Compound stacking clamp and working method thereof

Abstract

The invention discloses a compound stacking clamp and a working method thereof.The clamp comprises a clamp top base, a fixed plate, a main sliding frame, a movable plate, a main driving part, an auxiliary sliding frame, a horizontal hook claw, an auxiliary driving part, a suction cup mechanism and the like, movement of the movable plate, a clamping plate, the horizontal hook claw and the auxiliary sliding frame is achieved through all the driving parts, and inward gathering clamping and bottom supporting grabbing of materials are completed; and the separator plate can be adsorbed by the sucker mechanism. The working method comprises the steps of material grabbing, direct stacking, interlayer stacking and the like. The technical effects that the materials can be directly stacked, the interlayer stacking operation can be completed, and the stacking efficiency and diversity are improved are achieved.

Description

Technical Field

[0001] This application relates to the field of material palletizing, and in particular to a duplex palletizing fixture and its working method. Background Technology

[0002] Automated palletizing technology plays a crucial role in modern industrial production, significantly improving production efficiency and reducing labor costs. It is widely used in numerous industries, including food, chemicals, and logistics. With the continuous growth of market demand and the increasing diversity of products, higher requirements are being placed on the performance and adaptability of palletizing equipment. Highly efficient, precise palletizing technology that is compatible with different products has become a key direction for industry development, and its development level directly affects a company's production efficiency and market competitiveness.

[0003] In traditional palletizing operations, various methods are typically employed to grasp and stack materials. For box-shaped products, simple mechanical clamps are commonly used. These clamps generally rely on mechanical force to hold the boxes in place through a fixed clamping arm structure. For materials such as oil bottles, some equipment uses specially designed bottle clamps that secure the bottles using specific claws or slots. Additionally, when stacking bottle-shaped materials like oil bottles, partitions are used for layered stacking, with one layer of material and one partition stacked between them to improve material stability.

[0004] Current palletizing methods have significant drawbacks. Traditional mechanical clamps and specialized bottle clamps often have relatively fixed structures, making it difficult to adapt to products of different sizes and shapes. They also exhibit poor compatibility when dealing with diverse materials and various palletizing methods. Furthermore, these clamps have limited clamping force, making it easy for goods to slip during transportation, thus affecting the stability and efficiency of palletizing. Summary of the Invention

[0005] To improve the compatibility of the fixture and enhance the stability and efficiency of palletizing, this application provides a duplex palletizing fixture and its working method.

[0006] The technical solution for the duplex palletizing fixture and its working method provided in this application is as follows: A duplex palletizing fixture, comprising: The fixture top seat and the fixing plate are arranged vertically downward on one side of the fixture top seat; The main slide and the movable plate are provided. The main slide is slidably connected to the top seat of the clamp, and the movable plate is fixedly connected to the main slide, with the fixed plate and the movable plate being arranged opposite to each other. Clamping plates are provided on both sides of the movable plate, and the clamping plates extend toward the fixed plate. The movable plate is provided with a lateral driving member for driving the clamping plates on both sides of the movable plate to move closer or further apart. The main drive unit is used to drive the main carriage to move on the top seat of the clamp so that the movable plate moves closer to or away from the fixed plate. The auxiliary carriage and the horizontal hook are provided. The auxiliary carriage is slidably connected to the main carriage, and the horizontal hook is fixedly connected to the lower end of the auxiliary carriage and is horizontally positioned. A secondary drive unit is used to drive the secondary carriage to move at the main carriage, and the horizontal hook moves horizontally below the movable plate through the secondary carriage; The suction cup mechanism, located at the secondary carriage and positioned away from the horizontal hook, is used to adsorb the partition. When performing direct palletizing, the duplex palletizing fixture moves towards the fixed plate through the movable plate at the gripping position, and the two side gripping plates move closer to each other to clamp the material inward; then the horizontal hook moves to the bottom of the material to support it, so as to complete the gripping purpose of the material and transfer the material to the palletizing position for palletizing. During interlayer palletizing, the duplex palletizing fixture grips the material, the suction cup mechanism adsorbs the partition, and the interlayer palletizing operation is completed by placing the partition at the palletizing position or on top of the material at the palletizing position, or by placing the material on top of the partition.

