Automatic stacking equipment

Abstract

The invention relates to the technical field of automatic stacking equipment, in particular to automatic stacking equipment suitable for cigarette packet stacking. The automatic stacking equipment is sequentially provided with an equidistant belt feeding station, an annular rail conveying line and a truss manipulator, the non-packaging output ends at the two ends of the annular rail conveying line are connected with non-packaging double-channel side pushing stations. The packaging output end is sequentially connected with a packaging side double-channel feeding station, a packaging side flow dividing station, a packaging machine and a discharging flow dividing station. The automatic stacking equipment further comprises a double-channel shaping station, and the two ends of the double-channel shaping station are connected with the non-packaging double-channel side pushing station and the discharging flow dividing station correspondingly. A robot stacking station is arranged at the discharging end of the double-channel shaping station and stacks products on the double-channel shaping station to a tray, and the tray is conveyed by a supporting plate conveying platform. The automatic cigarette packet stacking device has the advantages that automatic cigarette packet stacking is achieved, the automation degree is high, manual operation is greatly reduced, and meanwhile the product stacking uniformity is good.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic palletizing equipment, in particular to an automatic palletizing equipment suitable for palletizing cigarette packages. Background Art

[0002] During the post-printing process of printed cigarette packs and cartons, after inspection, the packs need to be bundled according to a specific quantity. After bundling, the bundled products need to be palletized. Existing equipment and technology rely on manual palletizing. The bundling process typically operates at a speed of 5-6 packs per minute, with each pallet weighing 2 kg. Each pallet holds approximately 140-240 pallets, and the palletizing height is 820-1225 mm. This requires repeated manual work by workers. Furthermore, manual palletizing is not standardized, resulting in a certain degree of deviation in the shipped products. Simply put, existing cigarette palletizing processes are labor-intensive, complex, and lack uniformity in the stacking of bundled products. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide an automatic palletizing device.

[0004] The technical solution adopted by the present invention to solve its technical problems is: an automatic palletizing equipment, which is used for palletizing products. Along the product travel route, equidistant belt loading stations and circular track conveyor lines, as well as a truss manipulator for transferring products between the equidistant belt loading stations and the circular track conveyor lines are sequentially arranged; the two ends of the circular track conveyor line are respectively a packaging output end and a non-packaging output end, and the non-packaging output end is connected to a non-packaging dual-channel side pushing station; the packaging output end is sequentially connected to a packaging side dual-channel loading station, a packaging side diversion station, a baler and a discharge diversion station; the automatic palletizing equipment also includes a dual-channel shaping station, and the two ends of the dual-channel shaping station are respectively connected to the non-packaging dual-channel side pushing station and the discharge diversion station; the discharge end of the dual-channel shaping station is provided with a robot palletizing station, and the robot palletizing station palletizes the products of the dual-channel shaping station onto a pallet, and the pallet is transported by a pallet conveying platform.

[0005] Furthermore, the equidistant belt loading station includes a loading rack, the product travel direction is set as the Y direction, the direction perpendicular to the Y-direction horizontal plane is the X direction, and the height direction of the loading rack is the Z direction; the loading rack is provided with a number of belt assemblies for transmitting products, the discharging end of the belt assembly is provided with a baffle assembly, the spacing between two adjacent belt assemblies is equal, and a number of belt assemblies are distributed along the X direction; an adjustment assembly for adjusting the position of each belt assembly is provided under the belt assembly, and belt track assemblies for facilitating the sliding of the belt assembly are provided on both sides of the adjustment assembly, and the adjustment assembly and the two belt track assemblies are arranged along the Y direction; the loading rack is provided with a clapper column along the Z direction, and a clapper assembly is installed on the top of the clapper column, and the clapper assembly is located above the belt assembly.

[0006] Evenly spaced belt assemblies are used to ensure uniform loading of products. The barrier assembly prevents products from falling at the end of the conveyor, and the slapper assembly vertically slaps and tidies the products in the Z direction, ensuring a stable posture during product conveyance and improving stacking orderliness. The design of the adjustment assembly and belt track assembly allows for flexible adjustment of the belt spacing to accommodate the loading needs of products of different sizes. The clear division of three-dimensional directions (X / Y / Z) optimizes the spatial layout and facilitates collaboration with other automated equipment.

[0007] Furthermore, the truss manipulator has a transplanting frame, and the left and right directions of the transplanting frame are set as the X direction, the left and right directions are set as the Y direction, and the height direction is set as the Z direction; a Y-direction transplanting module is installed on the transplanting frame, an X-direction transplanting module is installed at the output end of the Y-direction transplanting module, and a Z-direction transplanting module is installed at the output end of the X-direction transplanting module; a transplanting connecting rod is installed at the output end of the Z-direction transplanting module, and the transplanting connecting rod is connected to a variable pitch module through a quick connector, and a clamping claw assembly is installed on the slider of the variable pitch module.

[0008] The tandem design of the X / Y / Z modules enables precise three-dimensional positioning, meeting the complex displacement requirements of palletizing operations. The transfer link and variable distance module are connected via a quick connector, facilitating the replacement of variable distance modules (such as 3 / 7 / 8 sliders) to accommodate palletizing of varying sizes. The variable distance module, combined with the gripper assembly, allows for flexible adjustment of the gripping distance, making it suitable for applications where the incoming material spacing is variable and the unloading material spacing is fixed.

[0009] Furthermore, the circular track conveyor line includes a chain plate trough assembly that supports the product, and the chain plate trough assembly is driven by a fixed-distance driving module for circular conveying; the chain plate trough assembly includes a chain plate installed on the fixed-distance driving module, and a conveying support plate is provided on one side of the chain plate.

[0010] Furthermore, the non-packaging dual-channel side pushing station has an upper frame assembly and a lower frame assembly distributed up and down, and the lower frame assembly includes a lower frame, on which a first channel conveying assembly and a second channel conveying assembly are installed; the first channel conveying assembly is sequentially configured with a first feeding smooth strip, a first transition plate and a first discharging smooth strip along the product conveying route; the second channel conveying assembly is sequentially configured with a second feeding smooth strip, a second transition plate and a second discharging smooth strip along the product conveying route; a first discharging push plate for pushing the product from the first transition plate to the first discharging smooth strip is installed at the first transition plate, and a second discharging push plate for pushing the product from the second transition plate to the second discharging smooth strip is installed at the second transition plate; the upper frame assembly includes an upper frame, on which a first push plate assembly and a second push plate assembly are respectively provided for feeding and shaping the first feeding smooth strip and the second feeding smooth strip products.

[0011] The upper and lower rack components are distributed vertically to achieve dual-channel independent conveying, improve space utilization, and adapt to compact layouts. The first / second channel conveying components adopt a combination of flow strips and transition plates to achieve unpowered rolling conveying of products, reducing energy consumption. At the same time, the discharging push plate is used to complete lateral push-out and sorting, with precise and efficient movements. The push plate assembly of the upper rack shapes the product (such as alignment or positioning) to ensure the stability of the product posture during the conveying and sorting process and reduce the risk of material jamming. The upper rack is responsible for feeding and shaping, while the lower rack is responsible for conveying and discharging. The modular structure and clear functional divisions facilitate maintenance and debugging. At the same time, the transition plate cooperates with the discharging push plate to achieve rapid lateral push-out of products at the end of the conveying path, reducing manual intervention and improving the degree of automation.

[0012] Furthermore, the dual-channel shaping station includes a shaping frame, which is provided with a plurality of shaping channel assemblies at different heights, each shaping channel assembly including a first shaping assembly, a transition assembly, and a second shaping assembly arranged in sequence; the first shaping assembly includes a first smoothing bar mounted on the shaping frame, a first baffle provided on one side of the first smoothing bar to prevent products from falling, the first baffle extending from the first shaping assembly to the transition assembly; a first feeding clapper provided above the first smoothing bar; ejection assemblies for ejecting products are provided on both sides of the first smoothing bar, the ejection assemblies including an ejection cylinder, an ejection base plate provided on the ejection cylinder ejector rod, two ejection plate mounting seats provided on the ejection base plate, each ejection plate mounting seat provided with a plurality of inwardly extending ejection plates, and the two ejection plate mounting seats provided on both sides of the first smoothing bar. By providing multiple shaping channel assemblies arranged at different heights, multi-station parallel processing is achieved, thereby improving production efficiency. Each shaping channel assembly can be fed at both ends, enabling the shaping of two products and expanding its scope of application.

[0013] Furthermore, the dual-channel loading station on the packaging side includes a conveyor frame, which is provided with a first conveying channel and a second conveying channel; the conveyor frame is also provided with a first shift plate and a second shift plate, the first shift plate shifts the product from the circular track conveyor line to the first conveying channel, and the second shift plate shifts the product from the circular track conveyor line to the second conveying channel.

[0014] Furthermore, a manual loading station is provided between the equidistant belt loading station and the packaging side dual-channel loading station; the first conveying channel changes the conveying direction and conveys products to the circular track conveyor line; the conveyor frame is also provided with a third shift plate, and the third shift plate shifts the product from the first conveying channel to the circular track conveyor line.

