A palletizing device and a palletizing method

Abstract

This invention relates to a palletizing device and method, comprising: a material loading mechanism, including a jig and a pushing assembly, wherein the jig is used to place tubes to be palletized, and the output end of the pushing assembly can abut against the handle of the tube to be palletized to keep the handle horizontal; a material storage mechanism, including a bracket, a support platform, a limiting rod, a lifting platform, a lifting drive assembly, and an insert rod, wherein the support platform is disposed on the bracket, and the limiting rod is disposed on the periphery of the support platform; and a picking and placing mechanism, including a robotic arm, a gripper, a translation drive assembly, and a pressing drive assembly, wherein the gripper is connected to the output end of the robotic arm. Through the above-described design, this invention can maintain the handle in a horizontal position throughout the handling process and effectively prevent the upper layer of material from squeezing the lower layer, avoiding tilting and interference between upper and lower layers during multi-layer palletizing.

Description

Technical Field

[0001] This invention relates to the field of palletizing equipment technology, and in particular to a palletizing device and palletizing method. Background Technology

[0002] In industrial production, the palletizing of pipes, such as steel pipes, is a crucial link between production and warehousing. Its efficiency and palletizing quality directly affect subsequent logistics and storage safety. With the improvement of automation in manufacturing, traditional manual palletizing methods are no longer sufficient to meet the needs of large-scale industrial production due to their high labor intensity, low efficiency, poor palletizing accuracy, and safety hazards. Automated palletizing devices have emerged and are widely used.

[0003] While existing automated palletizing devices have achieved mechanized handling and placement of tubes to be palletized, they still have many technical shortcomings in practical applications, particularly for tubes with special structures, such as... Figure 1 As shown, the tube 1 to be stacked has a base plate 11 at both ends, and one end has an external thread 12. A nut 13 is fitted through the external thread, and the nut has multiple protrusions 15 around its circumference. A handle 16 is rotatably connected to the protrusions for manually rotating the nut 13. A collar 14 is also fitted between the external thread and the base plate on this side of the tube. For this type of tube, existing material loading devices can only provide simple support for the tube to be stacked, and cannot accurately calibrate and fix the handle. The uncertainty of the handle's posture will make it difficult to position the subsequent picking and placing mechanism, which not only prolongs the operation time, but may also cause the tube to be stacked to slip or be damaged due to clamping deviation. This problem is particularly prominent when stacking multiple layers, which can easily lead to the stack tilting and mutual interference. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the obvious deficiencies of existing palletizing devices in terms of posture calibration of special tubes to be palletized, stability of material layering, and reliability of pick-and-place process, thereby providing a palletizing device and palletizing method.

[0005] To solve the above-mentioned technical problems, the present invention provides a palletizing device, comprising: A material loading mechanism includes: a jig and a pushing assembly. The jig is used to place tubes to be stacked, and the output end of the pushing assembly can abut against the handle of the tube to be stacked so that the handle is kept horizontal. A material storage mechanism includes: a bracket, a support platform, a limiting rod, a lifting platform, a lifting drive assembly, and insert rods. The support platform is disposed on the bracket, the limiting rod is disposed on the periphery of the support platform, the lifting platform is connected to the output end of the lifting drive assembly, and the insert rods are configured in multiple groups and are all disposed on the lifting platform, with adjacent groups of insert rods spaced apart along a first horizontal direction. The picking and placing mechanism includes: a robotic arm, a gripper, a translation drive assembly, and a pressing drive assembly. The gripper is connected to the output end of the robotic arm to hold the tube to be stacked and move it from the loading mechanism to the storage mechanism. The translation drive assembly is disposed on the gripper. The pressing drive assembly is connected to the output end of the translation drive assembly and can press against the handle of the tube to be stacked.

[0006] In one embodiment of the present invention, the pushing assembly includes: a first linear drive, a lever, a second linear drive, and a pushing member. The lever is connected to the output end of the first linear drive and can move along the length direction of the tube to be stacked. The pushing member is connected to the output end of the second linear drive and can move along the height direction of the tube to be stacked.

[0007] In one embodiment of the present invention, the lifting drive assembly includes: a first rotary drive component, a dual output shaft reducer, a drive screw, and a screw pair. The first rotary drive component is disposed on a bracket. The input end of the dual output shaft reducer is connected to the first rotary drive component. The drive screw is configured as two sets and is respectively connected to the output end of the dual output shaft reducer. The screw pair is disposed on the lifting platform and adapted to the drive screw.

[0008] In one embodiment of the present invention, a steering box is provided between the dual output shaft reducer and the drive screw, a coupling is provided between the steering box and the dual output shaft reducer, and a linear bearing is provided between the lifting platform and the support.

[0009] In one embodiment of the present invention, the gripper includes: a gripping platform, a first clamping plate, a first elastic member, a second clamping plate, a magnetic suction member, a second linear drive member, and a retraction plate. The gripping platform is connected to the output end of the robot arm. The first clamping plate is configured in at least two sets and is respectively disposed on both sides of the gripping platform. The first elastic member is disposed on the first clamping plate. The second clamping plate is connected to the end of the first elastic member. The magnetic suction member is mounted on the second clamping plate. The second linear drive member is respectively disposed at both ends of the second clamping plate. The retraction plate is connected to the output end of the second linear drive member.

