Automatic stacking equipment and automatic stacking method

Abstract

The invention relates to the technical field of automatic stacking, in particular to automatic stacking equipment and an automatic stacking method.The automatic stacking equipment comprises a conveying belt used for conveying products in one direction; the detection mechanism directly faces the conveying belt to detect the posture of a product on the conveying belt; the first stacking mechanism comprises a first base plate and a second guide rail, and the second guide rail is slidably connected with a bracket in the vertical direction; the first turnover box is movably placed on the first base plate, a first receding groove matched with the movement track of the bracket is formed in the side wall of the first turnover box, and the bracket can penetrate through the first turnover box to complete the lifting action; the first transfer mechanism moves between the first transfer box and the conveying belt, and the output end of the first transfer mechanism is rotationally connected with a first adsorption nozzle. Products on the lower layer are prevented from warping or cracking due to the fact that the products bear super-yield-strength pressure, and the products are prevented from being staggered and stacked; and the situation that geometric deviation is converted into local stress concentration under rigid pressing to aggravate product deformation is avoided, and the product stacking quality is guaranteed.

Description

Technical Field

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

[0002] In modern industrial production, the stacking and palletizing of sheet products (such as metal foil, plastic sheet, paper substrate, semiconductor wafers, flexible circuit boards, etc.) is a critical step in packaging, transportation, and subsequent processing. These products are typically thin, fragile, and have sensitive surfaces, making them susceptible to deformation, scratches, and static electricity due to external forces.

[0003] In the process of stacking sheet products in traditional palletizing equipment, the actuator of the robotic arm will produce excessive downward pressure during the downward pressure stage after completing the grasping, causing the lower layer of products to be subjected to pressure exceeding the yield strength of the material, causing the risk of product warping or cracking. At the same time, during the product transportation process, there are many deviations between products, resulting in misplaced stacking of products. This geometric deviation is converted into local stress concentration under the rigid downward pressure of the rigid robotic arm, further aggravating product deformation. The change in the surface morphology of the deformed product will amplify the positioning error during subsequent stacking, forming a chain of chain extrusion problems, which seriously restricts the demand for high-quality palletizing technology in the precision manufacturing field. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic palletizing device and an automatic palletizing method to solve the problem of chain extrusion caused by palletizing devices in the prior art when palletizing products.

[0005] The technical solution of the present invention is: an automatic palletizing device, comprising a conveyor belt for conveying products in one direction;

[0006] a detection mechanism, facing the conveyor belt to detect the posture of products on the conveyor belt;

[0007] The first stacking mechanism includes a first pad and a second guide rail, wherein the first pad is provided at the output end of the conveyor belt, the second guide rail extending in the vertical direction is fixed on the top of the first pad, and the second guide rail is slidably connected to a bracket in the vertical direction;

[0008] A first turnover box is movably placed on the first pad and is used to load stacked products. A first clearance groove matching the movement trajectory of the bracket is opened on the side wall of the first turnover box to allow the bracket to pass through the first turnover box to complete the lifting action;

[0009] The first transfer mechanism moves between the first turnover box and the conveyor belt. The output end of the first transfer mechanism is rotatably connected to a first adsorption nozzle. The rotation center axis of the first adsorption nozzle is a vertical axis. The detection mechanism is electrically connected to the first transfer mechanism.

[0010] Preferably, the bracket is configured to perform intermittent vertical downward movement corresponding to the thickness of the product in the first turnover box. When the first adsorption nozzle completes product grabbing and reaches the top opening of the first turnover box, the upper surface of the adsorbed product forms a coplanar positioning relationship with the upper edge opening of the first turnover box.

[0011] Preferably, the output end of the conveyor belt is provided with a second transfer mechanism and a second turnover box for storing the layers, the second transfer mechanism is used to transfer the layers between the second turnover box and the first turnover box, and the second transfer mechanism and the first transfer mechanism alternately stack products and layers.

[0012] Preferably, the output end of the conveyor belt is provided with a first bearing platform, the first turnover box and the second turnover box are movably arranged on the first bearing platform, the top of the first bearing platform is provided with a supporting guide rail passing through the conveyor belt, the first turnover box and the second turnover box, and the first transplanting mechanism and the second transplanting mechanism are both slidably connected to the supporting guide rail.