[0015] Furthermore, the packaging side diversion station includes a diversion frame, the diversion frame is provided with a loading assembly, and unloading assemblies are provided on both sides of the loading assembly; the diversion frame is also provided with a diversion plate for diverting products from the loading assembly to the unloading assembly, and the diversion plate is driven by a diversion linear module; the discharge end of the unloading assembly is connected to a unloading conveyor belt; the diversion frame is provided with a feed baffle to prevent the product from slipping, the feed baffle is located above the loading assembly, and the feed baffle is located on the side of the loading assembly away from the feed port.

[0016] Efficient sorting is achieved through the diversion plate and diversion linear module, with a simple structure and precise positioning, which improves sorting efficiency; the feed baffle prevents products from slipping, especially in inclined loading scenarios, to ensure stability; the unloading conveyor belt is directly connected to the unloading component to achieve automatic unloading and reduce manual intervention.

[0017] Furthermore, the discharging diversion station includes a discharging diversion frame, on which a plurality of rotating clamping assemblies and a plurality of discharging assemblies are installed. The rotating clamping assemblies are arranged above the discharging assemblies, and the number of the rotating clamping assemblies and the discharging assemblies is the same; the rotating clamping assembly includes a transplanting cylinder installed on the discharging diversion frame, a clamping base is provided at the top rod of the transplanting cylinder, a first lifting cylinder is installed on the lower surface of the clamping base, a transition plate is installed at the top rod of the first lifting cylinder, a rotating part is installed on the lower surface of the transition plate, a clamping plate base is provided at the rotating end of the rotating part, two clamping plates are provided on the clamping plate base, each clamping plate is driven by a corresponding clamping plate cylinder, and the clamping plate cylinder is installed on the clamping plate base. The coordinated design of the rotating clamping assembly and the discharging assembly realizes a 180° flip of the product through the combination of the transplanting cylinder, the first lifting cylinder and the rotating part, which meets production requirements and improves the flexibility and precision of diversion. The clamping plate cylinder drives the clamping plate to work, providing stable clamping force to ensure that the product does not fall off or shift during the transfer process, which is especially suitable for fragile products.

[0018] The beneficial effects of the present invention are: the present invention has a reasonable design and is easy to operate. It is equipped with an equidistant belt loading station, a truss manipulator, a circular track conveyor line, a non-packing dual-channel side pushing station, a dual-channel shaping station, a packing side dual-channel loading station, a packing side diversion station, a packing machine, a discharge diversion station, a robot stacking station, a pallet conveying platform and a manual loading station, which realizes automatic stacking of cigarette packages, has a high degree of automation, greatly reduces manual operation, and also has the advantages of good product stacking uniformity. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings and examples.

[0020] Figure 1 It is a structural schematic diagram of the present invention;

[0021] Figure 2It is a three-dimensional diagram of the equidistant belt loading station;

[0022] Figure 3 yes Figure 2 A partial enlarged view of point A in the middle;

[0023] Figure 4 yes Figure 2 A stereogram from another perspective;

[0024] Figure 5 This is a schematic diagram of the installation of the belt assembly and the adjustment assembly;

[0025] Figure 6 yes Figure 5 The main view;

[0026] Figure 7 It is a structural diagram of the waste discharge belt assembly;

[0027] Figure 8 1. It is a structural diagram of the baffle assembly;

[0028] Figure 9 It is a three-dimensional diagram of the truss manipulator;

[0029] Figure 10 yes Figure 9 The main view;

[0030] Figure 11 is a schematic diagram of the initial state of the gripper assembly;

[0031] Figure 12 It is a schematic diagram of the working state of the gripper assembly;

[0032] Figure 13 It is a structural diagram of the circular track conveyor line;

[0033] Figure 14 This is a three-dimensional diagram of the unpacked dual-channel side push station;

[0034] Figure 15 yes Figure 14 The main view;

[0035] Figure 16 It is a structural diagram of the upper rack assembly;

[0036] Figure 17 is a schematic structural diagram of the lower rack assembly;

[0037] Figure 18 yes Figure 17 A top view of

[0038] Figure 19 It is a three-dimensional diagram of a dual-channel shaping station;

[0039] Figure 20 yes Figure 19 A stereogram from another perspective;

[0040] Figure 21 yes Figure 19 A top view of

[0041] Figure 22 This is a schematic diagram of the installation of the first baffle and the ejection assembly;

[0042] Figure 23 yes Figure 22 Structural diagram from another perspective;

[0043] Figure 24 It is a structural diagram of the transition component;

[0044] Figure 25 yes Figure 24 Structural diagram from another perspective;

[0045] Figure 26 This is a structural diagram of the dual-channel loading station on the packaging side;

[0046] Figure 27 This is a three-dimensional diagram of the diversion station on the packaging side;

[0047] Figure 28 yes Figure 27 Schematic diagram from another perspective;

[0048] Figure 29 It is a structural diagram of the feeding component;

[0049] Figure 30 It is a structural diagram of the feeding drive assembly;

[0050] Figure 31 It is a schematic diagram of the blanking component;

[0051] Figure 32 Yes Figure 31 Right view;

[0052] Figure 33 It is a three-dimensional diagram of the discharge diversion station;

[0053] Figure 34 is a schematic structural diagram of a rotary clamping assembly;

[0054] Figure 35 It is a structural diagram of the discharge component;

[0055] Figure 36 This is a schematic diagram of the installation of the discharge suspension roller and synchronous belt.

[0056] In the figure: 1. Equidistant belt loading station, 2. Truss manipulator, 3. Circular track conveyor line, 4. Non-packaging dual-channel side push station, 5. Dual-channel shaping station, 6. Packaging side dual-channel loading station, 7. Packaging side diversion station, 8. Packing machine, 9. Outfeed diversion station, 10. Robotic palletizing station, 11. Pallet conveying platform, 12. Manual loading station, 100. Products;

[0057] 1-1. Loading frame, 1-2. Clapper column, 1-3. Belt assembly, 1-4. Clapper assembly, 1-5. Stop rod assembly, 1-6. Adjustment assembly, 1-7. Waste discharge belt assembly; 1-31. Belt base, 1-32. Loading belt, 1-33. Giving way; 1-41. Clapper beam, 1-42. Clapper, 1-43. Clapper servo cylinder; 1-51. Y guide rail, 1-52. X guide rail, 1-53. Stop rod, 1-54 Manual locking assembly, 1-55. Hand crank; 1-61. Linear module, 1-62. Adjusting cylinder, 1-63. Long rack, 1-64. Short rack, 1-65. Adjusting base plate, 1-66. Vertical plate, 1-67. Linear guide, 1-68. Spring assembly, 1-69. Connecting plate, 1-610. Positioning plate, 1-611. Positioning sensor; 1-71. Waste discharge belt, 1-72. Lifting base plate, 1-73. Lifting cylinder;

[0058] 2-1. Transplanting frame, 2-2. Y-axis transplanting module, 2-3. Z-axis transplanting module, 2-4. X-axis transplanting module, 2-5. Female quick-connect connector, 2-6. Male quick-connect connector, 2-7. Pitch-changing module, 2-8. Gripper assembly, 2-9. Transplanting connecting rod, 2-81. Connecting rod, 2-82. Cylinder base, 2-83. Double-head cylinder, 2-84. Cylinder, 2-85. Gripper, 2-86. Cross plate;

[0059] 3-1. Fixed-distance drive module, 3-2. Chain plate, 3-3. Conveyor support plate;

[0060] 4-1. Upper frame, 4-2. Lower frame, 4-3. First feed fluent strip, 4-4. First transition plate, 4-5. First discharge fluent strip, 4-6. Second feed fluent strip, 4-7. Second transition plate, 4-8. Second discharge fluent strip, 4-9. First flip push plate, 4-10. Flip cylinder, 4-12. First receiving push plate, 4-13. First discharge push plate, 4-14. Second flip push plate, 4-15. Second receiving push plate, 4-16. Second discharge push plate, 4-17. Fixed baffle, 4-18. Movable baffle, 4-19. Inclined guide;

[0061] 5-1. Shaping frame, 5-2. First shaping assembly, 5-3. Transition assembly, 5-4. Second shaping assembly, 5-5. First feeding clapper, 5-6. Second feeding clapper, 5-7. First linear module; 5-21. First smooth strip, 5-22. First baffle, 5-23. Ejector plate, 5-24. Ejector plate mounting seat, 5-25. Ejector base plate, 5-26. Ejector cylinder, 5-27. First cylinder, 5-28. Shaping bevel Surface guide; 5-31. Transition frame, 5-32. Transition smooth strip, 5-33. First infrared sensor, 5-34. Transition ejector baffle, 5-35. Transition ejector cylinder, 5-36. Transition baffle, 5-37. Transition baffle cylinder; 5-41. Second conveyor belt, 5-42. Mounting frame, 5-43. Second translation cylinder, 5-44. Translation carriage, 5-45. Second lifting cylinder, 5-46. Second infrared sensor;

