A pop can finished product stacking device

Abstract

The application discloses a pop can finished product stacking equipment, and relates to the technical field of pop can storage and transportation. The pop can finished product stacking equipment comprises a machine body, a stacking mechanical arm is fixedly installed on one side of the machine body, a leveling mechanism is movably installed on the top of the machine body, the leveling mechanism comprises an adjusting assembly, a supporting assembly, a locking assembly and a protection assembly, the adjusting assembly comprises a movable bin which is fixedly installed on the top of the machine body, a universal joint one is movably installed on the top of the movable bin, the top end of the universal joint one is fixedly connected with the bottom end of a stacking platform, and a counterweight is fixedly installed on the bottom end of the universal joint. The pop can finished product stacking equipment can keep the platform horizontal in the whole scene of stacking, storage and transportation through the cooperative work of the components of the leveling mechanism, effectively solves the stacking problem caused by the inclination of the equipment, guarantees the regular and stable pop can stacking structure, completely eliminates the collapse risk, and significantly improves the reliability and safety of the operation process.

Description

Technical Field

[0001] This invention relates to the field of aluminum can storage and transportation technology, and in particular to a finished aluminum can palletizing equipment. Background Technology

[0002] Aluminum can palletizing equipment is a specialized machine used at the end of an automated production line. Its main function is to automatically sort, layer, and stack filled and capped aluminum cans onto pallets to form stable and neat stacks for easy storage and transportation. The significance of this equipment lies in its ability to greatly improve production efficiency and stacking quality by replacing traditional manual palletizing, significantly reducing labor costs and losses during the packaging process, while ensuring operational safety and hygiene standards in the working environment. It is an indispensable key piece of equipment for the modern beverage, beer, and other fast-moving consumer goods industries to achieve large-scale, intelligent production and logistics optimization.

[0003] Existing can palletizing equipment is limited by the palletizing location, often resulting in tilting during operation. This tilt leads to a tilt in the finished can stack, causing instability and potentially collapse during storage and transport. Furthermore, this problem extends beyond palletizing; similar issues of equipment tilting, stack tilting, and insufficient stability persist during storage, loading, and transportation.

[0004] Therefore, a finished can palletizing device is proposed to address the above problems. Summary of the Invention

[0005] To overcome the shortcomings of existing technologies and address the problem of poor stability in palletizing structures due to limitations in the palletizing operation location, a finished can palletizing device is proposed.

[0006] The technical solution adopted by this invention to solve its technical problem is: a finished can palletizing device, including a body and a palletizing platform. A palletizing robotic arm is fixedly installed on one side of the body, and a leveling mechanism is movably installed on the top of the body. The leveling mechanism includes an adjustment component, a support component, a locking component, and a protection component. The adjustment component includes a movable compartment fixedly installed on the top of the body. A universal joint is movably installed on the top of the movable compartment. The top end of the universal joint is fixedly connected to the bottom end of the palletizing platform. A counterweight is fixedly installed on the bottom end of the universal joint. The support component includes a tilt sensor installed at the bottom of the counterweight. Six hydraulic telescopic rods for supporting the palletizing platform are arranged in a circular pattern at equal intervals around the top of the movable compartment. An oil supply pipe is provided at the bottom of each adjacent hydraulic telescopic rod, and a solenoid valve is provided in the middle of each oil supply pipe.

[0007] Preferably, the interior of the movable chamber, as well as the interior of the hydraulic telescopic rod and the oil supply pipe, are filled with hydraulic oil with high damping properties.

[0008] Preferably, a protective sleeve is fixedly connected to the bottom of the counterweight, and the tilt sensor is located inside the protective sleeve.

[0009] Preferably, the support assembly further includes six universal joints 2 that are movably mounted around the top of the movable compartment at equal intervals. Each of the six universal joints 2 has a movable seat fixedly connected to its top. The top of each of the six movable seats is fixedly mounted to the bottom of the six hydraulic telescopic rods. Each of the six hydraulic telescopic rods has a universal joint 3 installed at its output end. The top of each of the six universal joints 3 is movably connected to the bottom of the palletizing platform.