[0013] Preferably, the first transplanting mechanism includes a first slide rail and a first cylinder, the first slide rail is connected to the bottom of the support guide rail by sliding along a first direction, the first cylinder is connected to the first slide rail by sliding along a second direction, the piston rod of the first cylinder extends vertically downward, and the first adsorption nozzle is rotatably connected to the piston rod of the first cylinder.

[0014] Preferably, the second transfer mechanism includes a second cylinder and a second suction nozzle, the cylinder body of the second cylinder is slidably connected to the support rail, the piston rod of the second cylinder is retracted in the vertical direction, and the second suction nozzle is fixedly connected to the piston rod of the second cylinder for transferring the layer board;

[0015] The first bearing platform is fixed with a third guide rail extending along the second direction, and the third guide rail is slidably connected to a second pad. The second turnover box is detachably placed on the second pad. The top of the second pad is fixed with a fourth guide rail extending along the vertical direction, and the fourth guide rail is slidably connected to a liftable jacking piece. The side wall of the second turnover box is provided with a second clearance groove for the lifter to pass through.

[0016] Preferably, the detection mechanism includes a first visual module for detecting product defects and a second visual module for detecting product thickness. A first support frame is provided on the top of the conveyor belt. The first visual module and the second visual module are arranged and distributed along a first direction and fixed on the first support frame. The first visual module and the second visual module are facing the conveyor belt.

[0017] Preferably, the first support frame is fixed with a third visual module for detecting product dirtiness and a fourth visual module for detecting product displacement, the piston rod of the first cylinder is fixed with a first motor, the first adsorption nozzle is fixed to the output shaft of the vertically arranged first motor, the fourth visual module is electrically connected to the first motor, and the first visual module, the second visual module, the third visual module and the fourth visual module are distributed in a single row array along the first direction.

[0018] Preferably, a waste frame for collecting unqualified products is provided on the side of the conveyor belt, and the waste frame is within the travel range of the first transplanting mechanism.

[0019] This application also provides an automatic palletizing method, and the detection method is as follows:

[0020] S1:

[0021] Multiple products are sequentially moved toward the first turnover box via a conveyor belt. The conveyor belt transports the products through an inspection mechanism, which sequentially inspects the products for defects, thickness, contamination, and misalignment, and transmits the inspection results of each product to the first transfer mechanism. Simultaneously, the first turnover box is placed on the first pad, and the bracket rises relative to the second guide rail until the top end surface of the extension portion is flush with the opening of the first turnover box.

[0022] S2:

[0023] The first transfer mechanism sorts the products in sequence. When a product is unqualified, it is transferred to the waste bin. When the unqualified product is unqualified, the first transfer mechanism receives the thickness information of the stacked product and the bracket is lowered by the thickness of the product. Each time the first transfer mechanism transfers a product, the height of the first suction nozzle of the first transfer mechanism when it moves to the first turnover box is flush with the height of the opening of the first turnover box. The first suction nozzle rotates to adjust the angle of the product and places the product on the extension of the bracket. The first transfer mechanism places multiple products on the extension in sequence along the second direction;

[0024] S3:

[0025] The lifting member rises by one layer thickness, so that the uppermost layer in the second turnover box is flush with the top opening of the second turnover box. At the same time, the bracket descends by one layer thickness. The first transfer mechanism moves to the conveyor belt to pick up the product that has completed the inspection. The second transfer mechanism takes the layer out of the second turnover box and moves it to the top of the first turnover box. The height of the second transfer mechanism each time it transfers a layer is flush with the height of the opening of the first turnover box. The second suction nozzle releases the layer to cover the product.

[0026] S4:

[0027] Repeat steps S2 and S3. When the bracket descends to the bottom of the first turnover box, the first pad slides out of the first carrying platform relative to the first guide rail. The operator removes the completed first turnover box and replaces it with an empty first turnover box.

[0028] S5:

[0029] When the lifting part rises to be flush with the top opening of the second turnover box, the layer plate is transferred, the second pad slides relative to the third guide rail, and the operator removes the second turnover box that has completed stacking and replaces it with a second turnover box full of layer plates.