[0007] By adopting the above technical solution, the clamp clamps materials from both sides through the relative movement of the fixed plate and the movable plate. Combined with the lateral drive component, the clamping plate is driven to achieve inward clamping, effectively adapting to box-shaped or bottled materials of different sizes, enhancing clamping stability and preventing slippage. The horizontal hook, under the action of the auxiliary drive component, moves to the bottom of the material to provide bottom support, working in conjunction with the clamping action to ensure that the material does not fall during the transfer process. It is especially suitable for fragile bottle-shaped items such as oil bottles or easily damaged items such as cartons. The suction cup mechanism, in conjunction with the detection mechanism, accurately adsorbs the partitions, realizing automated layer palletizing and avoiding the cumbersome process of laying partitions manually or with additional equipment in traditional methods. The overall structure, through the coordinated control of the main and auxiliary drive components and the oblique telescopic drive component, realizes flexible switching between direct palletizing and layer palletizing, meeting diverse production needs. This duplex palletizing fixture integrates clamping, bottom support, and partition adsorption functions into one unit, significantly improving the compatibility and efficiency of palletizing operations.

[0008] Preferably, the clamp top seat is provided with a first linear slide rail, the top of the main slide is provided with a first linear slider, and the main slide achieves the movement function through the sliding cooperation of the first linear slider and the first linear slide rail; the bottom of the main slide is provided with a second linear slider, the top of the auxiliary slide is provided with a second linear slide rail, and the auxiliary slide achieves the movement function through the sliding cooperation of the second linear slide rail and the second linear slider.

[0009] By adopting the above technical solution, the first linear slide rail and the slider, and the second linear slide rail and the slider constitute a dual guiding mechanism, which ensures the smoothness and accuracy of the movement of the main slide and the auxiliary slide, reduces shaking, extends the service life of the fixture, and provides a structural basis for the precise bottom support of the horizontal claw.

[0010] Preferably, the suction cup mechanism includes a frame hinged to the lower end of the sub-carriage, a plurality of vacuum suction cups disposed on the frame, and an oblique telescopic drive for driving the frame to swing up and down. The two ends of the oblique telescopic drive are respectively hinged to the frame and the sub-carriage. When adsorbing the partition, the suction cup mechanism extends through the oblique telescopic drive to drive the frame to swing to a horizontal state, and adsorbs and fixes the partition through the vacuum suction cups.

[0011] By adopting the above technical solution, the frame hinge design in the suction cup mechanism, in conjunction with the oblique telescopic drive component, allows the vacuum suction cup to swing to a horizontal state, ensuring full contact with the partition surface and improving the adsorption reliability; after adsorption is completed, the drive component retracts to lift the frame, avoiding interference with the stacked materials.

[0012] Preferably, the bottom of the auxiliary carriage is provided with a detection mechanism for detecting the position of the partition. When the detection mechanism detects that the partition is within the adsorption and gripping range of the suction cup mechanism, the suction cup mechanism adsorbs and fixes the partition.

[0013] By adopting the above technical solution, the detection mechanism can detect the position of the partition in real time and activate the vacuum suction cup only when it is confirmed that the partition is within the adsorption range, thus preventing misoperation and improving the success rate of grasping.

[0014] Preferably, the main drive component includes a main cylinder, wherein the cylinder body of the main cylinder is horizontally disposed at the fixed plate, and the piston rod of the main cylinder passes through the fixed plate in the direction of the main slide and is fixedly connected to the main slide. By adopting the above technical solution, the main cylinder, as the main driving component, provides strong driving force, ensuring that the clamping force of the moving plate and the fixed plate on the material is uniform and reliable.

[0015] Preferably, the auxiliary drive component includes auxiliary cylinders symmetrically arranged on both sides of the auxiliary slide, the cylinder body of the auxiliary slide is horizontally arranged at the auxiliary slide, and the piston rod of the auxiliary cylinder extends toward the fixed plate and is fixedly connected to the main slide.

[0016] By adopting the above technical solution, the auxiliary cylinders are symmetrically arranged on both sides of the auxiliary slide, pushing the horizontal hook to move synchronously, avoiding jamming or deflection that may be caused by single-point drive, and ensuring smooth bottoming action.