[0010] Preferably, all of the hydraulic telescopic rods have a through hole at their bottom end that connects the hydraulic telescopic rod and the oil supply pipe.

[0011] Preferably, the locking assembly includes a collar, the middle of which is slidably connected to the outer wall of the top of the universal joint. A plurality of piston rods are hinged at equal intervals to the outer wall of the collar. A plurality of connecting blocks are fixedly connected at equal intervals to the top of the interior of the movable compartment. A sleeve is hinged to the bottom of the connecting block. The outer wall of the piston rod is slidably connected to the inner wall of the sleeve.

[0012] Preferably, the sleeve is filled with a non-Newtonian fluid.

[0013] Preferably, the piston rod has several circular holes at its end inside the sleeve.

[0014] Preferably, the protective component includes a guide post disposed inside the universal joint, the outer wall of the guide post being slidably connected to the inner wall of the collar, and compression springs being fixedly connected to both the upper and lower sides of the collar, the compression springs being sleeved on the outside of the guide post, and the ends of the two compression springs that are far apart being fixedly connected to the top of the counterweight and the inside of the universal joint, respectively.

[0015] Preferably, the system also includes a system control module, which includes a signal acquisition module and an on / off control module. The signal acquisition module is used to receive the deflection signal from the tilt sensor and transmit it to the on / off control module. The on / off control module is used to control the opening or closing of the solenoid valve according to the received signal, so as to realize the linkage control between the tilt sensor and the solenoid valve.

[0016] Due to the adoption of the above technical solution, the technical progress achieved by this invention compared to the prior art is as follows: 1. This invention provides a finished can palletizing device. Through the coordinated work of the components of the leveling mechanism, the platform can be kept level in all scenarios of palletizing, storage and transportation. This effectively solves the palletizing problem caused by equipment tilting, ensures that the can stack structure is regular and stable, completely eliminates the risk of collapse, and significantly improves the reliability and safety of the operation process.

[0017] 2. This invention provides a finished can palletizing device. Through the phased coordination of the adjustment component and the support component, the device initially relies on the multi-point rigid support of the hydraulic telescopic rod to resist the shift of the center of gravity. After the palletizing is completed, the device uses the self-weight of the counterweight block in conjunction with the hydraulic oil damping in the movable compartment to dynamically level the device. The high-damping hydraulic oil suppresses oscillations, and universal joint two and universal joint three are adapted to different tilt angles. This ensures the stability of the palletizing platform in the initial stage of palletizing and also ensures the horizontal accuracy during movement and transfer, greatly improving the quality and consistency of stacking.

[0018] 3. This invention provides a finished can palletizing device. Utilizing the instantaneous locking characteristics of non-Newtonian fluids, the locking component quickly secures the counterweight pendulum to the platform when encountering bumps. The protection component, through a guiding and buffering structure, reduces impact wear and prevents platform displacement caused by instantaneous signals. It effectively resists impact interference under complex road conditions, ensuring that cans to be palletized or already palletized do not scatter or shift, and improves the anti-interference capability of the equipment during mobile operations.

[0019] 4. This invention provides a finished can palletizing device that uses an automated palletizing robotic arm in conjunction with an adaptive leveling system to replace traditional manual palletizing, significantly improving production efficiency and reducing labor costs. The collaborative work of all components reduces equipment wear and maintenance frequency, extends service life, and minimizes rework and packaging losses caused by palletizing tilt. It is suitable for the large-scale production needs of the fast-moving consumer goods industry, balancing practicality and economy. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the active compartment structure of the present invention; Figure 3 For the present invention Figure 2 Enlarged view of point A in the image; Figure 4 This is a schematic cross-sectional view of the active compartment structure of the present invention; Figure 5 This is a schematic diagram of the locking component structure of the present invention; Figure 6 For the present invention Figure 5 Enlarged view of point B in the image; Figure 7 This is a schematic diagram of the protective component structure of the present invention.