[0030] Compared with the prior art, the advantages of the present invention are:

[0031] The detection mechanism detects the posture of the product facing the conveyor belt. The first transferring mechanism moves between the first turnover box and the conveyor belt, and its output end rotates to connect to the first suction nozzle. The first suction nozzle is used to adsorb the product for transfer, avoiding excessive downward pressure of the actuator of the traditional robotic arm during the downward pressure stage, which may cause the lower layer product to be subjected to super-yield strength pressure and cause warping or cracking; at the same time, the detection mechanism is electrically connected to the first transferring mechanism, which can accurately obtain product posture information, reduce deviations between products during the transfer process, prevent products from being misplaced and stacked, and avoid geometric deviations from being converted into local stress concentration under rigid downward pressure to aggravate product deformation, thereby ensuring the quality of product palletizing, meeting the needs of the precision manufacturing field for high-quality palletizing technology, and improving production efficiency and product qualification rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0033] Figure 1 This is a schematic diagram of the internal structure of an automatic palletizing device according to the present invention;

[0034] Figure 2 This is a schematic structural diagram of the housing of the present invention;

[0035] Figure 3 It is a structural schematic diagram of the detection mechanism of the present invention;

[0036] Figure 4This is a schematic diagram of the first palletizing mechanism of the present invention;

[0037] Figure 5 This is a schematic structural diagram of the first stacking mechanism and the second lifting mechanism of the present invention;

[0038] Figure 6 This is a schematic structural diagram of the first turnover box and the second turnover box of the present invention;

[0039] Figure 7 It is a structural schematic diagram of the first transplanting mechanism and the second transplanting mechanism of the present invention.

[0040] Description of reference numerals:

[0041] 1. Conveyor belt; 11. Fixing part; 12. Transmission part; 2. Detection mechanism; 21. First visual module; 22. Second visual module; 23. Third visual module; 24. Fourth visual module; 31. First turnover box; 311. First make way slot; 312. First release slot; 32. Second turnover box; 321. Second make way slot; 322. Second release slot; 4. First transfer mechanism; 41. First slide rail; 42. First cylinder; 43. First motor; 44. First suction nozzle; 45. Support member; 5. Second transfer mechanism; 51. Second slide rail Rail; 52. Second cylinder; 53. Second motor; 54. Second suction nozzle; 61. First support frame; 62. First bearing platform; 63. Waste frame; 64. Support guide rail; 7. First stacking mechanism; 71. First guide rail; 72. First pad; 73. Limit block; 74. Second guide rail; 75. Bracket; 751. Slide part; 752. Extension part; 8. Second lifting mechanism; 81. Third guide rail; 82. Second pad; 83. Lifting member; 84. Fourth guide rail; 9. Housing; 91. Conveyor port; 92. Movable plate; 100. Product. DETAILED DESCRIPTION

[0042] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0043] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0044] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0045] like Figure 1 As shown, an automatic palletizing device includes a conveyor belt 1 and a detection mechanism 2. The detection mechanism 2 is located above the conveyor belt 1 and is used to detect defects in the products 100 located on the conveyor belt 1. The output end of the conveyor belt 1 is provided with a first turnover box 31 for palletizing the products 100 and a second turnover box 32 for storing layer boards. A first transfer mechanism 4 and a second transfer mechanism 5 are provided on the top of the first turnover box 31. The first transfer mechanism 4 has at least a travel range for moving between the conveyor belt 1 and the first turnover box 31 to transfer the products 100 on the conveyor belt 1 to the first turnover box 31. The second transfer mechanism 5 has at least a travel range for moving between the first turnover box 31 and the second turnover box 32 to transfer the layer boards to the first turnover box 31. The products 100 and the layer boards are stacked and palletized in the first turnover box 31.

[0046] like Figure 2 As shown, an automatic palletizing device further includes a housing 9 with a built-in cavity. The housing 9 is provided with a conveying port 91 connecting the cavity with the outside world. The output end of the conveyor belt 1 is located at the conveying port 91. The conveyor belt 1 and the detection mechanism 2 are both fixed inside the housing 9. The first transfer mechanism 4 and the second transfer mechanism 5 are both movably connected to the interior of the housing 9. The first turnover box 31 and the second turnover box 32 are both movably placed inside the housing 9. The side wall of the housing 9 is provided with a movable plate 92, which is rotatably connected to the housing 9. The operator loads and unloads the first turnover box 31 and the second turnover box 32 by rotating the movable plate 92.

[0047] like Figure 3 As shown, the conveyor belt 1 includes a fixed portion 11 and a transmission portion 12. The transmission portion 12 moves around the fixed portion 11. The top of the fixed portion 11 is configured as a horizontal support structure. That is, the top of the transmission portion 12 is always horizontal, so as to transport products 100 in a first direction. Preferably, the transmission portion 12 is a belt, and the transmission portion 12 is driven by a motor and a pulley. It is worth noting that the sheet-like products 100 enter the conveyor belt 1 one by one, and the transmission portion 12 drives the products 100 in sequence toward the first turnover box 31.