[0010] In one embodiment of the present invention, the translation drive assembly is disposed on the clamping platform and is configured as a third linear drive member, the pressing drive assembly is configured as a fourth linear drive member, the output end of the fourth linear drive member is connected to a second elastic member, and the end of the second elastic member is provided with a contoured part adapted to the tube nuts to be stacked.

[0011] In one embodiment of the present invention, a base plate is provided at the first end and the second end of the tube to be stacked. The first end of the tube to be stacked is provided with an external thread, and a nut is fitted on the external thread. The nut is provided with a plurality of protrusions along the circumferential direction. At least one protrusion is rotatably connected to a handle. A collar fitted on the tube to be stacked is provided between the handle and the base plate.

[0012] In one embodiment of the present invention, the support platform has through holes adapted to insert rods, the size of the insert rods is not greater than the spacing between adjacent tubes to be stacked, the first and second ends of adjacent tubes to be stacked in each layer of tubes to be stacked face opposite directions, and adjacent tubes to be stacked in each layer of tubes to be stacked are staggered along their length direction.

[0013] In one embodiment of the present invention, the fixture is provided with an alignment component, which includes: a fifth linear drive, a push plate and a top plate. The fifth linear drive is respectively disposed at both ends of the fixture, and the push plate is connected to the output end of the fifth linear drive.

[0014] The present invention also discloses a palletizing method, which uses the above-mentioned palletizing device to palletize tubes to be palletized, comprising: Step S1: Fix the tube to be stacked, drive the handle of the tube to be stacked, and rotate it around the axis of the tube until its center plane is horizontal. Step S2: Clamp the tube to be stacked and press down the handle of the tube to keep its position and angle relative to the tube unchanged; Step S3: Make the height of the first end of the tube to be stacked less than the height of the second end until the collar of the tube to be stacked abuts against the base plate at its first end. Step S4: Pre-separate adjacent tubes to be stacked along the first horizontal direction, repeat steps S1-S3, and place the tubes to be stacked on the support platform at intervals along the first horizontal direction until one layer of tubes to be stacked is completed. Step S5: Continue to pre-separate adjacent tubes to be stacked along the first horizontal direction above the previous stacking layer, and continue to repeat steps S1-S4 until the stacking of multiple layers of tubes to be stacked is completed.

[0015] In one embodiment of the present invention, in step S3 above, the step of making the height of the first end of the tube to be stacked less than the height of the second end further includes: shaking the tube to be stacked along the height direction and / or the length direction of the tube to be stacked.

[0016] In one embodiment of the present invention, in step S4 above, the step of sequentially placing the tubes to be stacked on the support platform at intervals along the first horizontal direction further includes: making the axis of the tubes to be stacked along the second horizontal direction, and making the first end and second end of adjacent tubes to be stacked face opposite directions, and the adjacent tubes to be stacked in the same layer are staggered along their length direction.

[0017] Compared with the prior art, the above-described technical solution of the present invention has the following advantages: The palletizing device of this invention features a gripper mechanism that, driven by a robotic arm, allows for precise movement of the grippers, transferring the tubes to be palletized from the loading mechanism to the storage mechanism. The cooperation of the translation drive component and the pressing drive component enables the grippers to quickly move the pressing drive component to the handle position after clamping the tubes, achieving press-fit fixation. The device maintains the handle's horizontal position throughout the handling process, effectively resisting the effects of vibration and inertia, ensuring consistent posture of the tubes when placed in the storage mechanism. Multiple sets of insert rods separate adjacent tubes along a first horizontal direction, ensuring uniform spacing. The lifting drive component drives the lifting platform to raise and lower the insert rods. After a single layer of palletizing is completed, the insert rods extend and protrude beyond the palletized tubes, providing a clear positioning reference and separation support for the next layer, effectively preventing upper-layer material from squeezing lower layers and avoiding tilting and interference between upper and lower layers during multi-layer palletizing. Attached Figure Description

[0018] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0019] Figure 1 This is a schematic diagram of the existing tubes to be stacked; Figure 2 This is a schematic diagram of the palletizing device of the present invention; Figure 3 This is the present invention. Figure 2 Enlarged view of point A in the middle; Figure 4 This is the present invention. Figure 2 Enlarged view of point B in the middle; Figure 5 This is a structural schematic diagram of the palletizing device of the present invention from another angle; Figure 6 This is a schematic diagram of the material storage mechanism of the present invention; Figure 7 This is a schematic diagram of the picking and placing mechanism of the present invention.