[0062] 6-1. Conveyor rack, 6-2. First conveyor channel, 6-3. Second conveyor channel, 6-4. First dial plate, 6-5. Second dial plate, 6-5. Third dial plate;

[0063] 7-1. Diverter frame, 7-2. Crossbeam, 7-3. Feed baffle, 7-4. Diverter plate, 7-5. Unloading assembly, 7-6. Loading assembly, 7-7. Unloading conveyor belt; 7-51. Unloading base, 7-52. Unloading suspension roller, 7-53. Unloading motor, 7-54. Unloading lifting motor, 7-55. Rack, 7-56. Unloading belt, 7-57. Unloading extrusion wheel, 7-58. Linear guide; 7-61. Loading base, 7-62. Loading roller, 7-63. Loading motor, 7-64. Loading extrusion wheel, 7-65. Loading belt, 7-66. Loading synchronous roller;

[0064] 9-1. Discharge diversion frame, 9-2. Rotating clamping assembly, 9-3. Discharge assembly; 9-21. Clamping base, 9-22. First lifting cylinder, 9-23. Transition plate, 9-24. Rotating part, 9-25. Clamping plate base, 9-26. Clamping plate, 9-27. Clamping plate cylinder; 9-31. Discharge base, 9-32. Discharge suspension roller, 9-33. Discharge motor, 9-34. Discharge lifting motor, 9-35. Discharge rack, 9-36. Discharge belt, 9-37. Discharge extrusion wheel, 9-38. Linear guide rail, 9-39. Lower limit block, 9-40. Synchronous belt. DETAILED DESCRIPTION

[0065] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0066] Example 1

[0067] like Figure 1 The automatic palletizing equipment shown is used for palletizing products 100. Along the route of the products 100, there are arranged in sequence an equidistant belt loading station 1 and a circular track conveyor line 3, as well as a truss robot 2 for transferring products between the equidistant belt loading station 1 and the circular track conveyor line 3; the two ends of the circular track conveyor line 3 are respectively a packaging output end and a non-packing output end, and the non-packing output end is connected to a non-packing dual-channel side pushing station 4; the packaging output end is connected in sequence to a packaging side dual-channel loading station 6, a packaging side diversion station 7, a baler 8 and a discharge diversion station 9; the automatic palletizing equipment also includes a dual-channel shaping station 5, the two ends of the dual-channel shaping station 5 are respectively connected to the non-packing dual-channel side pushing station 4 and the discharge diversion station 9; a robot palletizing station 10 is provided at the discharge end of the dual-channel shaping station 5, and the robot palletizing station 10 palletizes the products 100 of the dual-channel shaping station 5 onto a pallet, which is transported by a pallet conveying platform 11.

[0068] Product 100 is loaded at the equidistant belt loading station 1, and the truss robot 2 transfers the product from the equidistant belt loading station 1 to the circular track conveyor line 3. If the product does not need to be packaged, the product enters the dual-channel shaping station 5 through the non-packaging dual-channel side pushing station 4. Finally, the robot palletizing station 10 stacks the product 100 from the dual-channel shaping station 5 onto the pallet, and the pallet is transported by the pallet conveying platform 11.

[0069] If the product needs to be packaged, the product will pass through the packaging side dual-channel loading station 6, the packaging side diversion station 7, the baler 8 and the discharge diversion station 9 in sequence, and finally enter the dual-channel shaping station 5. The robot palletizing station 10 will palletize the product 100 from the dual-channel shaping station 5 onto the pallet, and the pallet will be transported by the pallet conveying platform 11.

[0070] like Figures 2 to 8 The equidistant belt loading station 1 shown

[0071] This equidistant belt loading station 1 is used for loading products 100, and includes a loading frame 1-1, with the travel direction of the product 100 set as the Y direction, the direction perpendicular to the horizontal plane of the Y direction as the X direction, and the height direction of the loading frame 1-1 as the Z direction; the loading frame 1-1 is provided with ten belt assemblies 1-3 for conveying the products 100, and the discharging end of the belt assembly 1-3 is provided with a baffle assembly 1-5, and the spacing between two adjacent belt assemblies 1-3 is equal, and the ten belt assemblies 1-3 are distributed along the X direction; an adjustment assembly 1-6 for adjusting the position of each belt assembly 1-3 is provided below the belt assembly 1-3, and belt track assemblies are provided on both sides of the adjustment assembly 1-6 to facilitate the sliding of the belt assembly 1-3, and the adjustment assembly 1-6 and the two belt track assemblies are arranged along the Y direction; a clapper column 1-2 is provided on the loading frame 1-1 along the Z direction, and a clapper assembly 1-4 is installed on the top of the clapper column 1-2, and the clapper assembly 1-4 is located above the belt assembly 1-3.

[0072] The adjustment component 1-6 includes a linear module 1-61, a slide of the linear module 1-61 is provided with an adjustment cylinder 1-62, a long rack 1-63 is provided on the outside of the linear module 1-61, and the long rack 1-63 is installed on the inner wall of the belt track assembly away from the barrier rod assembly 1-5; a linear guide 1-67 is provided under the belt assembly 1-3, and an adjustment base plate 1-65 is installed on the slide of the linear guide 1-67, a short rack 1-64 is installed at one end of the adjustment base plate 1-65, and a vertical plate 1-66 is installed downward at the other end of the adjustment base plate 1-65, the vertical plate 1-66 is arranged close to the top rod of the adjustment cylinder 1-62, and the short rack 1-64 is arranged close to the long rack 1-63; a connecting plate 1-69 is installed on the upper surface of the adjustment base plate 1-65, and the connecting plate 1-69 is arranged close to the short rack 1-64; the connecting plate 1-69 is installed on the outside of the linear guide 1-67 through the spring assembly 1-68.

[0073] The regulating cylinder 1-62 drives the short rack 1-64 and the long rack 1-63 to disengage, and the linear module 1-61 drives the belt assembly 1-3 to move to the target position. The cooperation between the linear module 1-61 and the regulating cylinder 1-62 realizes the precise position adjustment of the belt assembly 1-3 with a high degree of automation; the meshing design of the long rack 1-63 and the short rack 1-64 enhances the adjustment stability and avoids the deviation of the belt assembly 1-3; the vertical plate 1-66 cooperates with the cylinder push rod to simplify the adjustment power transmission structure and reduce the failure rate.

[0074] A positioning piece 1-610 is installed on the underside of belt assembly 1-3, and a positioning sensor 1-611 is installed on the slide of linear guide 1-67. These two pieces work together to position belt assembly 1-3. This closed-loop feedback system ensures precise positioning of belt assembly 1-3, eliminating manual intervention and improving automation and reliability. This system is particularly suitable for rapidly switching between multiple product sizes.

[0075] This equidistant belt loader for automatic palletizing also includes a waste discharge belt assembly 1-7, which includes three synchronously rotating waste discharge belts 1-71, with unequal spacing between adjacent waste discharge belts 1-71. The waste discharge belt assembly 1-7 also includes a belt lifting assembly for lifting the waste discharge belt 1-71. The waste discharge belts 1-71 are designed with unequal spacing to handle waste or defective products of different specifications, providing greater compatibility. The two waste discharge belts 1-71 near the barrier assembly 1-5 are spaced closely together. The waste discharge belt assembly 1-7 is designed with unequal spacing to handle waste or defective products of different specifications, providing greater compatibility. The belt lifting assembly can quickly lift the waste discharge belt 1-71 to form a waste discharge channel, avoiding interference with the main conveyor line, preventing waste accumulation from interfering with loading, and facilitating waste separation.

[0076] The belt lifting assembly includes a lifting base plate 1-72, which is connected to each waste discharge belt 1-71 to support the waste discharge belt 1-71. A lifting cylinder 1-73 is mounted on the lower surface of the lifting base plate 1-72. The lifting base plate 1-72 supports the waste discharge belt 1-71 as a whole, ensuring a smooth lifting process.

[0077] The belt assembly 1-3 includes a belt base 1-31, on which a feed belt 1-32 is mounted. A recess 1-33 for the waste discharge belt 1-71 is formed on the upper surface of the belt base 1-31. The feed belt 1-32 is aligned with the recess 1-33 via a guide pulley. The recess 1-33 allows for a seamless connection between the waste discharge belt 1-71 and the feed belt 1-32, saving space. The guide pulley ensures that the feed belt 1-32 operates smoothly within the recess 1-33, preventing slipping or jamming.

[0078] The clapper assembly 1-4 comprises a clapper beam 1-41 mounted on top of the clapper column 1-2. A clapper servo cylinder 1-43 is mounted on the clapper beam 1-41, and the clapper 1-42 is connected to the top rod of the clapper servo cylinder 1-43. The clapper servo cylinder 1-43 drives the clapper to tap the products in the Z direction, correcting any tilt or misalignment and ensuring alignment between stacked layers. The clapper beam 1-41 provides rigid support, preventing deformation during the tapping process and improving the finishing effect, making it suitable for high-frequency operations.

