Automatic stacking production line and method

Abstract

The invention belongs to the technical field of automatic production, and discloses an automatic stacking production line and method.The automatic stacking production line comprises a first product conveying belt, a second product conveying belt, a mechanical arm, a first weight detection device, a second weight detection device, a first tray transfer belt, a second tray transfer belt and an intelligent control system; the single mechanical arm is arranged between the two conveying belts, different products are dynamically grabbed in combination with weight detection and an intelligent control system, the products with the high speed are grabbed preferentially, the products with the low speed are grabbed in an idle mode, and it is guaranteed that trays are evenly filled; when defective products are removed or the grabbing condition is not met, the system automatically adjusts the grabbing strategy and recovers alternate grabbing, the adjustable weight threshold value supports large-size single-piece grabbing and small-size accumulated grabbing, universal stacking of multiple products is considered, the efficiency, the tray utilization rate and the stacking quality are effectively improved, the problems of empty grabbing and non-uniformity of fixed-frequency grabbing are solved, and the product quality is improved. And intelligent, efficient and reliable stacking is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation production, and in particular to an automatic stacking production line and method. BACKGROUND

[0002] Stacking production lines are widely used in packaging, logistics, food, building materials and chemical industries, and its main function is to orderly stack the products conveyed on the production line on the pallets by mechanical arms or other automated devices, so as to facilitate warehousing, transfer and loading and unloading. The existing automatic stacking system usually includes a product conveyor belt, a mechanical arm and a pallet transfer device, and the mechanical arm completes the grabbing and placing of the products through a preset path and frequency, thereby realizing automatic stacking operation.

[0003] In the prior art, in order to improve the utilization rate of a single machine, some stacking production lines use one mechanical arm to interface with two conveyor belts at the same time, and place the products on the two conveyor belts on the corresponding pallets, respectively. However, due to the differences in volume, weight and processing links of the products conveyed on different conveyor belts, the conveying speeds are often inconsistent. For example, large-size products can be grabbed at one time, while small-size products need to accumulate two or more products to be grabbed. For another example, some products need to go through a bundling process during conveying, which slows down the pace. In addition, unexpected situations may occur during manual feeding, which may cause a conveyor belt to temporarily have no products arriving at the grabbing position. In the above-mentioned situations, the existing mechanical arm usually performs grabbing action according to a fixed frequency, and it is difficult to identify and respond to the pace difference and feeding interruption of different conveyor belts in a timely manner, which may cause problems such as empty grabbing, waiting or reduced grabbing efficiency, thereby affecting the overall production rhythm and system stability.

[0004] Therefore, the prior art needs a new stacking production line and method, which can detect the product state at the end of the conveyor belt, and dynamically adjust the grabbing pace and priority of the mechanical arm in combination with an intelligent control system, so that the mechanical arm can still realize reasonable scheduling and stable operation under the condition that the speeds of the two conveyor belts are inconsistent or the products on one side are temporarily interrupted, thereby ensuring the continuity of the production line operation and the reliability of the stacking operation. SUMMARY

[0005] The present application intends to provide an automatic stacking production line and method to solve the problems in the background art. The present application sets a single mechanical arm between two conveying belts, combines with a weight detection device for gravity detection, cooperates with an intelligent control system to dynamically generate a grabbing sequence and a beat, and realizes the alternate or continuous grabbing of different products. In the case of different conveying speeds, the mechanical arm preferentially grabs the products with faster conveying speed and grabs the products with slower conveying speed in the idle gap, thereby ensuring the uniformity of tray filling. When the operator removes the problem product from the conveying belt or one conveying belt does not reach the grabbing condition, the system can automatically pause the product grabbing of the corresponding conveying belt, concentrate on grabbing the product of another normal conveying belt, and restore the alternate grabbing mode after the problem product is restored, thereby avoiding the empty grabbing of the mechanical arm and the uneven filling of the tray, ensuring the continuity and safety of the stacking production. Through the adjustable weight threshold setting, the single grabbing of large-size products and the cumulative grabbing of small-size products can be realized, thereby taking into account the general stacking needs of various products, significantly improving the production efficiency, tray utilization rate and stacking quality, effectively solving the problems of low efficiency, empty grabbing and uneven tray filling caused by the fixed frequency grabbing of the mechanical arm in the prior art, and realizing the intelligentization, high efficiency and reliability of the stacking operation.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0007] The automatic stacking production line comprises a first product conveying belt and a second product conveying belt, a mechanical arm, a first weight detection device and a second weight detection device, a first tray transfer belt and a second tray transfer belt, and an intelligent control system. The first product conveying belt and the second product conveying belt are used to convey different types of products respectively. The mechanical arm is arranged between the first product conveying belt and the second product conveying belt, and the end effector of the mechanical arm is a universal clamp used to grab different products. The first weight detection device and the second weight detection device are arranged at the ends of the first product conveying belt and the second product conveying belt respectively, and are used to detect the weight of the products conveyed to the position and judge whether the preset grabbing condition is reached. The first tray transfer belt and the second tray transfer belt are arranged corresponding to the first product conveying belt and the second product conveying belt respectively, and are used for the conveying and replacement of the trays. The intelligent control system is electrically connected with the first weight detection device, the second weight detection device, the mechanical arm, the first tray transfer belt and the second tray transfer belt respectively. The intelligent control system is used to dynamically generate the grabbing sequence and the beat of the mechanical arm according to the weight detection signal and the conveying state, thereby realizing the alternate stacking of different products.