[0020] Explanation of reference numerals in the accompanying drawings: 1. Pipe to be stacked; 11. Chassis; 12. External thread; 13. Nut; 14. Collar; 15. Protrusion; 16. Handle; 2. Storage mechanism; 21. Limiting rod; 22. Inserting rod; 23. First rotary drive component; 24. Dual output shaft reducer; 25. Steering box; 26. Drive screw; 27. Lifting platform; 28. Support platform; 29. ​​Linear bearing; 3. Picking and placing mechanism; 31. Pushing assembly; 32. Lever; 4. Robotic arm; 5. Gripper; 51. Clamping platform; 52. Third linear drive component; 53. Fourth linear drive component; 54. Second elastic component; 55. Contouring component; 56. Groove; 57. First clamping plate; 58. First elastic component; 59. Second clamping plate; 510. Second linear drive component; 511. Third elastic component; 512. Retracting plate. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention. Example

[0022] Reference Figures 2-7 As shown, a palletizing device of the present invention includes: The material loading mechanism includes: a jig and a pushing assembly 31. The jig is used to place the tube 1 to be stacked. The output end of the pushing assembly 31 can abut against the handle 16 of the tube to be stacked so that the handle 16 is kept horizontal. The material storage mechanism 2 includes: a bracket, a support platform 28, a limiting rod 21, a lifting platform 27, a lifting drive assembly, and insert rods 22. The support platform 28 is disposed on the bracket, the limiting rod 21 is disposed on the periphery of the support platform 28, the lifting platform 27 is connected to the output end of the lifting drive assembly, and the insert rods 22 are configured in multiple groups and are all disposed on the lifting platform 27. Adjacent groups of insert rods 22 are spaced apart along a first horizontal direction. The picking and placing mechanism 3 includes: a robot arm 4, a gripper 5, a translation drive component, and a pressing drive component. The gripper 5 is connected to the output end of the robot arm 4 to hold the tube 1 to be stacked and move it from the loading mechanism to the storage mechanism 2. The translation drive component is disposed on the gripper 5. The pressing drive component is connected to the output end of the translation drive component and can press against the handle 16 of the tube 1 to be stacked.

[0023] The palletizing device of the present invention includes a fixture that limits the position of the tube to be palletized 1. The output end of a pushing assembly 31 extends and abuts against the handle 16 of the tube to be palletized 1, driving the handle 16 to rotate around the axis of the tube until the center surface of the handle 16 is horizontal. The pushing assembly 31 remains in the output state, fixing the handle 16 in this position. A robotic arm 4 moves a gripper 5 to directly above the tube to be palletized 1, with the two gripping arms of the gripper 5 in close contact with the surface of the tube to be palletized 1, maintaining a gripping state. Simultaneously, a translational drive assembly moves a pressing drive assembly to the position of the handle 16. The output end of the pressing drive assembly extends downward, and an elastic pressure head abuts against the handle 16 and applies a preset pressure, fixing the handle 16 in a horizontal state. The output end of the pushing assembly 31 retracts, completing the handover between the loading mechanism and the pick-and-place mechanism 3.

[0024] The robotic arm 4 moves the gripper 5, holding the tube 1 to be stacked, above the support platform 28 of the storage mechanism 2, adjusting the posture of the tube 1 to be stacked according to the preset stacking position. The lifting drive component of the storage mechanism 2 is activated, raising the lifting platform 27 so that the insertion rod 22 passes through the pre-drilled hole on the support platform 28 and extends to the upper surface of the support platform 28. The robotic arm 4 adjusts the height of the tube 1 to be stacked, placing it on the support platform 28, while ensuring that the insertion rod 22 is located on one side of the tube 1 to be stacked, providing auxiliary limiting. Then, the output end of the pressing drive component retracts, the gripper 5 releases its grip on the tube, and the robotic arm 4 moves the gripper 5 away from the storage mechanism 2 area, completing a single pick-and-place action. After one layer of tubes 1 is stacked, the lifting drive component lowers the lifting platform 27, and the insertion rod 22 extends and protrudes from the stacked tube, preparing for the next layer of stacking. This cycle repeats until the preset number of stacking layers is completed.

[0025] The push assembly 31 includes: a first linear drive, a lever 32, a second linear drive 510, and a pusher. The lever 32 is connected to the output end of the first linear drive and can move along the length direction of the tube 1 to be stacked. The pusher is connected to the output end of the second linear drive 510 and can move along the height direction of the tube 1 to be stacked.

[0026] Reference Figure 7As shown, after the tube 1 to be stacked is placed on the fixture of the loading mechanism, the first linear drive unit drives the lever 32 to move closer to the handle 16, causing the lever 32 to rotate, so that the lever 32 is aligned and adapted to the pusher. The output shaft of the second linear drive unit 510 extends upwards, driving the pusher to move towards the lower surface of the handle 16. When the pusher contacts the handle 16, as the output shaft of the second linear drive unit 510 continues to extend, the force exerted by the pusher on the handle 16 gradually increases, causing the handle 16 and the nut 13 to rotate around the axis of the tube 1 to be stacked, and the posture of the handle 16 gradually changes from an initial arbitrary state to a horizontal state. In some embodiments, a vision detection unit is installed above the fixture to capture images of the handle 16 in real time and transmits the image data to the image processing module. The image processing module identifies the contour of the handle 16 using an edge detection algorithm and calculates the angle between the center plane of the handle 16 and the horizontal direction. When the included angle is less than the preset error threshold, the control system determines that the handle 16 has reached the horizontal state and sends a stop command to the second linear drive 510. The push assembly 31 maintains the current push state until the pick-and-place mechanism 3 completes the clamping and pressing action of the tube to be stacked. Then the output shafts of the first linear drive and the second linear drive 510 retract, the lever 32 and the push assembly reset, and wait for the next push action.