[0017] Preferably, the lateral drive component includes lateral cylinders symmetrically arranged on both sides of the movable plate. The cylinders on both sides of the sliding plate correspond one-to-one with the two clamping plates. The cylinder body of the lateral cylinder is fixed to the movable plate, and the piston rod of the lateral cylinder is fixedly connected to the corresponding clamping plate.

[0018] By adopting the above technical solution, the lateral cylinder directly drives the clamping plates to move in opposite directions. The structure is simple and the response is fast, which realizes efficient inward clamping of the material on the other two sides. It complements the main clamping action and enhances the adaptability to irregular materials.

[0019] A method for operating a duplex palletizing fixture includes the following steps: S1: The duplex palletizing fixture moves to the gripping position and drives the main slide to slide towards the fixed plate through the main drive component. The movable plate and the fixed plate clamp one side of the material, and the two clamping plates move closer to each other through the lateral drive component, clamping the other two sides of the material. S2: The auxiliary drive unit drives the auxiliary carriage to slide towards the fixed plate, and the horizontal hook moves to the bottom of the material and supports the material to complete the purpose of grabbing the material so as to transfer the material to the stacking position for stacking. S3: When performing direct palletizing, the duplex palletizing fixture will grab the material at the gripping position and transfer it to the palletizing position. The auxiliary drive unit will be activated to allow the horizontal hook to retract from the bottom of the material to avoid it. Then the material will be lowered to the palletizing position. The main drive unit will be activated to drive the movable plate away from the fixed plate to release the material. This cycle will be repeated until the entire palletizing is completed. When performing layer-by-layer palletizing, the duplex palletizing fixture grips the material at the gripping position, then moves it to the partition position. The inclined telescopic drive is activated to flatten the frame, and the duplex palletizing fixture moves downward as a whole. When the detection mechanism detects that the partition falls within the suction gripping range of the suction cup mechanism, the vacuum suction cup adsorbs and fixes the partition. The duplex palletizing fixture moves to the palletizing position, places the partition at the palletizing position or on top of the material at the palletizing position, and then places the material on top of the partition to complete the layer-by-layer palletizing operation.

[0020] By adopting the above technical solution, efficient palletizing operations are achieved through multi-step collaborative control. In S1, the main drive component and the lateral drive component first complete the four-way clamping of materials to ensure a stable grip. In S2, the horizontal hook supports the bottom, forming a bottom support, which, combined with the clamping force, creates multiple safeguards, greatly reducing the risk of materials falling off or tilting during the transfer process. S3 operates according to different palletizing needs: for direct palletizing, accurate gripping can be performed directly through steps S1 and S2, with smooth movements and reduced interference; for layered palletizing, material gripping and partition adsorption operations can be performed sequentially. The detection mechanism and suction cup mechanism work together to accurately grip the partitions, and then the partitions and materials are stacked in sequence. The degree of automation is high, effectively reducing manual intervention and equipment downtime, and improving the overall palletizing efficiency and quality.

[0021] In summary, this application includes at least one of the following beneficial technical effects: 1. The clamp clamps the material from both sides through the relative movement of the fixed plate and the movable plate. Combined with the lateral drive component, it drives the clamping plate to achieve inward clamping, effectively adapting to box-shaped or bottled materials of different sizes, enhancing clamping stability and preventing slippage. 2. The horizontal hook moves horizontally to the bottom of the material under the action of the auxiliary drive component to provide bottom support. It works in conjunction with the clamping action to ensure that the material does not fall during the transfer process. It is especially suitable for fragile bottle-shaped items or items with easily damaged surfaces. 3. The suction cup mechanism, in conjunction with the detection mechanism, precisely adsorbs the partitions, realizing automated layer palletizing. This avoids the cumbersome process of laying partitions manually or with additional equipment as required in traditional methods. Furthermore, the overall structure allows for flexible switching between direct palletizing and layer palletizing, meeting diverse production needs and significantly improving the compatibility and efficiency of palletizing operations. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of a duplex palletizing fixture according to an embodiment of this application.

[0023] Figure 2 This is a schematic diagram showing the connection relationship between the fixed plate, the main slide, and the movable plate in a duplex palletizing fixture according to an embodiment of this application.