[0021] In the diagram: 1. Body; 2. Palletizing robotic arm; 3. Palletizing platform; 4. Leveling mechanism; 41. Movable compartment; 42. Universal joint one; 43. Counterweight; 44. Tilt sensor; 441. Universal joint two; 442. Movable seat; 443. Hydraulic telescopic rod; 444. Universal joint three; 445. Oil pipe; 446. Solenoid valve; 447. Through hole; 48. Locking assembly; 481. Collar; 482. Piston rod; 483. Sleeve; 484. Connecting block; 485. Round hole; 49. Protection assembly; 491. Guide column; 492. Compression spring. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Specific implementation examples are given below.

[0024] Please see Figure 1 - Figure 7This invention provides a technical solution: a finished can palletizing device, comprising a body 1 and a palletizing platform 3. A palletizing robotic arm 2 is fixedly installed on one side of the body 1, and a leveling mechanism 4 is movably installed on the top of the body 1. The leveling mechanism 4 includes an adjusting component, a supporting component, a locking component 48, and a protective component 49. The adjusting component includes a movable compartment 41 fixedly installed on the top of the body 1. A universal joint 42 is movably installed on the top of the movable compartment 41. The top of the universal joint 42 is fixedly connected to the bottom of the palletizing platform 3, and a counterweight 43 is fixedly installed on the bottom of the universal joint. The supporting component includes an angle sensor 44 installed at the bottom of the counterweight 43. Six hydraulic telescopic rods for supporting the palletizing platform 3 are arranged in a circumferential manner at equal intervals around the top of the movable compartment 41. 443, each of the bottoms of adjacent hydraulic telescopic rods 443 is provided with an oil supply pipe 445, and a solenoid valve 446 is provided in the middle of all oil supply pipes 445. The interior of the movable chamber 41, as well as the interiors of the hydraulic telescopic rods 443 and the oil supply pipes 445, are filled with hydraulic oil with high damping properties. A protective sleeve is fixedly connected to the bottom of the counterweight 43, and the tilt sensor 44 is located inside the protective sleeve. The support assembly also includes six universal joints 441 that are movably mounted on the top of the movable chamber 41 in a circular manner with equal spacing. A movable seat 442 is fixedly connected to the top of each of the six universal joints 441. The tops of the six movable seats 442 are respectively fixedly installed to the bottom ends of the six hydraulic telescopic rods 443. A universal joint 444 is installed at the output end of each of the six hydraulic telescopic rods 443. The top of the universal joint 444 is movably connected to the bottom of the palletizing platform 3. All hydraulic telescopic rods 443 have through holes 447 at their bottom ends, connecting the hydraulic telescopic rods 443 and the oil pipes 445. The movable chamber 41, as a high-damping hydraulic oil chamber, is filled with high-damping hydraulic oil that not only provides stable damping force for the counterweight pendulum formed by the counterweight blocks 43, effectively suppressing instantaneous oscillations and high-frequency vibrations, but also ensures the smooth and stable extension and retraction of the hydraulic telescopic rods 443. The top of the universal joint 42 is fixedly connected to the palletizing platform 3, and the bottom is fixed to the counterweight blocks 43, forming a precise horizontal reference linkage structure. The six universal joints 441 arranged at equal intervals around the top of the movable chamber 41 provide stability for the hydraulic telescopic rods 443 through the movable seats 442. Furthermore, the flexible installation base and the universal joint 444 at the top of the hydraulic telescopic rod 443 can flexibly adapt to the tilt angle of the palletizing platform 3, ensuring that the telescopic rod can be adjusted in multiple directions. The oil supply pipe 445 and the solenoid valve 446 work together with the through hole 447 at the bottom of the hydraulic telescopic rod 443 to realize the rapid opening and closing of the oil storage tanks of the six telescopic rods and the pressure equalization. The tilt sensor 44 is installed in the protective sleeve at the bottom of the counterweight 43 to accurately capture the deflection state of the counterweight 43 and output a signal. These components work together. In the early stage of palletizing, when the cans are placed in a concentrated manner, causing a large deviation in the center of gravity of the palletizing platform 3, the six hydraulic telescopic rods 443 are independently locked after the solenoid valve 446 is closed to form a multi-point rigid support. By evenly distributing the force, the center of gravity shift is resisted, and the deflection of the palletizing platform 3 is prevented.After palletizing, the center of gravity of the can stack returns to near the center of the palletizing platform 3. The weight of the counterweight 43, in conjunction with the hydraulic damping in the movable compartment 41, dynamically adjusts the angle of the palletizing platform 3 when the equipment moves. Regardless of whether the ground tilts slowly or slightly undulates, it can quickly return to a horizontal state, ensuring a neat and stable palletizing structure and completely solving the potential collapse hazard of can stacks caused by equipment tilting in existing technologies.