[0027] Reference Figures 5-6 As shown, the lifting drive assembly includes: a first rotary drive component 23, a dual output shaft reducer 24, a drive screw 26, and a screw pair. The first rotary drive component 23 is mounted on a bracket. The input end of the dual output shaft reducer 24 is connected to the first rotary drive component 23. The drive screw 26 is configured in two sets and is respectively connected to the output end of the dual output shaft reducer 24. The screw pair is mounted on the lifting platform 27 and is adapted to the drive screw 26.

[0028] After the pick-and-place mechanism 3 places the tube 1 to be stacked on the support platform 28, it determines whether the lifting platform 27 needs to be activated based on the current stacking layer. If the current stacking layer is the first layer, the lifting platform 27 is initially in the lowest position, with the insertion rod 22 protruding from the support platform 28, and the protrusion length slightly greater than the height of the tube 1 to be stacked. After all the tubes 1 to be stacked in the first layer are placed, the control system sends a start command to the first rotary drive component 23, i.e., the motor. The motor rotates forward at a preset speed, and the power of its output shaft is transmitted to the input end of the dual output shaft reducer 24 through a flexible coupling. The dual output shaft reducer 24 reduces the high speed of the servo motor and evenly distributes the power to the two output ends, driving the drive screws 26 on both sides to rotate synchronously.

[0029] Since the lead screw pair is fixedly connected to the lifting platform 27, and the lead screw pair and the drive lead screw 26 are threadedly engaged, the rotational motion of the drive lead screw 26 is converted into the linear motion of the lead screw pair. The synchronous rotation of the two sets of drive lead screws 26 makes the rising speed of the lead screw pairs on both sides consistent, thereby driving the lifting platform 27 to rise smoothly in the vertical direction. The insertion rod 22 on the lifting platform 27 then passes through the through hole on the support platform 28 and gradually extends out of the stacking tube of that layer.

[0030] When the insertion rod 22 needs to be retracted, the motor rotates in the reverse direction, and the power is transmitted to the drive screw 26 via the dual output shaft reducer 24. The drive screw 26 rotates in the reverse direction, and the screw pair drives the lifting platform 27 to descend vertically, gradually retracting the insertion rod 22 to the lowest point. Throughout the lifting process, the symmetrical power distribution of the dual output shaft reducer 24 ensures that the two sets of drive screws 26 are subjected to balanced forces, avoiding tilting and jamming of the lifting platform 27, making the lifting action smooth and reliable, and ensuring precise extension and retraction of the insertion rod 22. This provides stable support and separation for the layered stacking of the tubes 1 to be stacked.

[0031] A steering box 25 is provided between the dual output shaft reducer 24 and the drive screw 26, a coupling is provided between the steering box 25 and the dual output shaft reducer 24, and a linear bearing 29 is provided between the lifting platform 27 and the support.

[0032] The power output from the dual-output-shaft reducer 24 is transmitted to the input of the steering box 25 via a coupling. Because the steering box 25 uses a bevel gear structure, the power transmission direction changes from horizontal to vertical. The power after steering is transmitted to the upper end of the drive screw 26 via a diaphragm coupling, causing the drive screw 26 to rotate vertically. The bracket is equipped with bearing seats for rotating the drive screw 26, and the lifting platform 27 is fitted with bearings adapted to the drive screw 26.

[0033] During the movement of the lifting platform 27, the guide rod on its side forms a sliding engagement with the linear bearing 29 on the support. The linear bearing 29 provides precise guidance for the guide rod, limiting the horizontal displacement of the lifting platform 27 and allowing it to move vertically. Because the four linear bearings 29 are symmetrically arranged, they effectively resist the eccentric torque generated during operation, preventing the lifting platform 27 from tilting or jamming. Simultaneously, the diaphragm coupling compensates for installation errors between the dual-output shaft reducer 24 and the steering box 25, and between the steering box 25 and the drive screw 26, ensuring smooth power transmission and reducing component impact and wear caused by installation errors.

[0034] Reference Figure 3As shown, the gripper 5 includes: a gripping platform 51, a first clamping plate 57, a first elastic element 58, a second clamping plate 59, a magnetic suction element, a second linear drive element 510, and a retraction plate 512. The gripping platform 51 is connected to the output end of the robot arm 4. The first clamping plate 57 is configured in at least two sets and is respectively disposed on both sides of the gripping platform 51. The first elastic element 58 is disposed on the first clamping plate 57. The second clamping plate 59 is connected to the end of the first elastic element 58. The magnetic suction element is installed on the second clamping plate 59. The second linear drive element 510 is respectively disposed at both ends of the second clamping plate 59. The retraction plate 512 is connected to the output end of the second linear drive element 510.

