (507) of the base (1), and the spring (506) is stretched. The friction force between the friction block (505) and the friction groove (507) forces the walking chassis (3) to slow down. At the same time, the protective plate (63) first contacts the obstacle, and the traction rope (64) pulls the slide bar (503) to compress the spring (506), and the elastic force of the spring (506) further buffers the collision force; S3. When normal braking is required, the traveling chassis (3) triggers the rubber strip (73) to contact the surface of the base (1), increasing the friction force and stopping quickly and smoothly; S4, the stacker (4) grabs the cartons to be stacked and simultaneously starts the traveling chassis (3) to move slowly along the guide rail (2); S5. The stacker (4) places the cartons in a suitable position.

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