Method for stacking small packing barrels on tray

Abstract

A method for stacking small packing barrels on a tray comprises the steps that the tray and the small packing barrels are provided, the small packing barrels are placed in a whole row, then the small packing barrels are clamped and hoisted in the whole row through a clamping and stacking module, and then the small packing barrels are stacked on the tray of a stacking roller way in the whole row; and the subsequent small packing barrels are stacked in a shifting manner on the basis of the previous stacking. According to the method for stacking the small packaging barrels on the tray, the clamping and stacking requirements can be met without using an image recognition technology, and in the clamping and lifting process, a row of small packaging barrels can be clamped and fixed and then transversely moved to a stacking roller way; due to the fact that the whole-row lifting and stacking structure is adopted, shifting and stacking can be conducted only according to coordinates of previous stacking every time, and the effect of funny and accurate stacking is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of truck loaders, and in particular to a method for stacking small packaging barrels on a pallet. Background Art

[0002] Large packaging barrels (standard barrels) have a larger diameter and are taller, so when stacked on a pallet, they can only be stacked in one layer, and only in a 2×2 stacking layout. Stacking standard barrels is generally done on a conveyor roller conveyor. First, four standard barrels are placed on the conveyor roller conveyor using a clamping and lifting device to form a 2×2 structural layout. The clamping and lifting device on the conveyor roller conveyor then simultaneously lifts the four standard barrels, creating a ground clearance between the bottom of the standard barrels and the conveyor roller conveyor. The pallet conveyor then transports the pallet onto the conveyor roller conveyor directly below the four standard barrels, and the four standard barrels are then lowered onto the pallet, completing the stacking of the standard barrels on the pallet.

[0003] Small-sized barrels (small barrels) are much smaller than standard barrels. Therefore, when stacking small barrels on pallets, they can typically be arranged in a 4x4 configuration. Since small barrels are less than half the height of standard barrels, two layers of small barrels can fit on each pallet. This stacking arrangement is no longer possible with standard barrels. Conventional clamping and lifting equipment can only lift a maximum of four standard barrels in a 2x2 configuration at a time. Once stacked on a pallet, it cannot be stacked a second time (because the pallet must remain stationary during stacking, and at this point, it is already on the conveyor roller conveyor). Summary of the Invention

[0004] In order to solve the problems existing in the prior art, the present invention provides a method for stacking small packaging barrels on a pallet, which solves the existing problem of stacking small packaging barrels on a pallet in multiple layers.

[0005] To achieve the above objectives, the following technical solutions are provided: A method for stacking small packaging barrels on a pallet, comprising: S10, the pallet supply device (40) transports the pallet (60) to the stacking roller (30) at the stacking station (21b) of the transfer device (20); S21, obtaining the small packaging barrels (50) from the barrel supply roller (10), conveying the small packaging barrels (50) to the barrel supply station (21a) of the transfer device (20), and stacking them in a straight line to form a tightly packed row; S22, controlling the clamping and stacking module (22) to move along the main frame (21) to the position directly above the barrel supply station (21a), so that the arc-shaped clamping block (226) is in an open state away from the fixed clamping block (227); S23, controlling the clamping module (22b) to move downward along the frame track frame (22a) to cover the small packaging barrels (50) at the barrel supply station (21a), and then causing the fixed clamping block (227) and the arc-shaped clamping module (226) to clamp the entire row of small packaging barrels (50); S24, controlling the clamping and stacking module (22) to lift, and then horizontally moving along the main frame (21) to the far-end stacking station N on the stacking roller (30) at the stacking station (21b), completing the stacking of the first group of small packaging barrels; S25, repeating steps S21-S23, then controlling the clamping and stacking module (22) to lift, and then horizontally moving along the main frame (21) to the far-end stacking station N-1 on the stacking roller (30) at the stacking station (21b), completing the stacking of the second to fourth groups of small packaging barrels; S26, repeating steps S21-S23, then controlling the clamping and stacking module (22) to lift, and then horizontally moving along the main frame (21) to the upper part of the small packaging barrel at the far end stacking station N on the stacking roller (30) at the stacking station (21b), completing the stacking of the fifth group of small packaging barrels; S27, repeat steps S21-S23, then control the clamping and stacking module (22) to lift, and then move horizontally along the main frame (21) to the upper part of the small packaging barrel at the far end stacking station N-1 on the stacking roller (30) at the stacking station (21b), completing the stacking of the sixth to eighth groups of small packaging barrels.