[0008] Preferably, the first weight detection device and the second weight detection device each comprise a load cell and a bearing platform. The bearing platform is installed at the end of the corresponding conveying belt. The load cell is installed below the corresponding bearing platform and is used to detect the weight of the product on the bearing platform and transmit the detection data to the intelligent control system.

[0009] Preferably, the intelligent control system is provided with a threshold determination module for comparing the detection data transmitted by the first weight detection device and the second weight detection device, and when the detection data is greater than or equal to a preset threshold, the intelligent control system generates and outputs a grabbing instruction, and when the detection data is less than the preset threshold, the intelligent control system determines that the product quantity of the conveying belt is insufficient and does not output the grabbing instruction.

[0010] Preferably, the intelligent control system can set different weight thresholds according to product types, wherein a single-piece weight threshold is set for large-size products, and a multi-piece cumulative weight threshold is set for small-size products.

[0011] Preferably, the intelligent control system is provided with a speed difference scheduling module, when the conveying speeds of the first product conveying belt and the second product conveying belt are inconsistent, the speed difference scheduling module preferentially generates an instruction for grabbing the product with faster conveying speed, and inserts a grabbing instruction for the product of the other conveying belt in the idle gap of the mechanical arm.

[0012] Preferably, the intelligent control system is provided with a quantity deficiency determination module, when the first weight detection device or the second weight detection device continuously outputs detection data lower than the threshold, the quantity deficiency determination module determines that the product of the conveying belt does not currently meet the grabbing condition, and controls the mechanical arm to continuously perform grabbing of the product of the other conveying belt.

[0013] Preferably, the first tray transfer belt and the second tray transfer belt are both provided with a tray position detection device, the tray position detection device outputs a full load signal when detecting that a tray reaches a full load state, and the intelligent control system receives the signal and controls the corresponding tray transfer belt to output the full load tray and supplement an empty tray.

[0014] Preferably, when the intelligent control system receives detection data lower than the threshold continuously output by the first weight detection device or the second weight detection device, it automatically adjusts the grabbing priority and grabbing tempo of the mechanical arm to realize continuous grabbing of the product of the other normal conveying belt, and when the weight detection device resumes outputting detection data greater than or equal to the threshold, it controls the mechanical arm to resume the alternate grabbing mode of the products of the two conveying belts.

[0015] An automatic palletizing production line method, comprising the following steps:

[0016] S1: The first weight detection device and the second weight detection device detect the weight of the products conveyed from the first product conveying belt and the second product conveying belt respectively, and transmit the detection data to the intelligent control system in real time;

[0017] S2: the intelligent control system performs threshold judgment on the detection data, generates a grabbing instruction when the detection data is greater than or equal to a threshold value, and does not generate a grabbing instruction when the detection data is less than the threshold value;

[0018] S3: the intelligent control system preferentially arranges the mechanical arm to grab the product with a faster conveying speed according to the speed difference between the first product conveying belt and the second product conveying belt;

[0019] S4: when the first weight detection device or the second weight detection device continuously outputs detection data lower than a threshold value, the intelligent control system controls the mechanical arm to continuously grab the product of another conveying belt;

[0020] S5: when the first weight detection device or the second weight detection device resumes outputting detection data greater than or equal to a threshold value, the intelligent control system controls the mechanical arm to resume alternating grabbing of the products of the two conveying belts;

[0021] S6: when the first tray transfer belt or the second tray transfer belt detects a full load signal, the intelligent control system controls the corresponding tray transfer belt to output a full load tray and replenish an empty tray.