[0048] A first support frame 61 is provided in the housing 9. The first support frame 61 is fixed to the inner wall of the housing 9 at the top of the conveyor belt 1. There is a certain space between the bottom of the first support frame 61 and the transmission part 12. The detection mechanism 2 is fixed to the bottom of the first support frame 61 and is used to detect the product 100 located on the transmission part 12. The detection mechanism 2 is electrically connected to the first palletizing mechanism 7. Preferably, the detection mechanism 2 is electrically connected to the first palletizing mechanism 7 through the central control device to transmit signals. The detection mechanism 2 includes a first visual module 21 and a second visual module 22. The first visual module 21 and the second visual module 22 are arranged in sequence along the first direction, that is, the product 100 first passes through the first visual module 21 and then passes through the second visual module 22, and the product 100 is inspected separately. Preferably, the first visual module 21 is a 2D camera to detect surface defects of the product 100. Preferably, the second visual module 22 is a 3D camera to detect the thickness of the product 100.

[0049] In this embodiment, a third vision module 23 and a fourth vision module 24 are provided between the first vision module 21 and the second vision module 22. That is, the product 100 passes through the first vision module 21, the third vision module 23, the fourth vision module 24, and the second vision module 22 in sequence, and multiple defect inspections are performed on the product 100. Preferably, the third vision module 23 and the fourth vision module 24 are both 2D cameras. Specifically, the second vision module 22 is used to inspect the product 100 for defects, the third vision module 23 is used to inspect the product 100 for dirt, and the fourth module is used to inspect the product 100 for misalignment. Each module focuses on a single inspection type, avoiding the superposition of algorithm complexity, improving inspection accuracy, and preventing a single module from becoming a production capacity bottleneck. More preferably, a high-resolution color camera is required for dirt detection, and a high-frame-rate black-and-white camera is required for misalignment detection.

[0050] like Figure 1 As shown, a first carrying platform 62 is fixedly installed in the housing 9. The output end of the conveyor belt 1 is provided with the first carrying platform 62. The top of the first carrying platform 62 is constructed into a flat surface. The first carrying platform 62 is provided with a first stacking mechanism 7 and a second lifting mechanism 8. The first turnover box 31 is movably placed on the first stacking mechanism 7, and the second turnover box 32 is movably placed on the second lifting mechanism 8. The first transfer mechanism 4 and the second transfer mechanism 5 are both provided on the top of the first carrying platform.

[0051] like Figure 4As shown, the first stacking mechanism 7 includes a first guide rail 71 and a first pad 72. The first guide rail 71 is fixedly mounted on the first supporting platform 62 along the second direction. The first pad 72 is connected to the first guide rail 71 by a slider for sliding along the second direction. The top of the first pad 72 is configured as a flat surface for movably supporting the first turnover box 31. A plurality of limit blocks 73 are fixedly mounted on the top of the first pad 72. The limit blocks 73 abut against the outer wall of the first turnover box 31 to position the first turnover box 31. In this embodiment, two limit blocks 73 are provided, and the two limit blocks 73 are arranged along the first direction to limit the first turnover box 31 in the first direction.

[0052] A second guide rail 74 is fixedly mounted on the top of the first backing plate 72. The second guide rail 74 is arranged in a vertical direction. A bracket 75 is slidably connected to the second guide rail 74 toward one side of the first turnover box 31, and is used to support the stacked products 100. Specifically, the bracket 75 includes a slide portion 751 and an extension portion 752. The slide portion 751 is slidably connected to the second guide rail 74. One end of the extension portion 752 is fixed to the side of the slide portion 751 facing away from the second guide rail 74. The extension portion 752 extends away from the second guide rail 74, and the top of the extension portion 752 is configured as a horizontal surface to support the products 100. Preferably, the extension portion 752 is a support rod extending in the second direction. More preferably, the extension portion 752 has a rectangular cross-section.

[0053] The first transfer mechanism 4 maintains a fixed height each time it transfers a product 100. That is, the product 100 is transferred to a constant height at the opening of the first turnover box 31, ensuring that the product 100 always enters the first turnover box 31 in a uniform position, avoiding placement errors caused by height deviations. The second guide rail 74 descends by the thickness of one product 100 or the thickness of the shelf, further reducing positional deviations and enabling the products 100 to be tightly arranged within the turnover box. This reduces mechanical vibration and error accumulation caused by dynamic adjustment of the transfer mechanism, significantly improving overall transfer accuracy, avoiding squeezing of the product 100, and reducing the defective rate. In this embodiment, the thickness of the product 100 is the same as the thickness of the shelf.