[0006] Step S10 includes: S11, controlling the lifting control unit (43) of the pallet supply device (40) to lift the front end of the double chain rail (41) so that the front end of the double chain rail is higher than the height of the upper surface of the stacking roller (30); S12, controlling the chain drive mechanism (44) of the pallet supply device (40) to start, obtaining the pallet (60) and conveying the pallet (60) forward to above the stacking roller (30), so that the pallet (60) is located at the stacking station (21b); S13, controlling the lifting control unit (43) of the pallet supply device (40) to lower the front end of the double chain rail (41) so that the front end of the double chain rail is lower than the height of the upper surface of the stacking roller (30), and the pallet (60) falls on the stacking roller (30); S14, calibrating the position of the pallet (60) on the stacking roller (30).

[0007] Step S14 includes: S141, driving the transverse push plate (321) to push the tray (60) so that the horizontal coordinate of the tray (60) on the stacking roller (30) is located at a predetermined position; S142, driving the baffle (331) to rise to a height higher than the upper surface of the stacking roller (30), and then driving the longitudinal push plate (311) to push the tray (60) toward the baffle (331).

[0008] Step S23 includes: S231, driving the cylinder (228) to maximize the opening of the arc-shaped clamping block (226), and obtaining the coordinates of the arc surface center point A1 of one of the arc-shaped clamping blocks (226), the coordinates of the center point A2 of the virtual clamping arc surface of the two fixed clamping blocks (227) opposite to the arc-shaped clamping block (226), and the center coordinate A0 of the small packaging barrel (50) to be clamped on the barrel roller (10); S232, moving the clamping and stacking module (22) to move the midpoint of A1+A2 to the position of A0; S233, control the clamping and stacking module (22) as a whole to move at a speed v toward the barrel supply station (21a), and at the same time control the cylinder (228) on the clamping and stacking module (22) to drive the arc clamping block (226) to move at a speed 2v toward the stacking station (21b), and the distance moved by the clamping and stacking module (22) is A2-A0-R, where R is the radius of the small packaging barrel.

[0009] On this basis, it can further include: S234, detecting the pressure on the cylinder rod of the cylinder (228); when the pressure value reaches a preset value, maintaining the state of the cylinder (228), and controlling the clamping and stacking module (22) to stop.

[0010] After step S27, the method further includes: S143, withdraw the transverse push plate (321), the longitudinal push plate (311) and the baffle (331), start the linkage drive part (35) of the stacking roller (30), and control the tray (60) on which the small packaging barrels (50) are stacked to be transported from the second roller (32) to the third roller (33).

[0011] The present invention provides a method for stacking small packaging barrels on a pallet, which is based on a small packaging barrel pallet stacking system and includes a barrel supply roller (10), a transfer device (20), a stacking roller (30) and a pallet supply device (40). The barrel supply roller (10) is a linear barrel supply device that arranges the small packaging barrels (50) in a row. The transfer device (20) includes a main frame (21) and a clamping and stacking module (22). The main frame (21) includes a barrel supply station (21a) and a stacking station (21b). The barrel supply roller (10) is located at The barrel supply station (21a) is provided, and the stacking roller (30) is located at the stacking station (21b); the clamping and stacking module (22) can reciprocate between the barrel supply station (21a) and the stacking station (21b); the clamping and stacking module (22) can directly clamp a row of small packaging barrels (50) on the barrel supply roller (10) and place them on the tray (60) of the stacking roller (30); the tray supply device (40) can supply the tray (60) to the stacking roller (30) and place the tray (60) on the stacking station (21b).

[0012] A horizontal track is provided on the top of the main frame (21), and the clamping and stacking module (22) is movably connected to the horizontal track of the main frame (21). The main frame (21) is driven by a rack and pinion mechanism.

[0013] The clamping and stacking module (22) includes a frame track frame (22a) and a clamping module (22b), wherein the frame track frame (22a) is parallel to the arrangement direction of the barrel supply track (10), and both ends of the frame track frame (22a) are respectively provided with vertical rails arranged vertically, and both ends of the clamping module (22b) are movably connected to the vertical rails so that the clamping module (22b) is also parallel to the arrangement direction of the barrel supply track (10), and the clamping module (22b) is driven along the vertical rail by a gear rack mechanism.

[0014] The clamping module (22b) comprises a horizontal frame (221) and side frames (225) on both sides. The side frames on both sides are fixedly connected to the two ends of the horizontal frame (221). The gear drive mechanism (224) is installed on the top of the horizontal frame (221). The gear drive mechanism (224) is driven by meshing with the vertical racks of the frame-type track frames (22a) on both sides through the drive shafts that cross the two ends of the horizontal frame and the gears thereon.