[0022] Preferably, the threshold value is an adjustable parameter, and the intelligent control system can set different threshold values according to the weight, volume or packaging form of different products to realize universal stacking of multiple products.

[0023] The beneficial effects of the present technical solution compared with the prior art are as follows:

[0024] The present application realizes alternating or continuous grabbing of different products by arranging a single mechanical arm between two conveying belts, combining with gravity detection of the weight detection device, and dynamically generating a grabbing sequence and beat with the intelligent control system; in the case of conveying speed difference, the mechanical arm preferentially grabs the product with a faster conveying speed, and grabs the product with a slower conveying speed in the idle gap, thereby ensuring uniformity of tray filling; when an operator removes a problem product from the conveying belt or a conveying belt temporarily does not meet the grabbing condition, the system can automatically pause grabbing of the product of the corresponding conveying belt, concentrate on grabbing the product of another normal conveying belt, and resume the alternating grabbing mode after the problem product is restored, thereby avoiding empty grabbing of the mechanical arm and uneven filling of the tray, ensuring the continuity and safety of the stacking production; through adjustable weight threshold setting, single-piece grabbing of large-size products and cumulative grabbing of small-size products can be realized, thereby meeting the universal stacking needs of multiple products, significantly improving production efficiency, tray utilization rate and stacking quality, effectively solving the problems of low efficiency, empty grabbing and uneven tray filling caused by fixed frequency grabbing of the mechanical arm in the prior art, and realizing intelligentization, high efficiency and reliability of the stacking operation. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 The overall structure schematic diagram provided by the present application;

[0026] Figure 2 The overall system framework diagram provided by this invention;

[0027] Figure 3 The flowchart of the weight detection and grasping logic provided by this invention;

[0028] Figure 4 The speed difference and priority capture scheduling flowchart provided for this invention;

[0029] Figure 5 The flowchart for abnormal product handling and capture recovery provided by this invention.

[0030] Reference numerals: 1. First product conveyor belt; 2. Second product conveyor belt; 3. First weight detection device; 4. Second weight detection device; 5. Robotic arm; 6. First pallet transfer belt; 7. Second pallet transfer belt; 8. Intelligent control system. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments:

[0032] like Figures 1-5 The automated palletizing production line shown includes a first product conveyor belt 1 and a second product conveyor belt 2, a robotic arm 5, a first weight detection device 3 and a second weight detection device 4, a first pallet transfer belt 6 and a second pallet transfer belt 7, and an intelligent control system 8. The first product conveyor belt 1 and the second product conveyor belt 2 are used to transport different types of products respectively. The robotic arm 5 is positioned between the first product conveyor belt 1 and the second product conveyor belt 2, and its end effector is a universal gripper used to grasp different products. The first weight detection device 3 and the second weight detection device 4 are respectively located on the first product conveyor belt 1 and the second product conveyor belt 2. The two product conveyor belts 2 are located at their ends and are used to detect the weight of the delivered products and determine whether the preset gripping conditions have been met. The first pallet transfer belt 6 and the second pallet transfer belt 7 are respectively set to correspond to the first product conveyor belt 1 and the second product conveyor belt 2, and are both used for pallet transport and replacement. The intelligent control system 8 is electrically connected to the first weight detection device 3, the second weight detection device 4, the robotic arm 5, the first pallet transfer belt 6 and the second pallet transfer belt 7. The intelligent control system 8 is used to dynamically generate the gripping sequence and rhythm of the robotic arm 5 according to the weight detection signal and the transport status, thereby realizing the alternating palletizing of different products.