[0054] In this embodiment, the slide portion 751 is fixedly connected to two pairs of extension portions 752 facing away from the second guide rail 74, and the tops of the two extension portions 752 are located on the same horizontal plane. That is, the extension portions 752 and the slide portion 751 form a horizontally placed "U"-shaped structure to jointly support the product 100. In other embodiments, the slide portion 751 is fixedly provided with multiple extension portions 752, and the multiple extension portions 752 are evenly distributed along the first direction to support the product 100.

[0055] The first turnover box 31 is a rectangular box with an opening at the top for loading and unloading the product 100 from the top opening of the first turnover box 31. In this embodiment, the first turnover box 31 is manufactured by integral injection molding, integral casting molding, or metal welding molding, and has stable rigidity.

[0056] like Figure 5 and 6 As shown, a first clearance groove 311 is defined on the side wall of the first turnover box 31 facing the second guide rail 74, through which the extension portion 752 passes. The first clearance groove 311 extends from the top to the bottom of the side wall. The extension portion 752 passes through the first clearance groove 311 along the second direction and the vertical direction. The extension portion 752 can carry the product 100 within the first turnover box 31. In this embodiment, two first clearance grooves 311 are provided, and the first clearance grooves 311 correspond one-to-one with the extension portion 752. A first release groove 312 is defined at the bottom of the first turnover box 31. One end of the first release groove 312 is connected to the first clearance groove 311. The first release groove 312 is provided along the second direction, and the extension portion 752 can pass through the first release groove 312 along the vertical direction.

[0057] Before the products 100 are palletized, the first turnover box 31 is in an empty box state, and the extension portion 752 is inserted into the first turnover box 31 through the first clearance groove 311, and the top plane of the extension portion 752 is flush with the top opening of the first turnover box 31; during the palletizing process of the products 100, the bracket 75 is intermittently lowered so that the extension portion 752 carrying the top layer of products 100 or the layer plate is flush with the opening of the first turnover box 31; after the palletizing of the products 100 is completed, the bracket 75 is detached from the first turnover box 31 from the first clearance groove 311.

[0058] The first supporting platform 62 is provided with a second lifting mechanism 8, which includes a third guide rail 81 and a second pad 82. The third guide rail 81 is fixedly connected to the first supporting platform 62 along the second direction. That is, the third guide rail 81 is parallel to the first guide rail 71. Preferably, the travel of the third guide rail 81 is the same as the travel of the first guide rail 71. The second pad 82 is slidably connected to the third guide rail 81 along the second direction via a slider. A fourth guide rail 84 is fixedly mounted on the top of the second pad 82. A lifting member 83 is slidably connected to the fourth guide rail 84 and extends away from the fourth guide rail 84. The second turnover box 32 is movably placed on the second pad 82 and moves with the second pad 82 in the second direction. The side of the second turnover box 32 has a second clearance groove 321 for the second pad 82 to pass through. The second clearance groove 321 vertically connects the top opening and the bottom of the second turnover box 32. The second turnover box 32 has a second release slot 322 at its bottom that communicates with the second relief slot 321, allowing the lifting member 83 to vertically pass through the second turnover box 32. The second turnover box 32 contains stacked panels, and the lifting member 83 rises to lift the panels, facilitating transfer of the panels by the second transfer mechanism 5.

[0059] like Figure 7 As shown, a support rail 64 is provided on the top of the first carrying platform 62, and the support rail 64 is arranged along the first direction. In this embodiment, the first transfer mechanism 4 and the second transfer mechanism 5 are both slidably connected to the same support rail 64 along the first direction. In other embodiments, the first transfer mechanism 4 and the second transfer mechanism 5 are respectively slidably connected to two parallel support rails 64 along the first direction. The length of the support rail 64 covers the end of the conveyor belt 1 and the first carrying platform. The first transfer mechanism 4 transfers the qualified products 100 on the conveyor belt 1 to the first turnover box 31. The second transfer mechanism 5 covers the layer board on the second turnover box 32 on the product 100 on the first turnover box 31, so that the product 100 and the layer board are stacked and stored in the first turnover box 31.