[0015] On one side of the clamping module (22b) away from the barrel feeding roller (10) is a row of vertical columns (222) connected at the top to the horizontal frame (221) and extending downward, wherein the distance between the geometric centers of two adjacent vertical columns (222) is equal to the diameter of the packaging barrel; A horizontally arranged crossbeam (223) is provided on one side of the clamping module (22b) close to the barrel supply roller (10), and both ends of the crossbeam are fixedly connected to the side frame (225); Corresponding to two adjacent vertical columns (222), an arc-shaped clamping block (226) is provided on the crossbeam and is telescopic in a direction away from the barrel roller (10), and the arc-shaped clamping block (226) points to the center direction of the two vertical columns (222) closest to it; corresponding to the arc-shaped clamping block (226), a fixed clamping block (227) is provided on the inner side of the two vertical columns (222) adjacent to it, and the arc-shaped clamping block (226) and the two fixed clamping blocks (227) form a triangular layout.

[0016] The arc-shaped clamping blocks (226) are provided in two or more upper and lower portions, and correspondingly, the fixed clamping blocks (227) on the vertical column (222) are also provided in two or more portions.

[0017] The arc-shaped clamping block (226) is connected to the crossbeam (223) via a cylinder (228) and a fixing plate (229).

[0018] The tray supply device (40) comprises a double chain rail (41), a support base (42), a lifting control unit (43) and a chain drive mechanism (44), wherein the support base (42) provides support for the rear end of the double chain rail (41) through a horizontal support shaft, the lifting control unit (43) provides support for the front end of the double chain rail (41) and is capable of controlling the lifting and lowering of the front end of the double chain rail (41), and the chain drive mechanism (44) is connected to the double chain rail (41) and is used to drive the chain along the double chain rail; wherein the front end of the double chain rail (41) extends into the slot of the stacking roller (30), and under the control of the lifting control unit (43), the double chain rail (41) has a first state in which the front end height is higher than the stacking roller (30) and a second state in which the front end height is lower than the stacking roller (30).

[0019] The stacking roller (30) comprises a first roller (31), a second roller (32), a third roller (33), a support portion (34) and a linkage drive portion (35), wherein the first roller (31), the second roller (32) and the third roller (33) are arranged in sequence along the conveying direction of the stacking roller (30), and slots for allowing the double chain rail (41) to be inserted are respectively provided between the first roller (31) and the second roller (32) and between the second roller (32) and the third roller (33), so that the stacking roller (30) is a discontinuous roller; the first roller (31), the second roller (32) and the third roller (33) on one side of the stacking roller (30) having the slot are supported by the support portion (34), and the other side without the slot is jointly driven by the linkage drive portion (35).

[0020] A longitudinal push plate (311) is provided on the first roller (31) for horizontally pushing the second roller (32). A transverse push plate (321) is provided on one side of the second roller (32) located at the linkage drive portion (35) for horizontally pushing the second roller (32). A baffle (331) is provided between two rollers of the third roller (33) near the notch for vertically driving upward. When driven upward, the baffle (331) is higher than the third roller (33). When retracted downward, the baffle (331) is lower than the third roller (33).

[0021] Compared with the prior art, the advantages of the present invention are as follows: The present invention provides a method for stacking small packaging barrels on a pallet, which can achieve the requirements of clamping and stacking without using image recognition technology. During the clamping and lifting process, a row of small packaging barrels can be clamped and fixed, and then moved horizontally to the stacking roller. Since a whole-row lifting and stacking structure is adopted, each stacking only needs to be shifted and stacked according to the coordinates of the previous stacking, thereby achieving a funny and precise stacking effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of the small packaging barrel pallet stacking system (the clamping and stacking module in the figure is located at the stacking station); Figure 2 This is a schematic diagram of the overall structure of the small packaging barrel pallet stacking system (the clamping and stacking module in the figure is located at the barrel supply station); Figure 3 This is a structural diagram of the transfer device (the clamping and stacking module in the figure is located at the barrel supply station); Figure 4 The schematic diagram of the structure of the transfer device (the clamping and stacking module in the figure is located at the stacking station); Figure 5 This is a structural diagram of the clamping and stacking module (clamping packaging barrels); Figure 6 It is a structural diagram of the clamping and stacking module; Figure 7 It is a structural diagram of the clamping module; Figure 8 It is a structural diagram of the clamping module; Figure 9 Schematic diagram of the pallet supply device and stacking roller conveyor (with pallets); Figure 10 Schematic diagram of the pallet supply device and stacking roller conveyor (without pallets); Figure 11 It is a structural diagram of the stacking roller table; Figure 12 It is a structural diagram of the tray supply device; Figure 13 is a schematic diagram of step S23; Figure 14 Schematic diagram of the process of the stacking method of the present invention; Figure 15 This is a schematic diagram of the stacking method of the present invention.