[0033] In this embodiment, the automatic stacking production line includes a first product conveyor belt 1 and a second product conveyor belt 2, wherein the first product conveyor belt 1 is used to convey products of smaller size or requiring bundling processing, and the second product conveyor belt 2 is used to convey products of larger size or without processing. In the prior art, similar stacking production lines usually have two conveyor belts arranged in parallel, but the mechanical arm is fixed to grab at a fixed frequency, which cannot adapt to different product conveying speeds or interruptions in feeding. To solve this problem, the embodiment sets a mechanical arm 5 between the two conveyor belts, the end of the mechanical arm is a universal clamp that can grab products of different sizes and weights without replacing the end effector. The mechanical arm moves flexibly in the X, Y, Z and rotation directions. The grabbing sequence and beat are dynamically generated by the intelligent control system 8 according to the weight data transmitted in real time by the first weight detection device 3 and the second weight detection device 4 and the state of the conveyor belt, realizing the alternate stacking of multiple products by a single mechanical arm. For example, when the first conveyor belt product is a small bottle product and the second conveyor belt is a large carton, the large carton can be grabbed one at a time, while the small bottle product is grabbed in groups of three. Therefore, the conveying frequency of the large carton is higher, and the mechanical arm can first grab the carton and grab the accumulated small bottle products in the idle gap, thereby ensuring uniform filling and continuous stacking of the pallets. The first weight detection device 3 and the second weight detection device 4 use gravity detection to obtain accurate weight through a weighing sensor and transmit it to the intelligent control system 8. The grabbing action is only performed when the weight meets the threshold value, avoiding empty grabbing of the mechanical arm. The first pallet transfer belt 6 and the second pallet transfer belt 7 respectively receive the stacked pallets, automatically output the full pallets and supplement empty pallets when the pallets are full, realizing continuous pallet stacking and improving production continuity and pallet utilization. Compared with the existing fixed frequency grabbing scheme, the embodiment can intelligently adapt to differences in conveying speed and interruptions in feeding.

[0034] The first weight detection device 3 and the second weight detection device 4 each include a weighing sensor and a bearing platform. The bearing platform is installed at the end of the corresponding conveyor belt, and the weighing sensor is installed below the corresponding bearing platform to detect the weight of the product on the bearing platform and transmit the detection data to the intelligent control system 8.

[0035] In this embodiment, the first weight detection device 3 and the second weight detection device 4 each consist of a bearing platform and a weighing sensor installed below it. In the prior art, photoelectric detection or quantitative interception is often used to determine whether to grab the product, but photoelectric or interception methods may cause misgrabbing or empty grabbing when small-size products need to be grabbed in groups. In this embodiment, the bearing platform receives the weight of the product, and the weighing sensor obtains accurate weight data through gravity detection and transmits it to the intelligent control system 8. The system only generates a mechanical arm grabbing instruction when the weight reaches a preset threshold, and does not grab if the weight is insufficient, thereby ensuring continuity and safety. For example, if small bottle products need to be grabbed in groups of three, the mechanical arm will not grab when the weight is less than three, avoiding empty grabbing or damaging the product.

[0036] The intelligent control system 8 is provided with a threshold determination module for comparing the detection data transmitted by the first weight detection device 3 and the second weight detection device 4, and generating and outputting a grabbing instruction when the detection data is greater than or equal to a preset threshold, and determining that the product quantity of the conveying belt is insufficient and not outputting the grabbing instruction when the detection data is less than the preset threshold.

[0037] In the embodiment, the intelligent control system 8 is provided with a threshold determination module for comparing the weight data transmitted by the first weight detection device 3 and the second weight detection device 4, and generating a grabbing instruction when the weight is greater than or equal to a preset threshold, and not outputting the grabbing instruction when the weight is insufficient. In the prior art, the mechanical arm grabbing is usually a fixed frequency or timing action, which cannot adapt to the fluctuation of the product quantity of the conveying belt. The embodiment realizes intelligent grabbing through real-time weight judgment, and can dynamically adjust the grabbing sequence. For example, when the small-size product has not accumulated to the target weight, and the large-size product has arrived, the system can first grab the large-size product, and grab the small-size product in the idle gap, so as to realize continuous filling of the tray.

[0038] The intelligent control system 8 can set different weight thresholds according to the product types, wherein a single-piece weight threshold is set for large-size products, and a multi-piece cumulative weight threshold is set for small-size products.

[0039] In the embodiment, the intelligent control system 8 can set different weight thresholds for different product types, a single-piece weight threshold for large-size products, and a multi-piece cumulative weight threshold for small-size products. For example, for a carton product with a weight of about 5 kg, the threshold is set to 5 kg per piece, and for a small bottle beverage with a weight of about 0.5 kg per bottle, three bottles need to be accumulated for grabbing, and the threshold is set to 1.5 kg. The mechanical arm 5 only performs the grabbing action when the weight reaches the corresponding threshold, realizes universal stacking of multiple products, ensures the uniformity of tray filling, avoids empty grabbing or waiting, and improves the production efficiency.