[0079] The lever assembly 1-5 comprises a Y-rail 1-51 mounted on the loading frame 1-1. A guide column is attached to the slider of the Y-rail 1-51, and a manual locking assembly 1-54 is also attached to the slider. A hand crank 1-55 is located on the outside of the Y-rail 1-51, driving the slider along the Y-rail 1-51. An X-rail 1-52 is mounted on the top of the guide column, and several lever sliders are mounted on the X-rail 1-52. Each lever slider is attached to a lever 1-53, each of which is equipped with a manual locking assembly 1-54. The Y-rail 1-51 and X-rail 1-52 form a two-dimensional adjustment system, allowing the lever position to be flexibly adjusted to accommodate different product sizes. The manual locking assembly 154 and the hand crank provide fine adjustment capabilities, making operation convenient and cost-effective.

[0080] In this embodiment, the product 100 is loaded horizontally, that is, the long side of the product 100 is transported along the Y direction, and the long side of the product 100 is in contact with the blocking rod assembly 1-5.

[0081] The working process of the equidistant belt loader for automatic palletizing in this embodiment is as follows:

[0082] Step (1): Based on the product information detected in the previous process, the spacing between two adjacent belt assemblies 1-3 needs to be adjusted, and the spacing between the bars in the bar assembly 1-5 also needs to be adjusted accordingly;

[0083] The adjustment process of the belt assembly 1-3 is as follows: the linear module 1-61 works, and the slide of the linear module 1-61 moves along the X direction to the bottom of the belt assembly 1-3 to be adjusted. When the positioning sensor 1-611 senses the positioning piece 1-610, the linear module 1-61 stops working, and at the same time, the top rod of the adjusting cylinder 1-62 extends out, pressing against the vertical plate 1-66 to move left, and the power is transmitted through the adjusting base plate 1-65. The spring assembly 1-68 is tightened, and the short rack 1-64 is disengaged from the long rack 1-63. At this time, the linear module 1-61 continues to work, and the slide of the linear module 1-61 drives the adjusting cylinder 1-62, the adjusting base plate 1-65 and the belt assembly 1-3 to move to the target adjustment position as a whole; the top rod of the adjusting cylinder 1-62 retracts, and the spring assembly 1-6 8, power is transmitted through the connecting plate 1-69 and the adjusting base plate 1-65, the short rack 1-64 is re-engaged with the long rack 1-63, and the belt assembly 1-3 is adjusted into place; then the slide of the linear module 1-61 drives the adjusting cylinder 1-62 to continue adjusting the next belt assembly 1-3 to be adjusted, until all the belt assemblies 1-3 to be adjusted are adjusted; the adjustment process of the lever in the lever assembly 1-5 is as follows: operate the hand crank 1-55 to adjust the guide rail column to the target position along the Y guide rail 1-51, and the manual locking assembly 1-54 on the slider of the Y guide rail 1-51 is locked; then adjust the lever 1-53, adjust the lever 53 to the target position along the X guide rail 1-52, and then lock the manual locking assembly 1-54 on the lever slider;

[0084] Step (2), the belt assembly 1-3 is loaded, the long side of the product 100 is transmitted along the Y direction, and then blocked by the blocking rod 1-53, and the clapper servo cylinder 1-43 drives the clapper 1-42 to clap the product 100 to correct the tilt or misalignment of the product 100;

[0085] Step (3): According to the product information detected in the previous process, if the product 100 is a good product, the next process is entered; if the product 100 is a waste product, the belt lifting assembly drives the waste discharge belt assembly 1-7 to rise, and the waste discharge belt 1-71 rotates synchronously, driving the product 100 to move to the waste station; since the product 100 is loaded horizontally in this embodiment, only two waste discharge belts 1-71 close to the barrier assembly 1-5 are needed to transplant the product 100.

[0086] This equidistant belt loading station 1 has the following core advantages: (1) Efficient automation: Through the coordinated work of the belt component 1-3, the adjustment component 1-6 and the clapper component 1-4, the product is automatically conveyed, the spacing is adjusted and the position is corrected, which significantly improves the stacking efficiency; (2) Flexible adaptability: The adjustable belt spacing, the lifting and lowering of the waste discharge belt 1-71 and the multi-dimensional adjustment of the stopper 1-53 are compatible with various product specifications and waste handling requirements; (3) Structural optimization: The modular design (such as the linear module 1-61 and the clearance groove 1-33) reduces the difficulty of maintenance, and the spring buffer and positioning sensor improve the reliability of the equipment; (4) Cost-effectiveness: The partial manual adjustment design (such as the stopper 1-53) controls the manufacturing cost while ensuring the function; (5) Compact structure: The design of the clearance groove, the lifting of the waste discharge belt, etc. optimizes the space utilization, reduces the equipment footprint, and has a compact three-dimensional layout, which is suitable for the limited space environment of the factory.

[0087] like Figures 9 to 12 The truss manipulator 2 shown

[0088] This truss manipulator 2 has a transplanting frame 2-1, and the left and right directions of the transplanting frame 2-1 are set as the X direction, the left and right directions as the Y direction, and the height direction as the Z direction; a Y-direction transplanting module 2-2 is installed on the transplanting frame 2-1, an X-direction transplanting module 2-4 is installed at the output end of the Y-direction transplanting module 2-2, and a Z-direction transplanting module 2-3 is installed at the output end of the X-direction transplanting module 2-4; a transplanting link 2-9 is installed at the output end of the Z-direction transplanting module 2-3, and the transplanting link 2-9 is connected to the variable pitch module 2-7 through a quick connector, and a clamping claw assembly 2-8 is installed on the slider of the variable pitch module 2-7.

[0089] The gripper assembly 2-8 includes a connecting rod 2-81 connected to the slider of the pitch-variable module 2-7. The end of the connecting rod 2-81 is connected to a cylinder base 2-82. A double-ended cylinder 2-83 and two cylinders 2-84 are mounted on the lower surface of the cylinder base 2-82. The cylinders 2-84 are positioned on either side of the double-ended cylinder 2-83 along the Y-axis. The top rods of the double-ended cylinder 2-83 and cylinder 2-84 are each connected to a gripper 2-85. The combined gripper drive structure of the double-ended cylinder 2-83 and the two cylinders 2-84 enhances the distribution of gripping force and prevents cargo from tilting or slipping.

[0090] The end of the gripper 2-85 is equipped with an inward-folding horizontal plate 2-86 with a rounded transition edge. This plate increases the contact area and enhances grip stability on product edges, making it particularly suitable for packaging products with smooth surfaces. The rounded transition design prevents sharp edges from scratching the product surface.

[0091] The quick connector consists of a female quick connector 2-5 and a male quick connector 2-6. The female quick connector 2-5 is located at the end of the transplanting link 2-9, and the male quick connector 2-6 is located at the top of the pitch module 2-7. The design of the male and female quick connectors enables rapid assembly and disassembly of the pitch module 2-7, shortening equipment changeover time and improving production efficiency.

[0092] Y-axis transfer module 2-2 is a linear motor module. This module drives Y-axis movement and offers high response, high speed, high precision, and low maintenance, making it suitable for high-frequency palletizing scenarios.

[0093] The pitch-changing module 2-7 is an eight-slider pitch-changing module.

[0094] The specific working process of this truss manipulator 2 is as follows:

[0095] The X-direction transfer module 2-4, the Y-direction transfer module 2-2 and the Z-direction transfer module 2-3 work together, the variable pitch module 2-7 works, the clamping jaw assembly 2-8 descends to clamp the product and then rises, while the variable pitch module 2-7 continues to work to adjust the product discharge spacing. After the X-direction transfer module 2-4, the Y-direction transfer module 2-2 and the Z-direction transfer module 2-3 work together again, the clamping jaw assembly 2-8 is located at the discharge position to perform discharge work.

[0096] This truss robot 2 has the following advantages: (1) The three-axis linkage and the variable pitch module 2-7 realize fully automatic and precise transplanting, support rapid switching of products of multiple specifications, and significantly improve the flexibility of the production line; (2) The multi-cylinder coordination and cross-plate structure of the clamping jaw assembly 2-8 ensure firm grasping and reduce the risk of damage to goods during transportation; (3) The quick-connect joint and modular structure reduce the difficulty of equipment commissioning and maintenance and shorten downtime; (4) The variable pitch module cooperates with the clamping jaw assembly to flexibly adjust the clamping spacing, which is suitable for use in scenarios where the incoming material spacing is not fixed and the spacing is fixed during the discharge process.

[0097] like Figure 13 The circular track conveyor line 3 shown

[0098] This circular track conveyor line 3 includes a chain plate trough assembly that supports products 100. This chain plate trough assembly is driven by a fixed-distance drive module 3-1 for circular conveying. The chain plate trough assembly includes a chain plate 3-2 mounted on the fixed-distance drive module 3-1, and a conveying support plate 3-3 is provided on one side of the chain plate 3-2. The fixed-distance drive module 3-1 operates, starting and stopping, to facilitate the conveying of products 100.