[0023] In the picture: 10- barrel roller conveyor; 20 - Transfer device; 21 - Main frame; 21a - Barrel feeding station; 21b - Stacking station; 22 - Clamping and stacking module; 22a - Frame track frame; 22b - Clamping module; 221 - Horizontal frame; 222 - Vertical column; 223 - Crossbeam; 224 - Gear drive mechanism; 225 - Side frame; 226 - Arc clamping block; 227 - Fixed clamping block; 228 - Cylinder; 229 - Fixed plate; 30-stacking roller; 31-first roller; 32-second roller; 33-third roller; 34-support part; 35-linked drive part; 311-longitudinal push plate; 321-transverse push plate; 331-baffle; 40- tray supply device; 41- double chain rail; 42- support base; 43- lifting control unit; 44- chain drive mechanism; 50-small packaging barrel; 60-Pallets. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations. Example

[0025] like Figure 1-12As shown, the present invention provides a small packaging barrel pallet stacking system, including a barrel supply roller 10, a transfer device 20, a stacking roller 30 and a pallet supply device 40, the barrel supply roller 10 is a linear barrel supply, and arranges the small packaging barrels 50 in a row; the transfer device 20 includes a main frame 21 and a clamping and stacking module 22, the main frame 21 includes a barrel supply station 21a and a stacking station 21b, the barrel supply roller 10 is located at the barrel supply station 21a, and the stacking roller 30 is located at the stacking station 21b; the clamping and stacking module 22 can reciprocate between the barrel supply station 21a and the stacking station 21b, the clamping and stacking module 22 can directly clamp a row of small packaging barrels 50 on the barrel supply roller 10, and place them on the pallet 60 of the stacking roller 30; the pallet supply device 40 can supply the pallet 60 to the stacking roller 30 and place the pallet 60 at the stacking station 21b.

[0026] A horizontal track is provided on the top of the main frame 21, and the clamping and stacking module 22 is movably connected to the horizontal track of the main frame 21. The main frame 21 is driven by a rack and pinion mechanism. Specifically, a rack is provided on the top of the main frame 21, and the gear driven by the motor on the clamping and stacking module 22 engages with the rack, thereby driving the clamping and stacking module 22 to reciprocate along the top of the main frame 21.

[0027] Because the clamping and stacking module moves only longitudinally along the top of the mainframe, not laterally, and the pallet's position at the stacking station is fixed, as is its height and diameter, complex image recognition can be eliminated. Stacking requirements can be met solely through the stacking system's program settings. Compared to existing technologies that require complex image recognition processes, the present invention's technical solution enables blind operation without images, and does so without compromising stacking accuracy.

[0028] Compared with the existing technology that requires high-precision, high-cost complex equipment to achieve packaging barrel stacking, the present invention does not require image recognition, and each barrel clamping unit only needs a horizontal drive cylinder to drive the arc-shaped clamping block. An arc-shaped clamping block and two fixed clamping blocks on the vertical column form a triangular structural layout, thereby ensuring the stability and accuracy of clamping.

[0029] The clamping and stacking module 22 includes a frame track frame 22a and a clamping module 22b, wherein the frame track frame 22a is parallel to the arrangement direction of the barrel supply track 10, and the two ends of the frame track frame 22a are respectively provided with vertically arranged vertical rails, and the two ends of the clamping module 22b are movably connected to the vertical rails so that the clamping module 22b is also parallel to the arrangement direction of the barrel supply track 10, and the driving mode of the clamping module 22b along the vertical rail is driven by a gear rack mechanism.

[0030] The clamping module 22b includes a horizontal frame 221 and side frames 225 on both sides. The side frames on both sides are fixedly connected to the two ends of the horizontal frame 221. The gear drive mechanism 224 is installed on the top of the horizontal frame 221. The gear drive mechanism 224 is driven by the drive shaft running across the two ends of the horizontal frame and the gears on it and the vertical racks of the frame track frames 22a on both sides.