[0024] Figure 3 This is a schematic diagram showing the connection relationship between the main carriage, the auxiliary carriage, and the horizontal hook in a duplex palletizing fixture according to an embodiment of this application.

[0025] Explanation of reference numerals in the attached drawings: 1. Fixture top seat; 11. Fixing plate; 12. Main drive component; 13. First linear slide rail; 2. Main slide; 21. Movable plate; 22. Lateral drive component; 23. Clamping plate; 3. Secondary slide; 31. Horizontal claw; 32. Secondary drive component; 33. Secondary linear slide rail; 4. Suction cup mechanism; 41. Angled telescopic drive component; 42. Vacuum suction cup; 43. Frame; 5. Detection mechanism; 6. First linear slider; 8. Second linear slider. Detailed Implementation

[0026] The following is in conjunction with the appendix Figure 1-3 This application will be described in further detail.

[0027] This application discloses a duplex palletizing fixture, referring to... Figures 1 to 3 The fixture includes a top seat 1, a fixed plate 11, a main slide 2, a movable plate 21, a main drive unit 12, a secondary slide 3, a horizontal claw 31, a secondary drive unit 32, and a suction cup mechanism 4. The fixed plate 11 is vertically downward-facing on one side of the top seat 1. The main slide 2 is slidably connected to the top seat 1. The movable plate 21 is fixedly connected to the main slide 2, and the fixed plate 11 and the movable plate 21 are positioned opposite each other. Clamping plates 23 are respectively provided on both sides of the movable plate 21. Lateral drive units 22 are provided on the movable plate 21 to drive the clamping plates 23 on both sides of the movable plate 21 to move closer or further apart. The main drive unit 12 drives the main slide 2 to move closer to or further away from the top seat 1. The seat 1 moves so that the movable plate 21 moves closer to or away from the fixed plate 11. The auxiliary slide 3 is slidably connected to the main slide 2. The horizontal hook 31 is fixedly connected to the lower end of the auxiliary slide 3 and is set horizontally. The auxiliary drive 32 is used to drive the auxiliary slide 3 to move at the main slide 2. The horizontal hook 31 moves horizontally below the movable plate 21 through the auxiliary slide 3. The suction cup mechanism 4 is set at the auxiliary slide 3 and is set away from the horizontal hook 31. It is used to adsorb the partition. This structure allows the fixture to adapt to materials 8 of different sizes and shapes, as well as different stacking methods such as direct stacking and interlayer stacking, thus improving the compatibility, stability and efficiency of stacking.

[0028] Specifically, the fixture top seat 1 adopts a flat plate structure made of high-strength metal, such as aluminum alloy or stainless steel, to ensure sufficient strength to support the weight of the entire fixture and the load during operation. A mounting position is provided in the center of the surface of the fixture top seat 1 for connection to robotic equipment, such as a three-axis manipulator. Additionally, a fixing plate 11, made of rectangular metal, is vertically fixed downwards to one side of the fixture top seat 1 by welding or bolting. Reinforcing ribs can also be provided between the fixing plate 11 and the fixture top seat 1 to enhance its structural strength.

[0029] In this embodiment, the main slide 2 is slidably engaged with the first linear slide rail 13 at the bottom of the clamping top seat 1 via the first linear slider 6 at the top. The first linear slider 6 and the first linear slide rail 13 are typically high-precision guide rail and slider combinations to ensure the smoothness and accuracy of the main slide 2's movement on the clamping top seat 1. The movable plate 21 is fixedly connected to the main slide 2, and the two can be connected by welding or bolting. The movable plate 21 is also a metal plate and is arranged opposite to the fixed plate 11. Clamping plates 23 are respectively arranged on both sides of the movable plate 21. The clamping plates 23 are long strip-shaped metal plates, with one end extending towards the fixed plate 11. The extended part of the clamping plate 23 can be provided with flexible materials such as rubber pads to increase the friction with the material 8 and prevent the material 8 from sliding during clamping. The lateral drive component 22 includes lateral cylinders symmetrically arranged on both sides of the movable plate 21. The cylinder body of the lateral cylinder is fixed to the movable plate 21, and the piston rod of the lateral cylinder is fixedly connected to the corresponding clamping plate 23. The side cylinder can be a regular pneumatic cylinder or a hydraulically driven cylinder. By controlling the extension and retraction of the side cylinder, the clamping plates 23 on both sides of the movable plate 21 can be driven to move closer or further apart, thereby clamping or releasing the material 8 on the other two sides.