[0099] like Figure 13 The unpacked dual-channel side push station 4 shown

[0100] The non-packing dual-channel side push station 4 has an upper frame assembly and a lower frame assembly distributed up and down. The lower frame assembly includes a lower frame 4-2, on which the first channel conveying assembly and the second channel conveying assembly are installed; the first channel conveying assembly is sequentially configured with a first feeding flow strip 4-3, a first transition plate 4-4 and a first discharge flow strip 4-5 along the product conveying route; the second channel conveying assembly is sequentially configured with a second feeding flow strip 4-6, a second transition plate 4-7 and a second discharge flow strip along the product conveying route 4-8; the first transition plate 4-4 is provided with a first discharging push plate 4-13 for pushing the product from the first transition plate 4-4 to the first discharging fluid strip 4-5, and the second transition plate 4-7 is provided with a second discharging push plate 4-16 for pushing the product from the second transition plate 4-7 to the second discharging fluid strip 4-8; the upper frame assembly includes an upper frame 4-1, and the upper frame 4-1 is provided with a first push plate assembly and a second push plate assembly for feeding and shaping the products of the first feeding fluid strip 4-3 and the second feeding fluid strip 4-6 respectively.

[0101] The first feeder conveyor 4-3 and the first discharge conveyor 4-5 are arranged vertically; the second feeder conveyor 4-6 and the second discharge conveyor 4-8 are arranged vertically. The vertical arrangement of the feeder and discharge conveyor optimizes the spatial layout, enabling 90-degree product sorting during conveyance, meeting multi-directional discharge requirements. This vertical design shortens the overall conveyor line length, reduces equipment footprint, and improves space utilization.

[0102] The first feed strip 4-3 and the second feed strip 4-6 are arranged side by side, while the second discharge strip 4-8 is positioned lower than the first discharge strip 4-5. The second transition plate 4-7 is driven up and down by a linear module, and the second discharge push plate 4-16 is positioned below the second transition plate 4-7. The side-by-side feed strips and the staggered discharge strips enable independent sorting in two channels without interference, improving sorting efficiency. The second transition plate 4-7 is raised and lowered by a linear module, dynamically adjusting the discharge height to accommodate different product specifications or downstream equipment interface requirements, providing high flexibility. The second discharge push plate 4-16 is positioned low to avoid conflict with the upper mechanism and ensure the reliability of the synchronous operation of the two channels.

[0103] The first push plate assembly includes a first flip push plate 4-9 and a first receiving push plate 4-12, positioned on either side of the product. The second push plate assembly includes a second flip push plate 4-14 and a second receiving push plate 4-15, positioned on either side of the product. The first and second flip push plates 4-9 and 4-14 are each driven by a flip cylinder 4-10. The flip push plates work in conjunction with the receiving push plate to correct the product's posture from both sides, ensuring neat product alignment during transport and reducing subsequent processing errors. The flip cylinder-driven push plates offer fast response and controllable force, saving more space than traditional linear push plates and making them suitable for confined workstations.

[0104] Baffle assemblies are installed on the first and second feed strips 4-3 and 4-6 to prevent products from falling. These baffle assemblies consist of a fixed baffle 4-17 and a movable baffle 4-18, located on either side of the first and second feed strips 4-3 and 4-6, respectively. The movable baffle 4-18 prevents products from falling during conveyance and allows for easy adjustment to accommodate products of varying sizes, providing high versatility. The double-sided baffles form a guide channel, further stabilizing the product conveying path and reducing jitter or jamming.

[0105] The inlet and outlet of the baffle assembly are both equipped with inclined guides 4-19. The inclined guides 4-19 of the inlet and outlet reduce the friction between the product and the baffle, guide the product in and out smoothly, reduce the risk of material jamming, and improve the smoothness of conveying.

[0106] The movable baffle 4-18 is driven by a corresponding linear module to adjust the distance between the fixed baffle 4-17 and the movable baffle 4-18, and is suitable for products of different specifications and sizes.

[0107] The working process of the first channel component in the non-packed dual-channel side push station 4 is as follows:

[0108] (1) Feeding, the flip cylinder 4-10 drives the first flip push plate 4-9 to flip, and moves the product from the previous station to the feeding port of the first feeding smooth strip 4-3, and then the first flip push plate 4-9 is driven by the corresponding linear module, and the first flip push plate 4-9 moves left along the straight line to push the product forward along the first feeding smooth strip 4-3; at the same time, according to the product specifications, the first receiving push plate 4-12 is driven by the corresponding linear module, and moves right to the target position to block the product, and the first flip push plate 4-9 pushes the product forward into the first transition plate 4-4 until it is blocked by the first receiving push plate 4-12; the first flip push plate 4-9 and the first receiving push plate 4-12 can adjust the posture of the product; in addition, the first flip push plate 4-9 and the first receiving push plate 4-12 can be moved to ensure that the center of products of different specifications are all located at the center of the first transition plate 4-4;

[0109] (2) Discharging. When the product is located at the first transition plate 4-4, the first flip push plate 4-9 and the first receiving push plate 4-12 both retreat and reset. At this time, the first discharging push plate 4-13 is driven by the corresponding linear module to push the product from the first transition plate 4-4 into the first discharging smooth strip 4-5. The first discharging push plate 4-13 continues to work, pushing the product out of the first discharging smooth strip 4-5 and into the next process.

[0110] The second channel component works as follows:

[0111] (1) The feeding process is consistent with the first channel component;

[0112] (2) Discharging. When the product is located at the second transition plate 4-7, the second flip push plate 4-14 and the second receiving push plate 4-15 both retreat and reset. The second transition plate 4-7 is driven by the corresponding linear module to descend to be flush with the second discharging smooth strip 4-8. At this time, the second discharging push plate 4-16 is driven by the corresponding linear module to push the product from the second transition plate 4-7 into the second discharging smooth strip 4-8. The second discharging push plate 4-16 continues to work, pushing the product out of the second discharging smooth strip 4-8 and into the next process.

[0113] This non-packaging dual-channel side-pushing station 4 has the following advantages: (1) Efficient dual-channel conveying: Through the independent dual-channel design, products can be processed in parallel, which significantly improves the conveying and sorting efficiency and is suitable for high-capacity demand scenarios; (2) Space optimization and compatibility: the feed flow bar and the discharge flow bar are vertically turned, the first discharge flow bar 4-5 and the second discharge flow bar 4-8 are layered and the adaptive baffle design enables the equipment to adapt to complex layouts, be compatible with a variety of specifications of products, and reduce the cost of production line transformation; (3) Flexible adaptation: the baffle is adjustable, the transition plate is lifted and the push plate is shaped, which is compatible with products of different sizes / shapes and reduces the cost of equipment transformation; (4) Fault-proof design: the baffle is anti-drop, the inclined guide and other details are optimized to reduce the failure rate of jamming, sliding, etc., and ensure the reliability of continuous production; (5) Modular maintenance: the upper and lower frames are separated, and the independent functional module design facilitates local maintenance and upgrades, extending the service life of the equipment.

[0114] like Figures 19 to 25 The dual-channel shaping station 5 shown

[0115] The dual-channel shaping station 5 includes a shaping frame 5-1, and the shaping frame 5-1 is provided with a plurality of shaping channel assemblies at different heights. Each shaping channel assembly includes a first shaping assembly 5-2, a transition assembly 5-3, and a second shaping assembly 5-4 arranged in sequence; the first shaping assembly 5-2 includes a first smoothing strip 5-21 installed on the shaping frame 5-1, and a first baffle 5-22 is provided on one side of the first smoothing strip 5-21 to prevent the product from falling. The first baffle 5-22 extends from the first shaping assembly 5-2 to the transition assembly 5-3; a first feeding clapper 5-5 is provided above the first smooth bar 5-21; ejection components for ejecting products are provided on both sides of the first smooth bar 5-21, and the ejection components include an ejection cylinder 5-25, and an ejection base plate 5-26 is installed at the ejection rod of the ejection cylinder 5-25, and two ejection plate mounting seats 5-24 are installed on the ejection base plate 5-26, and each ejection plate mounting seat 5-24 is provided with a number of ejection plates 5-23 extending inwardly, and the two ejection plate mounting seats 5-24 are arranged on both sides of the first smooth bar 5-21.

[0116] The transition component 5-3 includes a transition frame 5-31, on which two transition smooth strips 5-32 are arranged side by side, and a transition ejection baffle 5-34 is installed between the two transition smooth strips 5-32, and the transition ejection baffle 5-34 is located at the discharge port of the transition component 5-3; a transition baffle 5-36 is installed on the transition frame 5-31 to prevent the product from falling, and the transition baffle 5-36 is installed on the outside of one of the transition smooth strips 32.

[0117] A first infrared sensor 5-33 is installed between the two transition smooth bars 5-32 to detect whether the product has reached the target position. A transition ejector cylinder 5-35 and a transition baffle cylinder 5-37 are installed on the transition frame 5-31. The ejector rod of the transition ejector cylinder 5-35 is connected to the transition ejector baffle 5-34, and the transition baffle cylinder 5-37 is connected to the transition baffle 5-36.