[0040] The intelligent control system 8 is provided with a speed difference scheduling module. When the conveying speeds of the first product conveying belt 1 and the second product conveying belt 2 are inconsistent, the speed difference scheduling module preferentially generates an instruction for grabbing the product with a faster conveying speed, and inserts a grabbing instruction for the product of the other conveying belt in the idle gap of the mechanical arm 5.

[0041] In the embodiment, the intelligent control system 8 is provided with a speed difference scheduling module, which can collect the conveying speeds of the first product conveying belt 1 and the second product conveying belt 2 in real time. When the conveying speeds of the two conveying belts are inconsistent, the system generates a command to preferentially grab the product with a faster conveying speed, and inserts a command to grab the product of the other conveying belt in the idle gap of the mechanical arm 5. In the prior art, the fixed frequency grabbing cannot utilize the idle time of the mechanical arm, resulting in low efficiency. The embodiment can fully utilize the idle time to improve the grabbing efficiency and production continuity. For example, a large-size carton is grabbed one by one and does not need to be processed, and the conveying belt has a faster speed, while three small bottle products are grabbed at a time and need to be bundled in the middle, and the conveying belt has a slower speed. The mechanical arm can first grab the carton and grab the small bottle product in the idle time, so as to realize uniform filling of the tray.

[0042] The intelligent control system 8 is provided with a quantity deficiency determination module. When the first weight detection device 3 or the second weight detection device 4 continuously outputs detection data lower than a threshold value, the quantity deficiency determination module determines that the product of the conveying belt temporarily does not meet the grabbing condition, and controls the mechanical arm 5 to continuously perform grabbing of the product of the other conveying belt.

[0043] In the embodiment, the intelligent control system 8 is provided with a quantity deficiency determination module. When the first weight detection device 3 or the second weight detection device 4 continuously outputs weight data lower than a threshold value, the system determines that the product of the conveying belt temporarily does not meet the grabbing condition, and the mechanical arm 5 continuously grabs the product of the other conveying belt until the weight of the original conveying belt product recovers to meet the threshold value, and then the alternate grabbing mode is restored. Compared with the prior art fixed frequency grabbing scheme, the embodiment can avoid empty grabbing or waiting of the mechanical arm, while ensuring uniform filling of the tray, improving production continuity and efficiency.

[0044] The first tray transfer belt 6 and the second tray transfer belt 7 are both provided with a tray position detection device. When the tray position detection device detects that the tray reaches a full load state, a full load signal is output. The intelligent control system 8 receives the signal and controls the corresponding tray transfer belt to output the full load tray and supplement the empty tray.

[0045] In the embodiment, the first tray transfer belt 6 and the second tray transfer belt 7 are both provided with a tray position detection device. When the tray position detection device detects that the tray reaches a full load state, a full load signal is output. The intelligent control system 8 receives the signal and controls the corresponding tray transfer belt to output the full load tray and supplement the empty tray. In the prior art, full loading of the tray can cause interruption of stacking or manual intervention. The embodiment automatically replaces the tray to realize continuous stacking of the tray, and improves the automation level and production efficiency. For example, after each tray is stacked with three layers of cartons, an empty tray is automatically switched to continue stacking.

[0046] The intelligent control system 8 automatically adjusts the grabbing priority and grabbing rhythm of the mechanical arm 5 when it receives the detection data continuously output by the first weight detection device 3 or the second weight detection device 4 below the threshold value, realizes continuous grabbing of the product on the other normal conveying belt, and controls the mechanical arm 5 to restore the alternate grabbing mode of the products on the two conveying belts when the weight detection device restores the detection data greater than or equal to the threshold value.