[0035] According to the instructions of the control system, the robotic arm 4 moves the gripper 5 to directly above the tube 1 to be stacked in the material loading mechanism. The position of the gripper 5 is adjusted by the vision positioning unit so that the two sets of second clamping plates 59 are respectively aligned with the two sides of the tube 1 to be stacked, thus completing the alignment of the gripper 5 with the tube 1 to be stacked. The clamping drive device drives the first clamping plate 57 to move along the length direction of the clamping platform 51. The first clamping plate 57 drives the first elastic element 58 and the second clamping plate 59 to move towards the tube 1 to be stacked simultaneously.

[0036] After the second clamping plate 59 contacts the surface of the tube 1 to be stacked, the first clamping plate 57 continues to move inward, and the first elastic element 58 is compressed and begins to undergo elastic deformation to form a buffer. The tube 1 to be stacked is a magnetically pleasing part, and the magnetic element of the second clamping plate 59 generates an adsorption force with the surface of the tube 1 to be stacked, so that the tube 1 to be stacked will not loosen or fall off during the handling process.

[0037] After clamping is completed, the robotic arm 4 moves the gripper 5 and the tube 1 to be stacked to the target position of the storage mechanism 2. During this process, the pressing drive assembly always keeps the handle 16 pressed and fixed. When the tube 1 to be stacked moves to the preset position of the support platform 28, the output shaft of the second linear drive 510 extends quickly, driving the retracting plate 512 to move towards the surface of the tube 1 to be stacked. A third elastic element 511 is provided between the output end of the second linear drive 510 and the push plate. In this embodiment, the first elastic element 58, the second elastic element 54, and the third elastic element 511 are all composed of a spring-sleeved movable rod, which can move through its support base. The retracting plate 512 contacts the tube 1 to be stacked and applies a pushing force, causing a relative displacement between the tube 1 to be stacked and the second clamping plate 59, overcoming the attraction force of the magnetic suction element, and pushing the tube 1 to be stacked out of the gripper 5. The control system sends a release command to the clamping drive device, which drives the first clamping plate 57 to move outward, the first elastic element 58 returns to its original deformation, and the second clamping plate 59 completely separates from the tube 1 to be stacked. The output shaft of the second linear drive 510 retracts, driving the unloading plate 512 to reset, the gripper 5 completes the unloading action, and the robot arm 4 drives the gripper 5 back to the loading mechanism, ready for the next pick-and-place cycle.

[0038] The translation drive assembly is disposed on the clamping platform 51 and is configured as the third linear drive 52. The pressing drive assembly is configured as the fourth linear drive 53. The output end of the fourth linear drive 53 is connected to the second elastic element 54. The end of the second elastic element 54 is provided with a contouring element 55 adapted to the nut 13 of the tube 1 to be stacked.

[0039] The third linear drive 52 drives the fourth linear drive 53 and the contouring component 55 to move closer to the tube 1 to be stacked until the contouring component 55 moves directly above the nut 13 of the tube 1 to be stacked. Then, the output end of the fourth linear drive 53 extends downward, pushing the second elastic component 54 and the contouring component 55 to move downward synchronously. The contouring component 55 first contacts the surface of the nut 13. As the output end of the fourth linear drive 53 continues to extend, the second elastic component 54 is compressed and undergoes elastic deformation, generating elastic force during the deformation process. This elastic force is transmitted to the nut 13 through the contouring component 55. The contouring component 55 has a groove 56 that avoids the protrusion 15, so that the two ends of the contouring component 55 are respectively pressed onto the handle 16. The handle 16 is an L-shaped handle 16, including a first connecting part and a second connecting part. The first connecting part is rotatably connected to the protrusion 15, thereby driving the handle 16 to maintain a horizontal state. Due to the buffering effect of the second elastic element 54, the impact force during the pressing process can be effectively absorbed, avoiding rigid collision between the contouring element 55 and the nut 13. During the process of the robot arm 4 moving the tube to be stacked 1 from the loading mechanism to the storage mechanism 2, the fourth linear drive element 53 always maintains the output state, and the second elastic element 54 maintains a certain amount of compression, so that the pressure of the contouring element 55 on the nut 13 is stable, thereby keeping the position and angle of the handle 16 unchanged.

[0040] Reference Figure 1 As shown, the first end and the second end of the tube to be stacked are respectively provided with a base plate 11. The first end of the tube to be stacked is provided with an external thread 12. The external thread 12 is fitted with a nut 13. The nut 13 is provided with a plurality of protrusions 15 along the circumference. At least one protrusion 15 is rotatably connected to a handle 16. A collar 14 is provided between the handle 16 and the base plate 11 and fitted onto the tube to be stacked.