[0118] The second shaping assembly 5-4 includes a second conveyor belt 5-41, above which is a mounting bracket 5-42. Mounted on this bracket is a second feeding clapper 5-6, which is driven by a second drive assembly. The second conveyor belt 5-41 has a controllable conveying speed, and in conjunction with the clapper, performs secondary shaping to ensure the final product shape meets the desired requirements.

[0119] The second drive assembly includes a mounting frame 5-42 mounted on the shaping frame 5-1. A second translation cylinder 5-43 is mounted on the mounting frame 5-42. A translation carriage 5-44 is mounted on the top rod of the second translation cylinder 5-43. A second lifting cylinder 5-45 is mounted on the translation carriage 5-44. The top rod of the second lifting cylinder 5-45 is connected to the second feeding clapper 5-6. A second infrared sensor 5-46 for measuring product position is installed at the outlet of the second conveyor belt 5-41. This second infrared sensor 5-46 ensures that products are accurately delivered to the next process step, preventing accumulation or misalignment.

[0120] A first cylinder 5-27 is mounted on the ejector base plate 5-26. The ejector rod of the first cylinder 5-27 is connected to the first baffle 5-22. A recess is provided at the lower end of the first baffle 5-22, corresponding to the ejector plate 5-23. The first cylinder 5-27 adjusts the position of the first baffle 5-22 to accommodate products of varying specifications. A first linear module 5-7 is mounted on the shaping frame 5-1, driving the first feed clapper 5-5 to move left and right above the first flow bar 5-21. This first linear module 5-7 enables high-precision, automated movement of the first clapper 5-22, improving shaping consistency and speed.

[0121] Both ends of the first baffle 5-22 are provided with shaping bevel guide parts 5-28. The shaping bevel guide parts 5-28 can guide the product to enter the channel smoothly, reduce stagnation and reduce wear.

[0122] The working process of this dual-channel shaping platform is divided into two processes: one is the shaping and unloading process of unpackaged products, and the other is the shaping and unloading process of packaged products.

[0123] The specific process of shaping and blanking of unpackaged products is as follows:

[0124] (1) Figure 21As shown, the unpackaged products are fed in the direction indicated by the arrow, and the first linear module 5-7 drives the first feeding clapper 5-5 to move left. When the first feeding clapper 5-5 moves left to a position one product away from the feed port of the first flow bar 5-21, it stops. The first stack of products enters the first flow bar 5-21 from the feed port and is blocked by the first feeding clapper 5-5. Since the products are not packaged, there will be displacement between the papers during the transportation process. After the first feeding clapper 5-5 blocks the products, it will exert a shaping force on the products, which plays a role in correcting the position of the products; then the first feeding clapper 5-5 moves right by one product position, and the second stack of products is fed from the feed port of the first flow bar 5-21, pushing the first stack of products to move right until it is blocked by the first feeding clapper 5-5, and the shaping of the second stack of products is completed. The first feeding clapper 5-5 moves right in sequence according to one product position until the first flow bar 5-21 carries the target number of stacks of products;

[0125] (2) The ejection cylinder 5-25 works to lift the ejection base plate 5-26, which is transmitted through the ejection plate mounting seat 5-24, so that multiple ejection plates 5-23 are lifted synchronously, and the product is lifted higher than the first flow strip 5-21. At this time, the unloading robot grabs the product and unloads it.

[0126] The specific process of shaping and blanking the packaged products is as follows:

[0127] (1) Figure 21 As shown, the packaged products are fed in the direction indicated by the arrow. The first stack of packaged products is transported to the left by the second conveyor belt 5-41 to the transition assembly 5-3. When the second infrared sensor 5-46 senses the product, the transition ejection cylinder 5-35 drives the transition ejection baffle 5-34 to eject the product. The transition ejection baffle 5-34 blocks the product. At this time, the second drive assembly works to drive the second feeding clapper 5-6 to descend and move to the left, clapping the product. The position of the product will shift during the conveying process. The transition ejection baffle 5-34 and the second feeding clapper 6 shape the product from two directions to correct the position of the product.

[0128] (2) Then the transition ejection baffle 5-34 descends and resets, and the second feeding clapper 5-6 continues to move left, pushing the first stack of packaged products into the first flow strip 5-21; at the same time, the first linear module 5-7 drives the first feeding clapper 5-5 to move right, and stops when the first feeding clapper 5-5 moves right to a position where one product is separated from the discharge port of the transition component 5-3; when the second feeding clapper 5-6 pushes the first stack of packaged products and is blocked by the first feeding clapper 5-5, the second feeding clapper 5-6 first moves up and then moves right to reset; when the first infrared sensor 5-33 detects that there is no product, the transition ejection baffle 5-34 is ejected to shape the second stack of packaged products, and the second feeding clapper 5-6 repeats the pushing;

[0129] (3) The first feeding clapper 5-5 moves left in sequence according to the position of each product until the first flow bar 5-21 carries the target number of packaged products, the ejection assembly ejects the products, and the unloading robot grabs the products for unloading.

[0130] This dual-channel shaping station 5 has the following advantages: (1) the shaping frame 5-1 is provided with a plurality of shaping channel components at different heights, and each shaping channel component can be fed at both ends, thereby realizing the shaping of two products and expanding the scope of use; in addition, the dual-channel and high-low layered design supports parallel operation, significantly improving production capacity; (2) the degree of automation is high, reducing manual intervention, reducing operating errors, and adapting to the needs of continuous production.

[0131] like Figure 26 The double channel loading station 6 on the packaging side is shown

[0132] The dual-channel loading station 6 on the packaging side includes a conveyor frame 6-1, on which a first conveyor channel 6-2 and a second conveyor channel 6-3 are provided; the conveyor frame 6-1 is also provided with a first shift plate 6-4 and a second shift plate 6-5, the first shift plate 6-4 shifts the product from the circular track conveyor line 3 to the first conveyor channel 6-2, and the second shift plate 6-5 shifts the product from the circular track conveyor line 3 to the second conveyor channel 6-3.

[0133] A manual loading station 12 is provided between the equidistant belt loading station 1 and the packaging side dual-channel loading station 6; the first conveying channel 6-2 changes the conveying direction and conveys products to the circular track conveyor line 3; a third shift plate 6-5 is also provided on the conveyor frame 6-1, and the third shift plate 6-5 shifts the product from the first conveying channel 6-2 to the circular track conveyor line 3.

[0134] When the dual-channel loading station 6 on the packaging side works normally, the shift plate shifts the product from the circular track conveyor line 3 to the conveying channel, and then conveys it to the next process. Depending on production needs, only one conveying channel can be opened or both conveying channels can be operated.

[0135] However, when this automatic palletizing equipment fails at the subsequent stations except the equidistant belt loading station 1, it is necessary to start the manual loading station 12, and the waste belt assembly 1-7 transports the products to the manual loading station 12 to prevent the products from piling up at the equidistant belt loading station 1.

[0136] like Figures 27 to 32 The packaging side diversion station 7 shown

[0137] The packaging side diversion station 7 includes a diversion frame 7-1, on which a loading component 7-6 is provided, and on both sides of the loading component 7-6, there are unloading components 7-5; the diversion frame 7-1 is also provided with a diversion plate 7-4 for diverting products from the loading component 7-6 to the unloading component 7-5, and the diversion plate 7-4 is driven by a diversion linear module; the discharge end of the unloading component 7-5 is connected to a unloading conveyor belt 7-7; the diversion frame 7-1 is provided with a feed baffle 7-3 to prevent the product from slipping, and the feed baffle 7-3 is located above the loading component 7-6, and the feed baffle 7-3 is located on the side of the loading component 7-6 away from the feed port.

[0138] A crossbeam 7-2 is mounted on the diverter frame 7-1, and the loading assembly 7-6 is mounted on the crossbeam 7-2. The crossbeam 7-2 serves as the mounting base for the loading assembly 7-6, improving the overall structural rigidity and reducing equipment vibration. It also facilitates modular assembly and maintenance.

[0139] The loading assembly 7-6 comprises a loading base 7-61 mounted on the crossbeam 7-2 and a loading roller 7-62 that supports the product. Both ends of the loading roller 7-62 are connected to the loading base 7-61 via bearings. A loading squeeze wheel 7-64 is located below each loading roller 7-62. A loading belt 7-65 is installed between the loading roller 7-62 and the loading squeeze wheel 7-64, which drives the loading roller 7-62 through friction. The loading belt 7-65 is driven by a loading motor 7-63. A loading synchronization roller 7-66 is installed on the loading base 7-61 to ensure the synchronous rotation of the loading belts 7-62 on both sides. The friction-driven loading roller 7-62, through the friction transmission between the loading belt 7-65 and the loading squeeze wheel 7-64, achieves non-slip conveying, preventing damage to the product surface due to hard scraping. The loading roller 7-62 ensures the synchronous operation of the two belts, preventing product deviation due to speed differences and improving conveying alignment accuracy.