[0031] On one side of the clamping module 22b away from the barrel feeding roller 10 is a row of vertical columns 222 connected to the horizontal frame 221 at the top and extending downward. The distance between the geometric centers of two adjacent vertical columns 222 is equal to the diameter of the packaging barrel. The clamping module 22b is provided with a horizontally arranged crossbeam 223 on one side close to the barrel supply roller 10, and both ends of the crossbeam are fixedly connected to the side frame 225; Corresponding to two adjacent vertical columns 222, an arc-shaped clamping block 226 that can be extended and retracted away from the barrel roller 10 is provided on the crossbeam, and the arc-shaped clamping block 226 points to the center direction of the two vertical columns 222 closest to it; corresponding to the arc-shaped clamping block 226, a fixed clamping block 227 is respectively provided on the inner side of the two vertical columns 222 adjacent to it, and the arc-shaped clamping block 226 and the two fixed clamping blocks 227 form a triangular layout.

[0032] In the technical solution designed by the present invention, the number of vertical columns is determined according to the number of packaging barrels clamped each time, and is usually one more than the number of clamped packaging barrels; in the technical solution of the present invention, according to the design of clamping 4 packaging barrels, the number of vertical columns 222 is 5, and the distance between two adjacent vertical columns is fixed to the diameter of a packaging barrel. In this way, it can be ensured that after all the packaging barrels are clamped by the clamping module, the edges of any two adjacent packaging barrels are tangent, that is, consistent with the stacking state.

[0033] Of course, this application takes the layout of stacking a single layer of 4×4 barrels on each pallet, with a total of 32 barrels in two layers as an example. In specific implementation, it can be designed separately according to the relative size relationship between the pallet and the barrel. For example, each pallet can be stacked in three layers, with 6×6 barrels on each layer, for a total of 108 barrels. Then the number of barrels clamped by the clamping module at a time is 6. However, generally, the barrels stacked on each pallet should be at least two layers, with at least 4×4 barrels on each layer. If only one layer can be stacked, with 2×2 barrels on each layer, then conventional stacking equipment can be used. This application is designed for the stacking of small barrels. In terms of size and application, this design first excludes the conventional large barrel structure.

[0034] There are two or more arc-shaped clamping blocks 226, and correspondingly, two or more fixed clamping blocks 227 are also provided on the vertical column 222. The use of multiple arc-shaped clamping blocks 226 and fixed clamping blocks 227 can clamp the packaging barrel more firmly and avoid deformation of the packaging barrel caused by concentrated clamping force.

[0035] The arc-shaped clamping block 226 is connected to the crossbeam 223 through a cylinder 228 and a fixing plate 229 .

[0036] The pallet supply device 40 includes a double chain rail 41, a support base 42, a lifting control unit 43 and a chain drive mechanism 44, wherein the support base 42 provides support for the rear end of the double chain rail 41 through a horizontal support shaft, the lifting control unit 43 provides support for the front end of the double chain rail 41 and can control the lifting and lowering of the front end of the double chain rail 41, and the chain drive mechanism 44 is connected to the double chain rail 41 for driving the chain along the double chain rail; wherein the front end of the double chain rail 41 extends into the slot of the stacking roller 30, and under the control of the lifting control unit 43, the double chain rail 41 has a first state in which the front end height is higher than the stacking roller 30 and a second state in which the front end height is lower than the stacking roller 30.

[0037] The stacking roller 30 includes a first roller 31, a second roller 32, a third roller 33, a support part 34 and a linkage drive part 35, wherein the first roller 31, the second roller 32, and the third roller 33 are arranged in sequence along the conveying direction of the stacking roller 30, and slots allowing the double chain rail 41 to be inserted are respectively provided between the first roller 31 and the second roller 32, and between the second roller 32 and the third roller 33, so that the stacking roller 30 is a discontinuous roller; the first roller 31, the second roller 32, and the third roller 33 on the side of the stacking roller 30 with the slot are supported by the support part 34, and the other side without the slot is jointly driven by the linkage drive part 35.

[0038] Although the stacking roller 30 is divided into a first roller 31, a second roller 32, and a third roller 33, and the three roller sections are separated by notches, the three roller sections are simultaneously driven in a linkage drive part 35, that is, a set of motors, gears and drive chain mechanisms of the linkage drive part 35 are used to drive the three roller sections to move synchronously; and the support part 34 simultaneously supports and fixes the notch sides of the three roller sections, thereby ensuring that although the three roller sections are separated by the double chain rails, they still maintain an organic combination.