[0030] In this embodiment, the main drive component 12 includes a main cylinder. The cylinder body of the main cylinder is horizontally disposed at the fixed plate 11, and the piston rod of the main cylinder passes through the fixed plate 11 towards the main slide 2 and is fixedly connected to the main slide. During the extension and retraction of the piston rod of the main cylinder, it drives the main slide 2 to move on the clamp top seat 1, thereby causing the movable plate 21 to move closer to or further away from the fixed plate 11, thereby clamping or releasing the material 8 on both sides.

[0031] In this embodiment, the auxiliary slide 3 slides in cooperation with the second linear slide rail 33 at the top and the second linear slider 7 at the bottom of the main slide 2. The second linear slider 7 and the second linear slide rail 33 are also high-precision guide rail and slider combinations, ensuring the smoothness and accuracy of the auxiliary slide 3's movement on the main slide 2. The horizontal hook 31 is fixedly connected to the lower end of the auxiliary slide 3 and is horizontally set. The horizontal hook 31 is generally made of metal and has a rake-like structure. Its front end can be set to a smooth shape to avoid scratching the material 8 when supporting it. The auxiliary drive unit 32 includes auxiliary cylinders symmetrically arranged on both sides of the auxiliary slide 3. The cylinder body of the auxiliary cylinder is horizontally set on the auxiliary slide 3, and the piston rod of the auxiliary cylinder extends towards the fixed plate 11 and is fixedly connected to the main slide 2. The auxiliary cylinder can also be a pneumatic cylinder or a hydraulic cylinder. By controlling the extension and retraction of the auxiliary cylinder, the auxiliary slide 3 is driven to move on the main slide 2. The horizontal hook 31 moves horizontally under the movable plate 21 via the auxiliary slide 3 to realize the operation of supporting and removing the material 8.

[0032] In this embodiment, the suction cup mechanism 4 includes a frame 43 hinged to the lower end of the auxiliary slide 3, several vacuum suction cups 42 disposed on the frame 43, and an oblique telescopic drive member 41 for driving the frame 43 to swing up and down. The two ends of the oblique telescopic drive member 41 are respectively hinged to the frame 43 and the auxiliary slide 3. The frame 43 is generally a rectangular frame 43 welded from metal rods. The vacuum suction cups 42 are evenly distributed on the frame 43. The vacuum suction cups 42 can be ordinary rubber suction cups or suction cups made of materials such as silicone to adapt to partitions of different materials. The oblique telescopic drive member 41 can be a pneumatic cylinder or a hydraulic cylinder. When adsorbing the partition, the suction cup mechanism 4 extends through the oblique telescopic drive member 41 to drive the frame 43 to swing to a horizontal state, and adsorbs and fixes the partition through the vacuum suction cups 42. The vacuum suction cup 42 adopts the vacuum principle, that is, it uses vacuum negative pressure to "adsorb" the material 8 to achieve the purpose of clamping the material 8. It mainly consists of a suction cup body, a suction cup connecting pipe, a pressure source, and a control system.

[0033] The bottom of the auxiliary carriage 3 is equipped with a detection mechanism 5, which can be an infrared sensor, laser sensor, etc., used to detect the position of the partition. When the detection mechanism 5 detects that the partition is within the adsorption and gripping range of the suction cup mechanism 4, the suction cup mechanism 4 adsorbs and fixes the partition. The detection mechanism 5 can also be a vertically downward-oriented single-acting pressing cylinder. The telescopic end of the single-acting pressing cylinder is flush with the vacuum suction cup 42. When the lower end of the telescopic end of the single-acting pressing cylinder touches the partition, the pressure sensor at the telescopic end of the single-acting pressing cylinder responds, and the single-acting pressing cylinder retracts, and the vacuum suction cup 42 adsorbs the partition.