[0140] The unloading assembly 7-5 comprises an unloading base 7-51 and a unloading roller 7-52 that supports the product. One end of the unloading roller 7-52 is connected to the unloading base 51 via a bearing. Below the unloading roller 7-52 is a unloading extrusion wheel 7-57. Between the unloading roller 7-52 and the unloading extrusion wheel 7-57 is a unloading belt 7-56 that rotates the unloading roller 7-52 through friction. The unloading belt 7-56 is driven by an unloading motor 7-53. The unloading conveyor belt 7-7 is positioned below the unloading assembly 7-5. The unloading assembly 7-5 includes a lifting assembly that lowers the unloading assembly 7-5 to be flush with the unloading conveyor belt 7-7. The lifting assembly comprises a meshing gear and rack 7-55, driven by an unloading motor 7-54. The gear is mounted on the unloading base 7-51 and rises and falls synchronously with the unloading base 7-51. The gear and rack 7-55 are raised and lowered, enabling precise height adjustment of the unloading assembly through mechanical transmission.

[0141] The lifting assembly includes a linear guide rail 7-58 that improves the lifting stability of the blanking base 7-51. There are two linear guide rails 7-58, and the linear guide rails 7-58 are arranged on both sides of the rack 7-55.

[0142] The working process of this packing side diversion station 7 is as follows:

[0143] (1) Figure 27 and Figure 28 , the product travel route is shown by the arrow, the feeding motor 7-63 drives the feeding belt 7-65 to rotate, the feeding extrusion wheel 7-64 transmits, and the feeding roller 7-62 rotates under the friction force, and the feeding roller 7-62 supports the product to enter the feeding assembly 7-6;

[0144] (2) According to the discharge requirements, if the product is discharged from the left discharge assembly 7-5, the diverter plate 7-4 will divert the product from the loading assembly 7-6 to the left discharge assembly 7-5; if the product is discharged from the right discharge assembly 7-5, the diverter plate 7-4 will divert the product from the loading assembly 7-6 to the right discharge assembly 7-5;

[0145] (3) After the product reaches the unloading assembly 7-5, the lifting unloading motor 7-54 drives the gear to rotate, thereby driving the unloading base 7-51 to descend along the rack 7-55 until it is flush with the unloading conveyor belt 7-7, and then the unloading motor 7-53 drives the unloading belt 7-56 to work, thereby driving the unloading hanging roller 7-52 to rotate, and the product is transported from the unloading assembly 7-5 to the unloading conveyor belt 7-7, and the unloading conveyor belt 7-7 transports the product to the next workstation.

[0146] In the diversion station 7 on the packaging side, the linear module drives the diversion plate 7-4 to achieve fast and accurate diversion. The diversion plate 7-4, the loading component 7-6 and the unloading component 7-5 work together to realize the working process of one channel loading and two channels unloading, thereby improving the product diversion speed and positioning accuracy; the degree of automation is high, reducing labor intensity and cost.

[0147] like Figures 33 to 36 The material discharging diversion station 9 shown

[0148] The discharging diversion station 9 includes a discharging diversion frame 9-1, on which are mounted a plurality of rotary clamping assemblies 9-2 and a plurality of discharging assemblies 9-3. The rotary clamping assemblies 9-2 are arranged above the discharging assemblies 9-3, and the number of the rotary clamping assemblies 9-2 and the number of the discharging assemblies 9-3 are the same; the rotary clamping assembly 9-2 includes a transplanting cylinder mounted on the discharging diversion frame 9-1, and a clamping base 9-21 is provided at the top rod of the transplanting cylinder. The clamping base 9-2 A first lifting cylinder 9-22 is installed on the lower surface, a transition plate 9-23 is installed at the top rod of the first lifting cylinder 9-22, a rotating member 9-24 is installed on the lower surface of the transition plate 9-23, a clamping plate base 9-25 is provided at the rotating end of the rotating member 9-24, two clamping plates 9-26 are provided on the clamping plate base 9-25, each clamping plate 9-26 is driven by a corresponding clamping plate cylinder 9-27, and the clamping plate cylinder 9-27 is installed on the clamping plate base 9-25.

[0149] The discharge assembly 9-3 includes a discharge base 9-31 and a discharge roller 9-32 that supports the product. One end of the discharge roller 9-32 is connected to the discharge base 9-31 via a bearing. A discharge extrusion wheel 9-37 is located below the discharge roller 9-32. A discharge belt 9-36 is installed between the discharge roller 9-32 and the discharge extrusion wheel 9-37 to drive the discharge roller 9-32 to rotate through friction. The discharge belt 9-36 is driven by the discharge motor 9-33. The discharge motor 9-33 drives the discharge belt 9-36 to rotate, which is then transmitted to the discharge extrusion wheel 9-37. Driven by friction, the discharge roller 9-32 rotates. The discharge suspension roller 9-32 is driven by friction, which avoids damage to the product surface caused by hard extrusion, and is especially suitable for fragile or precision products; the discharge belt 9-36 cooperates with the discharge extrusion wheel 9-37 to use friction to drive the suspension roller to rotate, with smooth transmission and low noise, which improves the reliability of equipment operation; the discharge base 9-31 is connected to the discharge suspension roller 9-32 through bearings, which reduces rotational resistance and reduces energy consumption.

[0150] Grooves are evenly arranged on the discharge roller 9-32, and a synchronous belt 9-40 is sleeved on the grooves of two adjacent discharge rollers 9-32. The discharge assembly 9-3 includes a lifting assembly that drives the discharge assembly 9-5 to rise and fall; the lifting assembly includes a meshing gear and a discharge rack 9-35, the gear is driven by the lifting discharge motor 9-34, the gear is mounted on the discharge base 9-31, and the gear and the discharge base 9-31 rise and fall synchronously. The lifting assembly includes a linear guide 9-38 that improves the lifting stability of the discharge base 9-31. There are two linear guides 9-38, which are arranged on both sides of the discharge rack 9-35. The discharge diversion frame 9-1 is provided with a lower limit block 9-39 that prevents the discharge assembly 9-5 from falling too much. The lower limit block 9-39 serves as a mechanical limit protection to prevent the discharge assembly from falling too much, causing equipment collision or product damage, thereby improving safety.

[0151] The working process of this discharging diversion station 9 is as follows:

[0152] (1) Figure 33 The product travel route is shown by the arrow. A sensor is provided under the discharge roller 9-32. After the discharge roller 9-32 rotates to drive the product to the target position, the discharge roller 9-32 stops rotating.

[0153] (2) The push rod of the first lifting cylinder 9-22 extends, driving the clamping plate 9-26 to descend to both sides of the product, and then the clamping plate cylinder 9-27 works, the clamping plate 9-26 clamps the product, and the push rod of the first lifting cylinder 9-22 retracts, so that the product is separated from the discharge hanging roller 9-32; then the rotating part 9-24 works to rotate the product 180 degrees, the push rod of the first lifting cylinder 9-22 continues to extend, the clamping plate 9-26 descends, and the product is placed back on the discharge hanging roller 9-32;

[0154] (3) The lifting discharge motor 9-34 drives the gear to rotate, thereby driving the discharge base 9-31 to descend along the discharge rack 9-35, so that the discharge suspension roller 9-32 descends to the target position; then the discharge motor 33 drives the discharge belt 9-36 to work, thereby driving the discharge suspension roller 9-32 to rotate, and the product is transported to the next station.

[0155] In the discharging diversion station 9, the combination of the transplanting cylinder, the first lifting cylinder 9-22 and the rotating part 9-24 is used to realize 180° flipping of the product, which meets the production requirements and improves work efficiency. The design of the discharging hanging roller 9-32 in the discharging component 9-3 is small in size and does not take up space, while also ensuring smooth lifting and lowering of the discharging component. The degree of automation is high, and no manual intervention is required from steering to conveying, reducing labor intensity and cost.

[0156] Example 2

[0157] The difference from Example 1 is that in the equidistant belt loading station 1 of this embodiment, the product 100 is loaded vertically, that is, the narrow side of the product 100 is transported along the Y direction, and the narrow side of the product 100 contacts the barrier rod assembly 1-5.

[0158] Therefore, for the above-mentioned product 100 specification loading, the working process of the equidistant belt loader for automatic palletizing in this embodiment is different in that:

[0159] Step (2): Since the product 100 is fed vertically, under the action of weight and inertia, the product 100 can avoid problems such as tilting or misalignment. Therefore, in this embodiment, the clapper 1-42 does not need to clapper the product 100;

[0160] In step (3), during the waste discharge process, three waste discharge belts are required to simultaneously transfer the product 100.

[0161] Example 3

[0162] The difference from the first embodiment is that in the truss manipulator 2 of this embodiment, the variable pitch module 7 is a seven-slider variable pitch module.

[0163] Example 4

[0164] The difference from the first embodiment is that in the truss manipulator 2 of this embodiment, the variable pitch module 7 is a three-slider variable pitch module.

[0165] The above description only describes specific embodiments of the present invention. Various examples do not limit the essential content of the present invention. After reading the description, ordinary technicians in the relevant technical field can make modifications or variations to the specific embodiments described above without departing from the essence and scope of the invention.