[0041] Before the tube 1 to be stacked enters the stacking process, its handle 16 may be in any position. After the tube 1 to be stacked is placed on the fixture of the loading mechanism, the fixture initially limits its position, keeping the axis of the tube 1 horizontal. At this time, the pushing component 31 of the loading mechanism is activated. The pushing component contacts the handle 16 and applies a pushing force. Since the handle 16 and the protrusion 15 of the nut 13 are rotatably connected, the handle 16 begins to rotate under the action of the pushing force. At the same time, the nut 13 rotates slightly along the external thread 12 of the tube 1 to be stacked under the drive of the handle 16, until the center plane of the handle 16 is adjusted to a horizontal state. The collar 14 is always fitted on the tube 1 to be stacked. When the gripper 5 of the pick-and-place mechanism 3 clamps the tube to be stacked, the second clamping plate 59 of the gripper 5 fits against the outer peripheral surface of the tube 1 to be stacked and the supporting surface of the chassis 11. The magnetic attraction force makes the clamping plate and the tube 1 to be stacked in close contact. At the same time, the contouring part 55 of the pressing drive component fits against the nut 13, fixing the posture of the nut 13 and the handle 16 and preventing the handle 16 from rotating during transportation. After the tube 1 to be stacked is placed on the support platform 28 of the storage mechanism 2, the chassis 11 of the adjacent tube 1 to be stacked cooperates to provide support.

[0042] The support platform 28 has through holes adapted to the insertion rod 22. The size of the insertion rod 22 is not greater than the spacing between adjacent stackable tubes 1. The first and second ends of adjacent stackable tubes 1 in each layer face opposite directions. Adjacent stackable tubes 1 in each layer are staggered along their length.

[0043] When the pick-and-place mechanism 3 moves the tube 1 to be stacked to the support platform 28 of the storage mechanism 2, the control system adjusts the posture of the robot arm 4 according to the preset stacking arrangement program, so that the axis of the tube 1 to be stacked is placed along the preset direction. For the first layer of stacking, the lifting drive assembly first drives the lifting platform 27 to rise, so that the insertion rod 22 passes through the through hole on the support platform 28 and extends to the upper surface of the support platform 28, with the extension height slightly higher than the surface of the support platform 28. Subsequently, the robot arm 4 places the first tube 1 to be stacked on the support platform 28, for example, with its first end facing the left, and the insertion rod 22 located on the right side of the tube 1 to be stacked, forming an initial limit on it. The robotic arm 4 transports the second tube 1 to be stacked to the support platform 28 and adjusts its position according to the staggered arrangement requirements, so that the first end of the tube 1 to be stacked faces to the right and its length axis is offset relative to the axis of the first tube 1 to be stacked, to avoid interference from the chassis 11. At the same time, the spacing between adjacent tubes 1 to be stacked is matched with the size of the insertion rod 22. After one layer of stacking is completed, the lifting platform 27 drives the insertion rod 22 to rise again, so that the insertion rod 22 protrudes above the first layer of stacked tubes, with a protrusion height slightly greater than the height of the tube 1 to be stacked, to provide separation and limit for the placement of the second layer of stacked tubes. In this embodiment, since the tube 1 to be stacked is placed horizontally, its height is the radial vertical height. The tubes 1 to be stacked are placed on the support platform 28 at intervals along the first horizontal direction until the first layer of tubes 1 to be stacked is completed. The arrangement of the upper-layer stackable tubes 1 is consistent with that of the lower layer. The first and second ends of adjacent stackable tubes 1 face opposite directions and are staggered along the length direction. The insertion rod 22 is always located between adjacent stackable tubes 1, so that the position of each layer of stackable tubes is stable.

[0044] The fixture is equipped with an alignment component, which includes a fifth linear drive, a push plate, and a top plate. The fifth linear drive is respectively disposed at both ends of the fixture, and the push plate is connected to the output end of the fifth linear drive.

[0045] When the tube 1 to be stacked is conveyed onto the fixture of the loading mechanism, due to errors during the conveying process, the axis of the tube 1 to be stacked may not coincide with the positioning reference of the fixture. At this time, the alignment component starts to work. The fifth linear drive extends and pushes the tube 1 to be stacked towards the top plate through the push plate.

[0046] This embodiment also discloses a palletizing method, which uses the above-mentioned palletizing device to palletize the tube 1 to be palletized, comprising: Step S1: Fix the tube to be stacked 1, drive the handle 16 of the tube to be stacked 1 to rotate it around the axis of the tube to be stacked 1 until its center plane is horizontal. Step S2: Clamp the tube to be stacked 1 and press the handle 16 of the tube to be stacked 1 so that its position and angle relative to the tube to be stacked 1 remain unchanged; Step S3: Make the height of the first end of the tube 1 to be stacked less than the height of the second end until the collar 14 of the tube 1 to be stacked abuts against the base plate 11 at its first end. Step S4: Pre-separate adjacent tubes 1 to be stacked along the first horizontal direction, repeat steps S1-S3, and place the tubes 1 to be stacked on the support platform 28 at intervals along the first horizontal direction until one layer of tubes 1 to be stacked is completed. Step S5: Continue to pre-separate adjacent tubes 1 to be stacked along the first horizontal direction above the previous stacking layer, and continue to repeat steps S1-S4 until the stacking of multiple layers of tubes 1 to be stacked is completed.