[0034] During direct palletizing, at the gripping position, the main drive unit 12 drives the main carriage 2 to slide towards the fixed plate 11. The movable plate 21 and the fixed plate 11 clamp two sides of the material 8. At the same time, the lateral drive unit 22 drives the two clamping plates 23 to move closer to each other, clamping the other two sides of the material 8, thus achieving four-way clamping of the material 8. Then, the auxiliary drive unit 32 drives the auxiliary carriage 3 to slide towards the fixed plate 11. The horizontal hook 31 moves to the bottom of the material 8 to support it, completing the gripping of the material 8. The material 8 is then transferred to the palletizing position. The auxiliary drive unit 32 is activated to retract the horizontal hook 31 from the bottom of the material 8 to avoid it. Then, the main drive unit 12 is activated to drive the movable plate 21 away from the fixed plate 11, releasing the material 8. This cycle is repeated until the entire pallet is completed.

[0035] During interlayer palletizing, the duplex palletizing fixture first grabs the material 8, then moves it to the partition position. The inclined telescopic drive 41 is activated to drive the frame 43 to lie flat, and the duplex palletizing fixture moves down as a whole. When the detection mechanism 5 detects that the partition falls within the adsorption and grabbing range of the suction cup mechanism 4, the vacuum suction cup 42 adsorbs and fixes the partition. Then, the duplex palletizing fixture moves to the palletizing position, places the partition at the palletizing position or on top of the material 8 at the palletizing position, and then places the material 8 on top of the partition to complete the interlayer palletizing operation.

[0036] The implementation principle of this embodiment is as follows: This duplex palletizing fixture integrates multiple functional structures and uses different driving components to control the movement of each part, achieving effective clamping of materials 8 of different sizes and shapes and operation of different palletizing methods. Compared with traditional palletizing fixtures, it can better adapt to diverse materials 8 and palletizing needs, improving the fixture's compatibility. Simultaneously, through four-way clamping and bottom support, the fixing effect on the material 8 is enhanced, reducing the possibility of material 8 slipping during transportation, improving palletizing stability and efficiency, and significantly improving and enhancing existing palletizing technology.

[0037] This application also provides a method for operating a duplex palletizing fixture, including the following steps: S1: The duplex palletizing fixture moves to the gripping position. The main drive unit 12 drives the main slide 2 to slide towards the fixed plate 11. The movable plate 21 and the fixed plate 11 clamp two sides of the material 8. The lateral drive unit 22 drives the two clamping plates 23 to move closer together, clamping the other two sides of the material 8. In this step, the driving operation of the main drive unit 12 and the lateral drive unit 22 can be achieved through an automated control system. The control system can control the actions of each drive unit according to a preset program. The operator can set parameters such as the size and shape of the material 8 on the operating table. The control system will automatically adjust the stroke of the main drive unit 12 and the lateral drive unit 22 according to these parameters to ensure effective clamping of the material 8. During operation, the duplex palletizing fixture described in the above embodiment is required. All components of the fixture must operate normally, and the lubrication of sliding components such as the first linear slide rail 13, the second linear slide rail 33, the first linear slider 6, and the second linear slider 7 must be ensured to guarantee smooth movement of the main slide 2 and the auxiliary slide 3.

[0038] S2: After material 8 is clamped, the double-layer palletizing fixture moves upward a certain distance to provide space for the horizontal hook 31 to move horizontally into position. Then, the auxiliary drive 32 drives the auxiliary slide 3 to slide towards the fixed plate 11, and the horizontal hook 31 moves to the bottom of material 8 and supports the bottom of material 8 to complete the gripping purpose of material 8, so that material 8 can be transferred to the palletizing position for palletizing. It should be noted that materials 8 such as cartons are usually conveyed by roller conveyors. There are gaps between adjacent rollers of the conveyor line, which allow the hook to be inserted horizontally. In this case, after the double-layer palletizing fixture clamps material 8, it is not necessary to move upward a small distance. The specific gripping method can be adjusted according to the conveyor line of material 8.