[0047] In this embodiment, the intelligent control system 8 automatically adjusts the grabbing priority and rhythm of the mechanical arm 5 when it receives the detection data continuously output by the first weight detection device 3 or the second weight detection device 4 below the threshold value, realizes continuous grabbing of the product on the other normal conveying belt, and controls the mechanical arm 5 to restore the alternate grabbing mode of the products on the two conveying belts when the weight detection device restores the detection data greater than or equal to the threshold value. This dynamic grabbing mode guarantees the continuity of production and the uniformity of tray filling, avoids empty grabbing, improves the efficiency of stacking, and is more intelligent and reliable than the existing fixed grabbing frequency scheme. For example, in actual production, if the operator or the system finds that the product on a conveying belt is abnormal or damaged and needs to be removed from the conveying belt, the weight detection device will detect that the weight on the loading platform continuously below the threshold value within a preset time, which is set according to the grabbing interval in the normal conveying mode. The intelligent control system 8 automatically suspends the grabbing of the product on the conveying belt and concentrates on grabbing the product on the other normal conveying belt, while maintaining the uniformity of tray filling. When the subsequent product continues to be transported by the conveying belt, the mechanical arm 5 restores the alternate grabbing mode of the products on the two conveying belts, thereby guaranteeing the continuous, efficient and safe operation of the stacking production line and effectively avoiding the problems of empty grabbing of the mechanical arm and uneven filling of the tray.

[0048] The automatic stacking production line method comprises the following steps:

[0049] S1: The first weight detection device 3 and the second weight detection device 4 detect the weight of the products conveyed from the first product conveying belt 1 and the second product conveying belt 2 respectively, and transmit the detection data to the intelligent control system 8 in real time;

[0050] S2: The intelligent control system 8 performs threshold value judgment on the detection data, generates a grabbing instruction when the detection data is greater than or equal to the threshold value, and does not generate a grabbing instruction when the detection data is less than the threshold value;

[0051] S3: The intelligent control system 8 arranges the mechanical arm 5 to grab the product with faster conveying speed according to the speed difference between the first product conveying belt 1 and the second product conveying belt 2;

[0052] S4: When the first weight detection device 3 or the second weight detection device 4 continuously outputs detection data below the threshold value, the intelligent control system 8 controls the mechanical arm 5 to continuously grab the product on the other conveying belt;

[0053] S5: When the first weight detection device 3 or the second weight detection device 4 resumes outputting detection data greater than or equal to the threshold value, the intelligent control system 8 controls the mechanical arm 5 to resume the alternate grabbing of the two conveying belt products;

[0054] S6: When the first tray transfer belt 6 or the second tray transfer belt 7 detects a full load signal, the intelligent control system 8 controls the corresponding tray transfer belt to output a full load tray and replenish an empty tray.

[0055] The threshold value is an adjustable parameter, and the intelligent control system 8 can set different threshold values according to the weight, volume or packaging form of different products to realize universal stacking of multiple products.

[0056] In this embodiment, the threshold value is an adjustable parameter, and the intelligent control system 8 can set different threshold values according to the weight, volume or packaging form of different products. The mechanical arm 5 dynamically grabs products according to real-time weight data, which can grab large-size products one by one and accumulate small-size products, realizes universal stacking of multiple products, ensures uniform tray filling, improves production efficiency, reduces manual intervention and operation risk, and realizes flexible and intelligent operation. For example, for small-size products that need to grab multiple bottles at a time, cumulative grabbing can be achieved by adjusting the threshold value, and for large cartons, single grabbing can be achieved by independently setting the threshold value.

[0057] The above is only an embodiment of the present application, and well-known specific technical solutions and / or common knowledge of characteristics in the scheme are not described in detail. It should be noted that for those skilled in the art, without departing from the technical solutions of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, which will not affect the effect and practicality of the present application. The protection scope of the present application should be subject to the content of its claims, and the specific embodiments in the specification can be used to explain the content of the claims.

Claims

1. An automated palletizing production line, characterized in that, include: The first product conveyor belt (1) and the second product conveyor belt (2) are used to convey different types of products respectively. The robotic arm (5) is located between the first product conveyor belt (1) and the second product conveyor belt (2), and the end effector of the robotic arm (5) is a universal gripper used to grab different products. The first weight detection device (3) and the second weight detection device (4) are respectively set at the ends of the first product conveyor belt (1) and the second product conveyor belt (2), and are used to detect the weight of the conveyed products and determine whether the preset gripping conditions are met. The first pallet transfer belt (6) and the second pallet transfer belt (7) are respectively set to correspond to the first product conveyor belt (1) and the second product conveyor belt (2), and are both used for pallet transportation and replacement. The intelligent control system (8) is electrically connected to the first weight detection device (3), the second weight detection device (4), the robotic arm (5), the first pallet transfer belt (6), and the second pallet transfer belt (7). The intelligent control system (8) is used to dynamically generate the gripping sequence and rhythm of the robotic arm (5) according to the weight detection signal and the conveying status, so as to realize the alternating palletizing of different products.