[0060] In this embodiment, two first turnover boxes 31 and two second turnover boxes 32 are provided along the first direction. Correspondingly, there are two first stacking mechanisms 7 and two second lifting mechanisms 8. The two first turnover boxes 31 are provided at the output end of the conveyor belt 1 along the first direction, and the two second turnover boxes 32 are provided on the side of the first turnover box 31 away from the conveyor belt 1 along the first direction. When one of the first turnover boxes 31 is completed with stacking, the first stacking mechanism 7 carrying the first turnover box 31 pushes it out. At this time, the first transfer mechanism 4 and the second transfer mechanism 5 stack and stack the other first turnover box 31. When the layer plates in a second turnover box 32 are transferred, the second lifting mechanism 8 pushes the second turnover box 32 out for replacement. At this time, the second transfer mechanism 5 transfers the layer plates in another second turnover box 32. The above method further improves the stacking efficiency of the product 100.

[0061] The first transfer mechanism 4 includes a first slide rail 41 and a first cylinder 42. The first slide rail 41 is slidably connected to the bottom of the bearing guide rail. The first slide rail 41 extends along the second direction. The first cylinder 42 is slidably connected to the first slide rail 41 along the second direction. The piston rod of the first cylinder 42 extends and retracts in the vertical direction. The piston rod of the first cylinder 42 is fixedly connected to the first motor 43. The output shaft of the first motor 43 is set downward in the vertical direction. The fourth visual module 24 is electrically connected to the first motor 43. The output shaft of the first motor 43 is fixedly connected to the first suction nozzle 44 for adsorbing the product 100. In this embodiment, the output shaft of the first motor 43 is fixedly connected to the support member 45. The support member 45 is fixedly provided with a plurality of first suction nozzles 44. Preferably, two first suction nozzles 44 are fixedly provided on the support member 45 along the first direction to adsorb the long strip product 100. The position and number of the first suction nozzles 44 can be determined according to the shape of the product 100 to be transported, which will not be repeated here.

[0062] The second transfer mechanism 5 includes a second slide rail 51 and a second cylinder 52. The second slide rail 51 is slidably connected to the bottom of the support guide rail and extends in the second direction. The second cylinder 52 is slidably connected to the second slide rail 51 in the second direction. The piston rod of the second cylinder 52 extends and retracts in the vertical direction. The piston rod of the second cylinder 52 is fixedly connected to a second motor 53. The output shaft of the second motor 53 is arranged vertically downward. The output shaft of the second motor 53 is fixedly connected to a second suction nozzle 54 for sucking the layer.

[0063] A waste frame 63 is provided on the side of the conveyor belt 1. The waste frame 63 is within the travel range of the first transfer mechanism 4. When the detection mechanism 2 detects that the product 100 has defects, the detection mechanism 2 transmits a signal to the first transfer mechanism 4, and the first transfer mechanism 4 absorbs and transfers the defective product 100 to the waste frame 63 for recycling.

[0064] An automatic palletizing method:

[0065] S1:

[0066] Multiple products 100 are sequentially moved toward the first turnover box 31 via the conveyor belt 1. The conveyor belt 1 transports the products 100 through the inspection mechanism 2, which sequentially inspects the products 100 for defects, thickness, contamination, and misalignment, and transmits the inspection results of each product 100 to the first transfer mechanism 4. Simultaneously, the first turnover box 31 is placed on the first pad 72, and the bracket 75 rises relative to the second guide rail 74 until the top end surface of the extension portion 752 is flush with the opening of the first turnover box 31.

[0067] S2:

[0068] The first transfer mechanism 4 sorts the products 100 in sequence. When a product 100 is unqualified, the product 100 is transferred to the waste box 63. When a product 100 is unqualified, the first transfer mechanism 4 receives the thickness information of the stacked product 100, and the bracket 75 is lowered by the thickness of the product 100. Each time the first transfer mechanism 4 transfers a product 100, the height of the first suction nozzle 44 of the first transfer mechanism 4 when it moves to the first turnover box 31 is flush with the height of the opening of the first turnover box 31. The first suction nozzle 44 rotates to adjust the angle of the product 100 and places the product 100 on the extension portion 752 of the bracket 75. The first transfer mechanism 4 places multiple products 100 on the extension portion 752 in sequence along the second direction.