[0039] A longitudinal push plate 311 is provided on the first roller 31 for horizontally pushing above the second roller 32, and a transverse push plate 321 is provided on the side of the second roller 32 located at the linkage drive part 35 for horizontally pushing above the second roller 32. A baffle 331 is provided between the two rollers of the third roller 33 near the slot, and when driven upward, the baffle 331 is higher than the third roller 33, and when retracted downward, the baffle 331 is lower than the third roller 33. The baffle 331 plays a role of blocking and positioning the pallet, especially under the pushing action of the longitudinal push plate 311, it can ensure that the pallet is fixed at the position determined by the baffle 331. After each pallet is transported from the pallet supply device 40 to the stacking roller conveyor of the stacking station, the pallet is positioned in the conveying direction of the stacking roller conveyor 30 by the baffle 331 and the longitudinal push plate 311; in the transverse direction of the stacking roller conveyor 30, the pallet is adjusted by the transverse push plate 321, so that the position of the pallet is the same each time after arriving at the stacking roller conveyor 30, thus keeping the stacking position of the packaging barrels the same.

[0040] The longitudinal push plate 311 and the baffle 331 also function to maintain the clamping force between the longitudinal push plate 311 and the baffle 331 during the stacking of the packaging barrels, thereby preventing the position of the entire pallet from moving, thereby improving the stacking effect of the packaging barrels.

[0041] Compared with the prior art, the advantages of the present invention are as follows: The small packaging barrel pallet stacking system provided by the present invention can simultaneously clamp and lift a row of four or more packaging barrels from the barrel supply roller of the barrel supply station, and stack the entire row on the pallet of the stacking roller of the stacking station; since the clamping and stacking module of the transfer device itself cannot move laterally, the packaging barrel can be automatically centered when clamping the packaging barrel, so each time of stacking only requires the packaging barrel at the front end to be identified and positioned, and then stacked behind the packaging barrel at the front end; since each clamping station in the clamping and stacking module only adopts a horizontally telescopic cylinder-driven arc clamping block, and the other side is a fixed clamping block carried by a vertical column, the operation is simpler when clamping the packaging barrel, and the entire clamping mechanism is simplified in design, the overall volume is reduced, and it can meet the stacking requirements of small packaging barrels under conditions of small gaps; the stacking roller and the pallet supply device are organically combined in design, so that the stacking roller will not be disassembled due to the pallet supply of the pallet supply device, thereby maintaining the continuous driving effect of the overall structure of the stacking roller.

[0042] like Figure 13-15 As shown, the present invention also provides a method for stacking small packaging barrels on a pallet, comprising: S10, the pallet supply device 40 transports the pallet 60 to the stacking roller 30 at the stacking station 21b of the transfer device 20; S21, the small packaging barrels 50 are obtained from the barrel supply roller 10, and the small packaging barrels 50 are transported to the barrel supply station 21a of the transfer device 20, and are stacked in a straight line to form a tightly packed row; S22, control the clamping and stacking module 22 to move along the main frame 21 to just above the barrel supply station 21a, so that the arc-shaped clamping block 226 is in an open state away from the fixed clamping block 227; S23, control the clamping module 22b to move downward along the frame track frame 22a, cover the small packaging barrels 50 at the barrel supply station 21a, and then make the fixed clamping block 227 and the arc clamping module 226 clamp the entire row of small packaging barrels 50; S24, control the clamping and stacking module 22 to lift, and then move horizontally along the main frame 21 to the far stacking station N on the stacking roller 30 at the stacking station 21b, completing the stacking of the first group of small packaging barrels; S25. Repeat steps S21-S23, then control the clamping and stacking module 22 to lift, and then move horizontally along the main frame 21 to the far stacking station N-1 on the stacking roller 30 at the stacking station 21b, completing the stacking of the second to fourth groups of small packaging barrels; S26. Repeat steps S21-S23, then control the clamping and stacking module 22 to lift, and then move horizontally along the main frame 21 to the upper part of the small packaging barrels at the far stacking station N on the stacking roller 30 at the stacking station 21b, completing the stacking of the fifth group of small packaging barrels; S27. Repeat steps S21-S23, then control the clamping and stacking module 22 to lift, and then move horizontally along the main frame 21 to the upper part of the small packaging barrel at the far end stacking station N-1 on the stacking roller 30 at the stacking station 21b, completing the stacking of the sixth to eighth groups of small packaging barrels.

[0043] The method for stacking small barrels on a pallet, provided by this invention, combines the structural characteristics of small barrels and pallets. By stacking them in rows, up to 32 barrels can be stacked on a pallet, thus resolving the problem of stacking small barrels. Furthermore, by utilizing the fixed clamping block's inherent lack of a telescopic structure, the method can clamp and release small barrels within the narrow gaps between them, eliminating the drawbacks of conventional clamping mechanisms, which often require complex, space-consuming jaw structures.