[0047] Specifically, in step S1, the alignment component and the fifth linear drive component ensure accurate positioning of the tube 1 to be stacked, and the push component 31 is used to precisely adjust and fix the posture of the handle 16. In step S2, the gripping action of the gripper 5 and the pressing action of the pressing drive component are performed synchronously. Through the adsorption force of the magnetic component and the elastic pressure of the contouring component 55, a stable gripping of the tube 1 to be stacked is formed, and the posture of the tube 1 and the handle 16 remains stable during transportation. In step S3, gravity is used to achieve automatic sliding positioning of the collar 14 in conjunction with the chassis 11, eliminating the need for an additional drive mechanism, simplifying the operation process and improving efficiency. In step S4, the pre-division of the insertion rod 22 provides a clear positioning benchmark for the placement of the tube 1 to be stacked, making the spacing between adjacent tubes 1 to be stacked uniform and improving the neatness of single-layer stacking. In step S5, the upward movement of the insertion rod 22 after each layer of stacking is completed provides a stable separation and support for the next layer of stacking, avoiding mutual interference between the upper and lower layers of tubes 1 to be stacked. At the same time, the limiting effect of the insertion rod 22 ensures the verticality and stability of the multi-layer stacking.

[0048] In step S3, making the height of the first end of the tube to be stacked less than the height of the second end further includes: shaking the tube to be stacked along the height direction and / or the length direction of the tube to be stacked.

[0049] The collar 14 is fitted onto the outer circumference of the tube 1 to be stacked. Due to processing errors or surface oil contamination, the collar 14 may experience significant frictional resistance with the tube 1. Gravity alone may not be sufficient for it to move smoothly to the position where it contacts the chassis 11, resulting in jamming. The robotic arm 4 drives the tube 1 to be stacked to vibrate or swing. Vibration along the height direction generates a vertical inertial component in the collar 14. This inertia, combined with gravity, increases the driving force for the collar 14 to move downwards along the axis of the tube 1. Vibration along the length direction generates a reciprocating inertial force along the axis. This inertia effectively overcomes the static friction between the collar 14 and the tube 1, causing the collar 14 to transition from a stationary state to a moving state and begin moving along the axis towards the first end. During the shaking process, the magnetic attraction of the gripper 5 continuously generates an adsorption force, which, together with the clamping force of the clamping plate, keeps the tube 1 to be stacked and the gripper 5 relatively stationary. The contouring part 55 of the pressing drive component is always in contact with the nut 13 through the elastic pressure of the second elastic part 54, and the handle 16 remains horizontal under pressure. The vision inspection unit continuously captures images of the collar 14 and uses image processing algorithms to identify the position coordinates of the collar 14. When the position coordinates of the collar 14 no longer change and coincide with the position coordinates of the first end base 11, it is determined that the collar 14 has completed positioning, the shaking action stops, and step S3 is completed.

[0050] In step S4, the step of sequentially placing the tubes 1 to be stacked on the support platform 28 at intervals along the first horizontal direction further includes: aligning the axis of the tubes 1 to be stacked along the second horizontal direction, and ensuring that the first and second ends of adjacent tubes 1 to be stacked face opposite directions, with adjacent tubes 1 in the same layer staggered along their length. The arrangement of the tubes 1 along the second horizontal direction, which is orthogonal to the first horizontal direction, allows the tubes 1 to form a matrix arrangement on the support platform 28. The arrangement of adjacent tubes 1 facing opposite directions utilizes the symmetrical distribution of the base plates 11 at both ends of the tubes 1, achieving misalignment of the base plates 11 through alternating orientations. This avoids the superposition of multiple base plates 11 in the same vertical direction, thereby reducing the overall height of a single-layer stack. Simultaneously, it shifts the centers of gravity of adjacent tubes 1, improving the stability of the single-layer stack. The staggered arrangement along the length direction is achieved by offsetting the axis in the second horizontal direction, causing adjacent tubes 1 to be stacked to be staggered in their length directions. This fully utilizes the gap space on the support platform 28 and avoids space waste caused by tubes 1 being of uniform length. During actual placement, the control system first generates a preset layout coordinate matrix based on the dimensions of the support platform 28 and the parameters of the tubes 1 to be stacked. This matrix contains the center coordinates, axis direction, and orientation information of each tube 1. When the robotic arm 4 moves the tube 1 to be stacked above the support platform 28, the vision positioning unit acquires image information of the support platform 28 and compares it with the preset coordinate matrix to determine the precise placement position. Subsequently, the robotic arm 4 adjusts the posture of the tube 1 to be stacked, ensuring its axis is along the second horizontal direction and its first end orientation meets preset requirements. Then, a laser rangefinder detects the distance to the already placed tube 1 to be stacked, ensuring the staggered offset meets requirements. Finally, the tube 1 is smoothly placed on the support platform 28. After the adjacent tube 1 to be stacked is placed, the insertion rod 22 is driven by the lifting platform 27 to rise to a preset height, providing a limit reference for the placement of the next tube 1 to be stacked.