[0039] In addition, the movement of the auxiliary drive component 32 is also controlled by the control system. During the movement of the horizontal claw 31, attention must be paid to its speed and positional accuracy to avoid collision or damage to the material 8. In this step, the detection mechanism 5 can monitor the position of the horizontal claw 31 and the state of the material 8 in real time. If any abnormality occurs, the control system can issue an alarm and stop the operation in a timely manner.

[0040] S3: When performing direct palletizing, the duplex palletizing fixture grabs the material 8 at the gripping position and transfers it to the palletizing position. The auxiliary drive unit 32 is activated so that the horizontal hook 31 is withdrawn from the bottom of the material 8 to avoid it. Then the material 8 is lowered to the palletizing position. The main drive unit 12 is activated to drive the movable plate 21 away from the fixed plate 11 to release the material 8. This cycle is repeated until the entire palletizing is completed.

[0041] When performing layered stacking of materials 8 such as oil bottles, the double-layered stacking fixture grips the material 8 at the gripping position, then moves it to the partition position. The inclined telescopic drive 41 is activated, causing the frame 43 to flatten, and the entire double-layered stacking fixture moves downwards. When the detection mechanism 5 detects that the partition falls within the suction gripping range of the suction cup mechanism 4, the vacuum suction cup 42 suctions and fixes the partition. The double-layered stacking fixture moves to the stacking position, placing the partition at the stacking position or above the material 8 at the stacking position. Then, the material 8 is placed on top of the partition to complete the layered stacking operation. In this step, the operator can switch between direct stacking and layered stacking through the control system.

[0042] The implementation principle of this embodiment is as follows: This working method, through reasonable step arrangement and automated control, fully utilizes the function of the duplex palletizing fixture. The various steps cooperate with each other to realize operations such as gripping, transferring, and stacking material 8. Compared with traditional palletizing methods, it can be flexibly adjusted according to different palletizing needs, improving palletizing efficiency and accuracy. At the same time, automated control reduces manual intervention, lowers labor costs, and ensures palletizing quality and stability, representing a significant improvement and enhancement over existing palletizing methods.

[0043] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A duplex palletizing fixture, characterized in that, include: The fixture top seat (1) and the fixing plate (11) are arranged vertically downward on one side of the fixture top seat (1); The main slide (2) and the movable plate (21) are slidably connected to the top seat (1) of the clamp. The movable plate (21) is fixedly connected to the main slide (2), and the fixed plate (11) and the movable plate (21) are arranged opposite to each other. Clamping plates (23) are respectively provided on both sides of the movable plate (21), and the clamping plates (23) extend toward the fixed plate (11). The movable plate (21) is provided with a lateral driving member (22) for driving the clamping plates (23) on both sides of the movable plate (21) to move closer or further apart. The main drive unit (12) is used to drive the main carriage (2) to move on the clamp top seat (1) so that the movable plate (21) moves closer to or away from the fixed plate (11); The auxiliary slide (3) and the horizontal hook (31) are slidably connected to the main slide (2), and the horizontal hook (31) is fixedly connected to the lower end of the auxiliary slide (3) and the horizontal hook (31) is horizontally set. A secondary drive unit (32) is used to drive the secondary carriage (3) to move at the main carriage (2), and the horizontal hook (31) moves horizontally below the movable plate (21) via the secondary carriage (3); The suction cup mechanism (4) is set at the sub-carriage (3) and away from the horizontal hook (31) for adsorbing the partition; When performing direct palletizing, the duplex palletizing fixture moves towards the fixed plate (11) via the movable plate (21) at the gripping position, and the two side clamping plates (23) move towards each other to clamp the material (8) inward; then it moves to the bottom of the material (8) via the horizontal hook (31) to support the bottom, so as to complete the gripping purpose of the material (8) and transfer the material (8) to the palletizing position for palletizing; When performing layered stacking, the duplex stacking fixture grips the material (8), the suction cup mechanism (4) adsorbs the partition, and the layered stacking operation is completed by placing the partition at the stacking position or above the material (8) at the stacking position, and by placing the material (8) above the partition.