[0044] Step S10 includes: S11, controlling the lifting control unit 43 of the pallet supply device 40 to lift the front end of the double chain rail 41 so that the front end of the double chain rail is higher than the height of the upper surface of the stacking roller 30; S12, controlling the chain drive mechanism 44 of the pallet supply device 40 to start, obtaining the pallet 60 and conveying the pallet 60 forward to above the stacking roller 30, so that the pallet 60 is located at the stacking station 21b; S13, controlling the lifting control unit 43 of the pallet supply device 40 to lower the front end of the double chain rail 41 so that the front end of the double chain rail is lower than the height of the upper surface of the stacking roller 30, and the pallet 60 falls on the stacking roller 30; S14 , calibrating the position of the pallet 60 on the stacking roller conveyor 30 .

[0045] Step S14 includes: S141, driving the transverse push plate 321 to push the tray 60 so that the horizontal coordinate of the tray 60 on the stacking roller 30 is located at a predetermined position; S142 , driving the baffle 331 to rise to a height higher than the upper surface of the stacking roller 30 , and then driving the longitudinal push plate 311 to push the tray 60 toward the baffle 331 .

[0046] Step S23 includes: S231: Drive the air cylinder 228 to maximize the opening of the arc-shaped clamping block 226, and obtain the coordinates of the arc-shaped center point A1 of one of the arc-shaped clamping blocks 226, the coordinates of the center point A2 of the virtual clamping arc surfaces of the two fixed clamping blocks 227 opposite to the arc-shaped clamping block 226, and the center coordinate A0 of the small packaging barrel 50 to be clamped on the barrel supply roller 10; S232, moving the clamping and stacking module 22 to move the midpoint of A1+A2 to the position of A0; S233, control the clamping and stacking module 22 as a whole to move at a speed v toward the barrel supply station 21a, and at the same time control the cylinder 228 on the clamping and stacking module 22 to drive the arc-shaped clamping block 226 to move at a speed 2v toward the stacking station 21b. The distance moved by the clamping and stacking module 22 is A2-A0-R, where R is the radius of the small packaging barrel. This method adopts the characteristics of three clamping points, but only the arc-shaped clamping block 226 actively moves. The two fixed clamping blocks 227 are fixed on the vertical column 222 and can only move with the entire clamping and stacking module. Therefore, the positional relationship between the virtual clamping center of the arc-shaped clamping block and the two fixed clamping blocks is adopted, and the cylinder and the clamping and stacking module are designed to be driven in reverse, and the driving speed is twice the rate, thereby achieving relative synchronous movement and keeping the clamping center position of the clamping station unchanged.

[0047] On this basis, it can further include: S234, detecting the pressure on the cylinder rod of the cylinder 228. When the pressure value reaches a preset value, the state of the cylinder 228 is maintained, and the clamping and stacking module 22 is controlled to stop.

[0048] After step S27, the method further includes: S143 , withdraw the transverse push plate 321 , the longitudinal push plate 311 and the baffle 331 , start the linkage drive part 35 of the stacking roller conveyor 30 , and control the tray 60 with the stacked small packaging barrels 50 to be transported from the second roller conveyor 32 to the third roller conveyor 33 .

[0049] The present invention provides a method for stacking small packaging barrels on a pallet, which can achieve the requirements of clamping and stacking without using image recognition technology. During the clamping and lifting process, a row of small packaging barrels can be clamped and fixed, and then moved horizontally to the stacking roller. Since a whole-row lifting and stacking structure is adopted, each stacking only needs to be shifted and stacked according to the coordinates of the previous stacking, thereby achieving a funny and precise stacking effect.

[0050] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for stacking small packaging barrels on a pallet, comprising: S10, the pallet supply device (40) transports the pallet (60) to the stacking roller (30) at the stacking station (21b) of the transfer device (20); S21, obtaining the small packaging barrels (50) from the barrel supply roller (10), conveying the small packaging barrels (50) to the barrel supply station (21a) of the transfer device (20), and stacking them in a straight line to form a tightly packed row; S22, controlling the clamping and stacking module (22) to move along the main frame (21) to the position directly above the barrel supply station (21a), so that the arc-shaped clamping block (226) is in an open state away from the fixed clamping block (227); S23, controlling the clamping module (22b) to move downward along the frame track frame (22a) to cover the small packaging barrels (50) at the barrel supply station (21a), and then causing the fixed clamping block (227) and the arc-shaped clamping module (226) to clamp the entire row of small packaging barrels (50); S24, controlling the clamping and stacking module (22) to lift, and then horizontally moving along the main frame (21) to the far-end stacking station N on the stacking roller (30) at the stacking station (21b), completing the stacking of the first group of small packaging barrels; S25, repeating steps S21-S23, then controlling the clamping and stacking module (22) to lift, and then horizontally moving along the main frame (21) to the far-end stacking station N-1 on the stacking roller (30) at the stacking station (21b), completing the stacking of the second to fourth groups of small packaging barrels; S26, repeating steps S21-S23, then controlling the clamping and stacking module (22) to lift, and then horizontally moving along the main frame (21) to the upper part of the small packaging barrel at the far end stacking station N on the stacking roller (30) at the stacking station (21b), completing the stacking of the fifth group of small packaging barrels; S27, repeat steps S21-S23, then control the clamping and stacking module (22) to lift, and then move horizontally along the main frame (21) to the upper part of the small packaging barrel at the far end stacking station N-1 on the stacking roller (30) at the stacking station (21b), completing the stacking of the sixth to eighth groups of small packaging barrels.