[0051] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A palletizing device, characterized in that, include: A material loading mechanism includes: a jig and a pushing assembly. The jig is used to place tubes to be stacked, and the output end of the pushing assembly can abut against the handle of the tube to be stacked so that the handle is kept horizontal. The pushing assembly includes: a first linear drive, a lever, a second linear drive, and a pushing member. The lever is connected to the output end of the first linear drive and can move along the length direction of the tube to be stacked. The pushing member is connected to the output end of the second linear drive and can move along the height direction of the tube to be stacked. A material storage mechanism includes: a bracket, a support platform, a limiting rod, a lifting platform, a lifting drive assembly, and insert rods. The support platform is disposed on the bracket, the limiting rod is disposed on the periphery of the support platform, the lifting platform is connected to the output end of the lifting drive assembly, and the insert rods are configured in multiple groups and are all disposed on the lifting platform, with adjacent groups of insert rods spaced apart along a first horizontal direction. The picking and placing mechanism includes: a robot arm, a gripper, a translation drive component, and a pressing drive component. The gripper is connected to the output end of the robot arm to hold the tube to be stacked and move it from the loading mechanism to the storage mechanism. The translation drive component is disposed on the gripper. The pressing drive component is connected to the output end of the translation drive component and can press against the handle of the tube to be stacked. The first and second ends of the tube to be stacked are respectively provided with a base plate. The first end of the tube to be stacked is provided with an external thread, and a nut is fitted on the external thread. The nut is provided with multiple protrusions along the circumference, and at least one protrusion is rotatably connected to a handle. A collar fitted on the tube to be stacked is provided between the handle and the base plate.

2. The palletizing device according to claim 1, characterized in that: The lifting drive assembly includes: a first rotary drive component, a dual output shaft reducer, a drive screw, and a screw pair. The first rotary drive component is mounted on a bracket. The input end of the dual output shaft reducer is connected to the first rotary drive component. The drive screw is configured as two sets and is respectively connected to the output end of the dual output shaft reducer. The screw pair is mounted on the lifting platform and adapted to the drive screw.

3. A palletizing device according to claim 2, characterized in that: A steering box is provided between the dual output shaft reducer and the drive screw, a coupling is provided between the steering box and the dual output shaft reducer, and a linear bearing is provided between the lifting platform and the support.

4. The palletizing device of claim 1, wherein: The gripper includes: a gripping platform, a first clamping plate, a first elastic element, a second clamping plate, a magnetic suction element, a second linear drive element, and a retraction plate. The gripping platform is connected to the output end of the robot arm. The first clamping plate is configured in at least two sets and is respectively disposed on both sides of the gripping platform. The first elastic element is disposed on the first clamping plate. The second clamping plate is connected to the end of the first elastic element. The magnetic suction element is installed on the second clamping plate. The second linear drive elements are respectively disposed at both ends of the second clamping plate. The retraction plate is connected to the output end of the second linear drive element.

5. The palletizing device of claim 1, wherein: The translation drive assembly is disposed on the clamping platform and is configured as a third linear drive component. The pressing drive assembly is configured as a fourth linear drive component. The output end of the fourth linear drive component is connected to a second elastic component. The end of the second elastic component is provided with a contoured component adapted to the tube nuts to be stacked.

6. The palletizing device of claim 1, wherein: The support platform has through holes adapted to the insertion rods. The size of the insertion rods is no greater than the spacing between adjacent tubes to be stacked. The first and second ends of adjacent tubes to be stacked in each layer face opposite directions. Adjacent tubes to be stacked in each layer are staggered along their length.

7. The palletizing device according to claim 1, characterized in that: The fixture is equipped with an alignment component, which includes a fifth linear drive, a push plate, and a top plate. The fifth linear drive is respectively disposed at both ends of the fixture, and the push plate is connected to the output end of the fifth linear drive.

8. A palletizing method characterized by, The palletizing device according to any one of claims 1-7 is used to palletize tubes to be palletized, comprising: Step S1: Fix the tube to be stacked, drive the handle of the tube to be stacked, and rotate it around the axis of the tube until its center plane is horizontal. Step S2: Clamp the tube to be stacked and press down the handle of the tube to keep its position and angle relative to the tube unchanged; Step S3: Make the height of the first end of the tube to be stacked less than the height of the second end until the collar of the tube to be stacked abuts against the base plate at its first end. Step S4: Pre-separate adjacent tubes to be stacked along the first horizontal direction, repeat steps S1-S3, and place the tubes to be stacked on the support platform at intervals along the first horizontal direction until one layer of tubes to be stacked is completed. Step S5: Continue to pre-separate adjacent tubes to be stacked along the first horizontal direction above the previous stacking layer, and continue to repeat steps S1-S4 until the stacking of multiple layers of tubes to be stacked is completed.

9. A palletizing method according to claim 8, characterized in that: In step S3, making the height of the first end of the tube to be stacked less than the height of the second end further includes: shaking the tube to be stacked along the height direction and / or the length direction of the tube to be stacked.

10. The palletizing method according to claim 8, characterized in that: In step S4, the step of sequentially placing the tubes to be stacked on the support platform at intervals along the first horizontal direction further includes: making the axis of the tubes to be stacked along the second horizontal direction, and making the first end and second end of adjacent tubes to be stacked face opposite directions, and the adjacent tubes to be stacked in the same layer are staggered along their length direction.

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