2. The duplex palletizing fixture according to claim 1, characterized in that: The clamp top seat (1) is provided with a first linear slide rail (13), and the top of the main slide (2) is provided with a first linear slider (6). The main slide (2) achieves the movement function by sliding cooperation between the first linear slider (6) and the first linear slide rail (13). The bottom of the main slide (2) is provided with a second linear slider (7), and the top of the auxiliary slide (3) is provided with a second linear slide rail (33). The auxiliary slide (3) achieves the movement function by sliding cooperation between the second linear slide rail (33) and the second linear slider (7).

3. A duplex palletizing fixture according to claim 1, characterized in that: The suction cup mechanism (4) includes a frame (43) hinged to the lower end of the sub-slide (3), a plurality of vacuum suction cups (42) disposed on the frame (43), and an oblique telescopic drive member (41) for driving the frame (43) to swing up and down. The two ends of the oblique telescopic drive member (41) are respectively hinged to the frame (43) and the sub-slide (3). When adsorbing the partition, the suction cup mechanism (4) extends through the oblique telescopic drive member (41) to drive the frame (43) to swing to a horizontal state, and adsorbs and fixes the partition through the vacuum suction cups (42).

4. A duplex palletizing fixture according to claim 3, characterized in that: The bottom of the sub-carriage (3) is provided with a detection mechanism (5) for detecting the position of the partition. When the detection mechanism (5) detects that the partition is within the adsorption and gripping range of the suction cup mechanism (4), the suction cup mechanism (4) adsorbs and fixes the partition.

5. A duplex palletizing fixture according to claim 1, characterized in that: The main drive component (12) includes a main cylinder, the cylinder body of which is horizontally positioned at the fixed plate (11), and the piston rod of the main cylinder passes through the fixed plate (11) in the direction of the main slide (2) and is fixedly connected to the main slide.

6. A duplex palletizing fixture according to claim 1, characterized in that: The auxiliary drive unit (32) includes auxiliary cylinders symmetrically arranged on both sides of the auxiliary slide (3). The cylinder body of the auxiliary slide (3) is horizontally arranged at the auxiliary slide (3), and the piston rod of the auxiliary cylinder extends toward the fixed plate (11) and is fixedly connected to the main slide (2).

7. A duplex palletizing fixture according to claim 1, characterized in that: The lateral drive component (22) includes lateral cylinders symmetrically arranged on both sides of the movable plate (21). The cylinders on both sides of the sliding plate correspond one-to-one with the two clamping plates (23). The cylinder body of the lateral cylinder is fixed at the movable plate (21), and the piston rod of the lateral cylinder is fixedly connected to the corresponding clamping plate (23).

8. A method for operating a duplex palletizing fixture as described in claim 4, characterized in that, Includes the following steps: S1: The duplex palletizing fixture moves to the gripping position and drives the main slide (2) to slide towards the fixed plate (11) via the main drive component (12). The movable plate (21) and the fixed plate (11) clamp the material (8) on both sides and drive the two clamping plates (23) to move closer to each other via the lateral drive component (22) to clamp the material (8) on the other two sides. S2: The secondary drive unit (32) drives the secondary slide (3) to slide towards the fixed plate (11), and the horizontal hook (31) moves to the bottom of the material (8) and supports the material (8) to complete the purpose of grabbing the material (8) so as to transfer the material (8) to the stacking position for stacking. S3: When performing direct palletizing, the duplex palletizing fixture will grab the material (8) at the gripping position and transfer it to the palletizing position. The auxiliary drive unit (32) will be activated so that the horizontal hook (31) will be withdrawn from the bottom of the material (8) to avoid it. Then the material (8) will be lowered to the palletizing position. The main drive unit (12) will be activated to drive the movable plate (21) away from the fixed plate (11) to release the material (8). This process will be repeated until the entire palletizing is completed. When performing layer-by-layer palletizing, the duplex palletizing fixture grips the material (8) at the gripping position, then moves it to the partition position, activates the inclined telescopic drive (41), drives the frame (43) to lie flat, and the duplex palletizing fixture moves down as a whole. When the detection mechanism (5) detects that the partition falls within the adsorption and gripping range of the suction cup mechanism (4), the vacuum suction cup (42) adsorbs and fixes the partition. The duplex palletizing fixture moves to the palletizing position, places the partition at the palletizing position or on top of the material (8) at the palletizing position, and then places the material (8) on top of the partition to complete the layer-by-layer palletizing operation.

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