Claims

1. An automatic palletizing device for palletizing products (100), characterized in that: Along the route of the product (100), there are sequentially arranged equidistant belt loading stations (1) and a circular track conveyor line (3), and a truss manipulator (2) for transferring the product between the equidistant belt loading stations (1) and the circular track conveyor line (3); The two ends of the circular track conveyor line (3) are respectively a packaging output end and a non-packing output end, the non-packing output end is connected to a non-packing dual-channel side pushing station (4); the packaging output end is sequentially connected to a packaging side dual-channel loading station (6), a packaging side diverting station (7), a packaging machine (8) and a discharging diverting station (9); The automatic palletizing equipment further comprises a dual-channel shaping station (5), both ends of which are respectively connected to a non-packaging dual-channel side-pushing station (4) and a discharging diversion station (9); The dual-channel shaping station (5) is provided with a robot stacking station (10) at the discharge end. The robot stacking station (10) stacks the products (100) of the dual-channel shaping station (5) onto a pallet, which is transported by a pallet conveying platform (11).

2. The automatic palletizing equipment according to claim 1, characterized in that: The equidistant belt loading station (1) includes a loading rack (1-1), wherein the moving direction of the product (100) is set as the Y direction, the direction perpendicular to the horizontal plane of the Y direction is set as the X direction, and the height direction of the loading rack (1-1) is set as the Z direction; The loading frame (1-1) is provided with a plurality of belt assemblies (1-3) for transmitting products (100), a blocking rod assembly (1-5) is provided at the discharging end of the belt assembly (1-3), the spacing between two adjacent belt assemblies (1-3) is equal, and the plurality of belt assemblies (1-3) are distributed along the X direction; an adjustment assembly (1-6) for adjusting the position of each belt assembly (1-3) is provided below the belt assembly (1-3), belt track assemblies are provided on both sides of the adjustment assembly (1-6) for facilitating the sliding of the belt assembly (1-3), and the adjustment assembly (1-6) and the two belt track assemblies are arranged along the Y direction; The loading machine frame (1-1) is provided with a clapper column (1-2) along the Z direction, a clapper assembly (1-4) is installed on the top of the clapper column (1-2), and the clapper assembly (1-4) is located above the belt assembly (1-3).

3. The automatic palletizing equipment according to claim 1, characterized in that: The truss manipulator (2) has a transplanting frame (2-1), and the left and right directions of the transplanting frame (2-1) are set as the X direction, the left and right directions as the Y direction, and the height direction as the Z direction; The transplanting frame (2-1) is equipped with a Y-direction transplanting module (2-2), an X-direction transplanting module (2-4) is equipped at the output end of the Y-direction transplanting module (2-2), and a Z-direction transplanting module (2-3) is equipped at the output end of the X-direction transplanting module (2-4); a transplanting connecting rod (2-9) is equipped at the output end of the Z-direction transplanting module (2-3), the transplanting connecting rod (2-9) is connected to a variable pitch module (2-7) via a quick connector, and a clamping claw assembly (2-8) is equipped on a slider of the variable pitch module (2-7).

4. The automatic palletizing equipment according to claim 1, characterized in that: The circular track conveyor line (3) comprises a chain plate trough assembly supporting a product (100), wherein the chain plate trough assembly is driven by a fixed-distance driving module (3-1) for cyclic conveying; the chain plate trough assembly comprises a chain plate (3-2) mounted on the fixed-distance driving module (3-1), and a conveying support plate (3-3) is provided on one side of the chain plate (3-2).

5. The automatic palletizing equipment according to claim 1, characterized in that: The non-packing dual-channel side-pushing station (4) comprises an upper frame assembly and a lower frame assembly distributed up and down, wherein the lower frame assembly comprises a lower frame (4-2), and a first channel conveying assembly and a second channel conveying assembly are mounted on the lower frame (4-2); The first channel conveying assembly is sequentially provided with a first feed smooth strip (4-3), a first transition plate (4-4) and a first discharge smooth strip (4-5) along the product conveying route; the second channel conveying assembly is sequentially provided with a second feed smooth strip (4-6), a second transition plate (4-7) and a second discharge smooth strip (4-8) along the product conveying route; a first discharge push plate (4-13) is installed at the first transition plate (4-4) for pushing the product from the first transition plate (4-4) to the first discharge smooth strip (4-5); and a second discharge push plate (4-16) is installed at the second transition plate (4-7) for pushing the product from the second transition plate (4-7) to the second discharge smooth strip (4-8); The upper frame assembly comprises an upper frame (4-1), and the upper frame (4-1) is provided with a first push plate assembly and a second push plate assembly for feeding and shaping the first feeding smooth strip (4-3) and the second feeding smooth strip (4-6) products respectively.

6. The automatic palletizing equipment according to claim 1, characterized in that: The dual-channel shaping station (5) comprises a shaping frame (5-1), wherein the shaping frame (5-1) is provided with a plurality of shaping channel assemblies at different heights, and each shaping channel assembly comprises a first shaping assembly (5-2), a transition assembly (5-3) and a second shaping assembly (5-4) which are arranged in sequence; The first shaping assembly (5-2) comprises a first smoothing bar (5-21) mounted on a shaping frame (5-1); a first baffle (5-22) is provided on one side of the first smoothing bar (5-21) to prevent products from falling; the first baffle (5-22) extends from the first shaping assembly (5-2) to the transition assembly (5-3); a first feeding clapper (5-5) is provided above the first smoothing bar (5-21); Ejection assemblies for ejecting products are provided on both sides of the first smooth bar (5-21), and the ejection assemblies include an ejection cylinder (5-25). An ejection base plate (5-26) is installed at the ejection rod of the ejection cylinder (5-25). Two ejection plate mounting seats (5-24) are installed on the ejection base plate (5-26). Each ejection plate mounting seat (5-24) is provided with a plurality of ejection plates (5-23) extending inwardly. The two ejection plate mounting seats (5-24) are arranged on both sides of the first smooth bar (5-21).

7. The automatic palletizing equipment according to claim 1, characterized in that: The packaging-side dual-channel loading station (6) comprises a conveyor frame (6-1), on which a first conveyor channel (6-2) and a second conveyor channel (6-3) are provided; the conveyor frame (6-1) is also provided with a first shift plate (6-4) and a second shift plate (6-5), wherein the first shift plate (6-4) shifts products from the circular track conveyor line (3) to the first conveyor channel (6-2), and the second shift plate (6-5) shifts products from the circular track conveyor line (3) to the second conveyor channel (6-3).

8. The automatic palletizing equipment according to claim 7, characterized in that: A manual loading station (12) is provided between the equidistant belt loading station (1) and the packaging side double-channel loading station (6); The first conveying channel (6-2) changes the conveying direction and conveys products to the circular track conveying line (3); the conveying frame (6-1) is also provided with a third shifting plate (6-5), and the third shifting plate (6-5) shifts the products from the first conveying channel (6-2) to the circular track conveying line (3).

9. The automatic palletizing equipment according to claim 1, characterized in that: The packaging side diversion station (7) comprises a diversion frame (7-1), a loading assembly (7-6) is provided on the diversion frame (7-1), and unloading assemblies (7-5) are provided on both sides of the loading assembly (7-6); The diversion rack (7-1) is further provided with a diversion plate (7-4) for diverting products from the loading assembly (7-6) to the unloading assembly (7-5), and the diversion plate (7-4) is driven by a diversion linear module; the discharge end of the unloading assembly (7-5) is connected to a unloading conveyor belt (7-7); The diversion frame (7-1) is provided with a feed baffle (7-3) for preventing products from sliding. The feed baffle (7-3) is located above the loading assembly (7-6). The feed baffle (7-3) is located on the side of the loading assembly (7-6) away from the feed port.

10. The automatic palletizing equipment according to claim 1, characterized in that: The discharging and diverting station (9) comprises a discharging and diverting frame (9-1), on which a plurality of rotating clamping assemblies (9-2) and a plurality of discharging assemblies (9-3) are mounted, wherein the rotating clamping assemblies (9-2) are arranged above the discharging assemblies (9-3), and the number of the rotating clamping assemblies (9-2) and the number of the discharging assemblies (9-3) are the same; The rotary clamping assembly (9-2) comprises a transplanting cylinder mounted on a discharging and diverting frame (9-1); a clamping base (9-21) is provided at the top rod of the transplanting cylinder; a first lifting cylinder (9-22) is mounted on the lower surface of the clamping base (9-21); a transition plate (9-23) is mounted at the top rod of the first lifting cylinder (9-22); a rotating member (9-24) is mounted on the lower surface of the transition plate (9-23); a clamping plate base (9-25) is provided at the rotating end of the rotating member (9-24); two clamping plates (9-26) are provided on the clamping plate base (9-25); each clamping plate (9-26) is driven by a corresponding clamping plate cylinder (9-27); and the clamping plate cylinder (9-27) is mounted on the clamping plate base (9-25).

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