2. The automated palletizing production line as described in claim 1, characterized in that: The first weight detection device (3) and the second weight detection device (4) both include a weighing sensor and a support platform. The support platform is installed at the end of the corresponding conveyor belt, and the weighing sensor is installed below the corresponding support platform. It is used to detect the weight of the product located on the support platform and transmit the detection data to the intelligent control system (8).

3. The automated palletizing production line as described in claim 1, characterized in that: The intelligent control system (8) is equipped with a threshold determination module, which is used to compare the detection data transmitted by the first weight detection device (3) and the second weight detection device (4). When the detection data is greater than or equal to a preset threshold, the intelligent control system (8) generates and outputs a grabbing command. When the detection data is less than the preset threshold, the intelligent control system (8) determines that the number of products on the conveyor belt is insufficient and does not output a grabbing command.

4. The automated palletizing production line as described in claim 1, characterized in that: The intelligent control system (8) can set different weight thresholds according to the product type, wherein a single weight threshold is set for large-sized products and a cumulative weight threshold is set for small-sized products.

5. The automated palletizing production line as described in claim 1, characterized in that: The intelligent control system (8) is equipped with a speed difference scheduling module. When the conveying speeds of the first product conveyor belt (1) and the second product conveyor belt (2) are inconsistent, the speed difference scheduling module will prioritize generating an instruction to grab the product with the faster conveying speed and insert an instruction to grab the product of the other conveyor belt during the idle gap of the robotic arm (5).

6. The automated palletizing production line as described in claim 1, characterized in that: The intelligent control system (8) is equipped with a quantity insufficiency determination module. When the first weight detection device (3) or the second weight detection device (4) continuously outputs detection data below the threshold, the quantity insufficiency determination module determines that the conveyor belt product does not meet the gripping conditions and controls the robotic arm (5) to continuously perform gripping of another conveyor belt product.

7. The automated palletizing production line as described in claim 1, characterized in that: The first pallet transfer belt (6) and the second pallet transfer belt (7) are both equipped with pallet position detection devices. When the pallet position detection device detects that the pallet has reached the full load state, it outputs a full load signal. After receiving the signal, the intelligent control system (8) controls the corresponding pallet transfer belt to output the full load pallet and replenish the empty pallet.

8. The automated palletizing production line as described in claim 1, characterized in that: When the intelligent control system (8) receives detection data that is lower than the threshold continuously output by the first weight detection device (3) or the second weight detection device (4), it automatically adjusts the gripping priority and gripping rhythm of the robotic arm (5) to realize continuous gripping of products on another normal conveyor belt. When the weight detection device resumes outputting detection data that is greater than or equal to the threshold, it controls the robotic arm (5) to resume the alternating gripping mode of products on the two conveyor belts.

9. The method applied to the automated palletizing production line according to any one of claims 1-8, characterized in that, Includes the following steps: S1: The first weight detection device (3) and the second weight detection device (4) respectively detect the weight of the products conveyed from the first product conveyor belt (1) and the second product conveyor belt (2), and transmit the detection data to the intelligent control system (8) in real time; S2: The intelligent control system (8) performs threshold determination on the detection data. When the detection data is greater than or equal to the threshold, a grabbing instruction is generated. When the detection data is less than the threshold, no grabbing instruction is generated. S3: The intelligent control system (8) prioritizes the robotic arm (5) to grab the product with the faster conveying speed based on the speed difference between the first product conveyor belt (1) and the second product conveyor belt (2). S4: When the first weight detection device (3) or the second weight detection device (4) continuously outputs detection data below the threshold, the intelligent control system (8) controls the robotic arm (5) to continuously grab another conveyor belt product. S5: When the first weight detection device (3) or the second weight detection device (4) resumes outputting detection data greater than or equal to the threshold, the intelligent control system (8) controls the robotic arm (5) to resume alternating gripping of products on the two conveyor belts; S6: When the first pallet transfer belt (6) or the second pallet transfer belt (7) detects a full load signal, the intelligent control system (8) controls the corresponding pallet transfer belt to output the full load pallet and replenish the empty pallet.

10. The automated palletizing production line method as described in claim 9, characterized in that: The threshold is an adjustable parameter. The intelligent control system (8) can set different thresholds according to the weight, volume or packaging form of different products to achieve universal palletizing of multiple products.

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