[0069] S3:

[0070] The lifting member 83 rises by one layer thickness, so that the layer on the top of the second turnover box 32 is flush with the top opening of the second turnover box 32. At the same time, the bracket 75 descends by one layer thickness. The first transfer mechanism 4 moves to the conveyor belt 1 to pick up the product 100 that has completed the inspection. The second transfer mechanism 5 takes the layer out of the second turnover box 32 and moves it to the top of the first turnover box 31. The height of the second transfer mechanism 5 during each layer transfer is flush with the height of the opening of the first turnover box 31. The second suction nozzle 54 releases the layer to cover the product 100.

[0071] S4:

[0072] Repeat steps S2 and S3. When the bracket 75 descends to the bottom of the first turnover box 31, the first pad 72 slides out of the first carrying platform 62 relative to the first guide rail 71. The operator removes the completed first turnover box 31 and replaces it with an empty first turnover box 31.

[0073] S5:

[0074] When the lifting member 83 rises to be flush with the top opening of the second turnover box 32, the layer plates are transferred, and the second pad 82 slides relative to the third guide rail 81. The operator removes the second turnover box 32 that has completed the stacking and replaces it with the second turnover box 32 filled with layer plates.

[0075] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and they are not intended to limit the scope of protection of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention.

Claims

1. An automatic palletizing device, characterized in that: include: A conveyor belt (1) for transporting products (100) in one direction; A detection mechanism (2) facing the conveyor belt (1) to detect the posture of the product (100) on the conveyor belt (1); A first stacking mechanism (7) comprises a first pad (72) and a second guide rail (74), wherein the first pad (72) is provided at the output end of the conveyor belt (1), the second guide rail (74) extending in a vertical direction is fixedly provided on the top of the first pad (72), and the second guide rail (74) is slidably connected to a bracket (75) in the vertical direction; A first turnover box (31) is movably placed on a first pad (72) for loading stacked products (100); a first clearance groove (311) matching the movement trajectory of the bracket (75) is provided on the side wall of the first turnover box (31) for the bracket (75) to pass through the first turnover box (31) to complete the lifting action; A first transfer mechanism (4) moves between the first turnover box (31) and the conveyor belt (1); an output end of the first transfer mechanism (4) is rotatably connected to a first adsorption nozzle (44); a rotation center axis of the first adsorption nozzle (44) is a vertical axis; and the detection mechanism (2) is electrically connected to the first transfer mechanism (4).

2. The automatic palletizing equipment according to claim 1, characterized in that: The bracket (75) is configured to perform an intermittent vertical downward movement corresponding to the thickness of the product (100) in the first turnover box (31). When the first adsorption nozzle (44) completes grabbing the product (100) and reaches the top opening of the first turnover box (31), the upper surface of the adsorbed product (100) forms a coplanar positioning relationship with the upper edge opening of the first turnover box (31).

3. The automatic palletizing equipment according to claim 1, characterized in that: The output end of the conveyor belt (1) is provided with a second transfer mechanism (5) and a second turnover box (32) for storing the layer boards. The second transfer mechanism (5) is used to transfer the layer boards between the second turnover box (32) and the first turnover box (31). The second transfer mechanism (5) and the first transfer mechanism (4) alternately stack the products (100) and the layer boards.

4. The automatic palletizing equipment according to claim 3, characterized in that: The output end of the conveyor belt (1) is provided with a first bearing platform (62), the first turnover box (31) and the second turnover box (32) are both movably arranged on the first bearing platform (62), the top of the first bearing platform (62) is provided with a supporting guide rail (64) passing through the conveyor belt (1), the first turnover box (31) and the second turnover box (32), and the first transplanting mechanism (4) and the second transplanting mechanism (5) are both slidably connected to the supporting guide rail (64).

5. The automatic palletizing equipment according to claim 4, characterized in that: The first transplanting mechanism (4) includes a first slide rail (41) and a first cylinder (42), wherein the first slide rail (41) is connected to the bottom of the support guide rail (64) by sliding along a first direction, and the first cylinder (42) is connected to the first slide rail (41) by sliding along a second direction, and the piston rod of the first cylinder (42) extends vertically downward, and the first adsorption nozzle (44) is connected to the piston rod of the first cylinder (42) by rotation.