2. The method according to claim 1, characterized in that Step S10 includes: S11, controlling the lifting control unit (43) of the pallet supply device (40) to lift the front end of the double chain rail (41) so that the front end of the double chain rail is higher than the height of the upper surface of the stacking roller (30); S12, controlling the chain drive mechanism (44) of the pallet supply device (40) to start, obtaining the pallet (60) and conveying the pallet (60) forward to above the stacking roller (30), so that the pallet (60) is located at the stacking station (21b); S13, controlling the lifting control unit (43) of the pallet supply device (40) to lower the front end of the double chain rail (41) so that the front end of the double chain rail is lower than the height of the upper surface of the stacking roller (30), and the pallet (60) falls on the stacking roller (30); S14, calibrating the position of the pallet (60) on the stacking roller (30).

3. The method according to claim 2, characterized in that Step S14 includes: S141, driving the transverse push plate (321) to push the tray (60) so that the horizontal coordinate of the tray (60) on the stacking roller (30) is located at a predetermined position; S142, driving the baffle (331) to rise to a height higher than the upper surface of the stacking roller (30), and then driving the longitudinal push plate (311) to push the tray (60) toward the baffle (331).

4. The method according to claim 1, wherein Step S23 includes: S231, driving the cylinder (228) to maximize the opening of the arc-shaped clamping block (226), and obtaining the coordinates of the arc surface center point A1 of one of the arc-shaped clamping blocks (226), the coordinates of the center point A2 of the virtual clamping arc surface of the two fixed clamping blocks (227) opposite to the arc-shaped clamping block (226), and the center coordinate A0 of the small packaging barrel (50) to be clamped on the barrel roller (10); S232, moving the clamping and stacking module (22) to move the midpoint of A1+A2 to the position of A0; S233, control the clamping and stacking module (22) as a whole to move at a speed v toward the barrel supply station (21a), and at the same time control the cylinder (228) on the clamping and stacking module (22) to drive the arc clamping block (226) to move at a speed 2v toward the stacking station (21b), and the distance moved by the clamping and stacking module (22) is A2-A0-R, where R is the radius of the small packaging barrel.

5. The method according to claim 4, characterized in that Further including: S234, detecting the pressure on the cylinder rod of the cylinder (228), and when the pressure value reaches a preset value, maintaining the state of the cylinder (228) and controlling the clamping and stacking module (22) to stop.

6. The method according to claim 1, characterized in that After step S27, the method further includes: S143, withdraw the transverse push plate (321), the longitudinal push plate (311) and the baffle (331), start the linkage drive part (35) of the stacking roller (30), and control the tray (60) on which the small packaging barrels (50) are stacked to be transported from the second roller (32) to the third roller (33).

7. The method according to claim 1, characterized in that A small packaging barrel pallet stacking system includes a barrel supply roller (10), a transfer device (20), a stacking roller (30) and a pallet supply device (40). The barrel supply roller (10) is a linear barrel supply, which arranges the small packaging barrels (50) in a row; the transfer device (20) includes a main frame (21) and a clamping and stacking module (22); the main frame (21) includes a barrel supply station (21a) and a stacking station (21b); the barrel supply roller (10) is located at the barrel supply station (21a), and the The stacking roller (30) is located at the stacking station (21b); the clamping and stacking module (22) can reciprocate between the barrel supply station (21a) and the stacking station (21b); the clamping and stacking module (22) can directly clamp a row of small packaging barrels (50) on the barrel supply roller (10) and place them on the tray (60) of the stacking roller (30); the tray supply device (40) can supply the tray (60) to the stacking roller (30) and place the tray (60) at the stacking station (21b).

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