6. The automatic palletizing equipment according to claim 4, characterized in that: The second transfer mechanism (5) comprises a second cylinder (52) and a second suction nozzle (54); the cylinder body of the second cylinder (52) is slidably connected to the support rail (64); the piston rod of the second cylinder (52) is retractable in the vertical direction; and the second suction nozzle (54) is fixedly connected to the piston rod of the second cylinder (52) for transferring the layer board; The first bearing platform (62) is fixed with a third guide rail (81) extending along the second direction, the third guide rail (81) is slidably connected to a second pad (82), the second turnover box (32) is detachably placed on the second pad (82), the top of the second pad (82) is fixed with a fourth guide rail (84) extending along the vertical direction, the fourth guide rail (84) is slidably connected to a lift member (83) that can be lifted, and the side wall of the second turnover box (32) is provided with a second clearance groove (321) for the lift member (83) to pass through.

7. The automatic palletizing equipment according to claim 5, characterized in that: The detection mechanism (2) comprises a first visual module (21) for detecting defects of a product (100) and a second visual module (22) for detecting the thickness of the product (100); a first support frame (61) is provided on the top of the conveyor belt (1); the first visual module (21) and the second visual module (22) are arranged and distributed along a first direction and fixed on the first support frame (61); the first visual module (21) and the second visual module (22) are directly opposite to the conveyor belt (1).

8. The automatic palletizing equipment according to claim 7, characterized in that: The first support frame (61) is fixedly provided with a third visual module (23) for detecting dirt on the product (100) and a fourth visual module (24) for detecting displacement of the product (100); the piston rod of the second turnover box (42) is fixedly provided with a first motor (43); the first adsorption nozzle (44) is fixedly provided on the output shaft of the first motor (43) which is arranged vertically; the fourth visual module (24) is electrically connected to the first motor (43); the first visual module (21), the second visual module (22), the third visual module (23) and the fourth visual module (24) are arranged in a single row array along a first direction.

9. The automatic palletizing equipment according to claim 1, characterized in that: A waste frame (63) for collecting unqualified products (100) is provided on the side of the conveyor belt (1), and the waste frame (63) is within the travel range of the first transplanting mechanism (4).

10. An automatic palletizing method, characterized in that: The automatic palletizing device comprising any one of claims 1 to 9; the detection method is as follows: S1： A plurality of products (100) are sequentially moved toward a first turnover box (31) via a conveyor belt (1). The conveyor belt (1) transports the products (100) through a detection mechanism (2). The detection mechanism (2) sequentially performs defect detection, thickness detection, dirt detection, and displacement detection on the products (100), and transmits the detection result of each product (100) to a first transfer mechanism (4). Simultaneously, the first turnover box (31) is placed on a first pad (72), and the bracket (75) rises relative to the second guide rail (74) until the top end surface of the extension portion (752) is flush with the opening of the first turnover box (31). S2： The first transfer mechanism (4) sequentially sorts the products (100). When a product (100) is unqualified, the product (100) is transferred to a waste frame (63). When a product (100) is unqualified, the first transfer mechanism (4) receives the thickness information of the stacked product (100), and the bracket (75) descends by the thickness of the product (100). Each time the first transfer mechanism (4) transfers a product (100), the height of the first suction nozzle (44) of the first transfer mechanism (4) when it moves to the first turnover box (31) is flush with the height of the opening of the first turnover box (31). The first suction nozzle (44) rotates to adjust the angle of the product (100) and places the product (100) on the extension portion (752) of the bracket (75). The first transfer mechanism (4) sequentially places multiple products (100) on the extension portion (752) along the second direction. S3： The lifting member (83) rises by one layer thickness, so that the layer located at the top of the second turnover box (32) is flush with the top opening of the second turnover box (32), and at the same time, the bracket (75) is lowered by one layer thickness. The first transfer mechanism (4) moves to the conveyor belt (1) to pick up the product (100) that has completed the inspection. The second transfer mechanism (5) takes the layer out of the second turnover box (32) and moves it to the top of the first turnover box (31). The height of the second transfer mechanism (5) when transferring the layer each time is flush with the height of the opening of the first turnover box (31). The second suction nozzle (54) releases the layer to cover the product (100); S4: The steps S2 and S3 are cycled, and when the bracket (75) descends to the bottom of the first turnover box (31), the first pad (72) slides out of the first carrying platform (62) relative to the first guide rail (71), and the operator removes the completed first turnover box (31) and replaces it with an empty first turnover box (31); S5: When the lifting member (83) rises to be flush with the top opening of the second turnover box (32), the layer plates are transferred, the second pad (82) slides relative to the third guide rail (81), and the operator removes the second turnover box (32) that has completed the stacking and replaces it with the second turnover box (32) filled with layer plates.

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