[0025] like Figure 4 , Figure 5 and Figure 6 As shown, the locking assembly 48 includes a collar 481, the middle of which is slidably connected to the outer wall of the top of the universal joint 42. A plurality of piston rods 482 are hinged at equal intervals to the outer wall of the collar 481. A plurality of connecting blocks 484 are fixedly connected at equal intervals to the top of the interior of the movable chamber 41. A sleeve 483 is hinged to the bottom of the connecting block 484. The outer wall of the piston rods 482 is slidably connected to the inner wall of the sleeve 483. The interior of the sleeve 483 is filled with a non-Newtonian fluid. Several circular holes 485 are provided at the end of the sleeve 482 located inside the sleeve 483. The collar 481 of the locking assembly 48 is slidably connected to the top outer wall of the universal joint 42, and can move axially in real time following the swing of the universal joint 42. Several piston rods 482, which are hinged at equal intervals on the outer wall of the collar 481, are slidably engaged with the sleeve 483, which is hinged to the bottom of the top connecting block 484 inside the movable chamber 41. The connecting block 484 provides a stable installation support for the sleeve 483, ensuring that the locking structure is subjected to... Force balance: The non-Newtonian fluid filled inside the sleeve 483 has the characteristic of "hardening under instantaneous force and maintaining a liquid state under slow force". Combined with the several round holes 485 opened at the inner end of the piston rod 482 inside the sleeve 483, it can significantly increase the contact area between the piston rod 482 and the non-Newtonian fluid. When the equipment moves and encounters a bump, generating an instantaneous impact force, the non-Newtonian fluid can instantly turn into a high-viscosity solid. Through the round holes 485, it forms a strong rigid locking structure with the piston rod 482, quickly locking the swing freedom of the universal joint 42 and the counterweight 43. Even if the tilt sensor 44 deviates due to an instantaneous bump, causing the solenoid valve 446 to open briefly, the six hydraulic telescopic rods 443 can maintain their supporting posture under the rigid constraint of the locking component 48, firmly fixing the palletizing platform 3. This prevents the cans to be palletized or already palletized from falling or shifting due to sudden deflection of the platform, greatly improving the anti-interference ability and palletizing regularity of the equipment when moving in complex road conditions.

[0026] like Figure 7As shown, the protective assembly 49 includes a guide post 491 disposed inside the universal joint. The outer wall of the guide post 491 is slidably connected to the inner wall of the collar 481. Compression springs 492 are fixedly connected to both the upper and lower sides of the collar 481. The compression springs 492 are sleeved on the outside of the guide post 491. The ends of the two compression springs 492 that are far apart are respectively fixedly connected to the top of the counterweight 43 and the inside of the universal joint 42. The guide post 491 of the protective assembly 49 is disposed inside the universal joint 42, and its outer wall is slidably connected to the collar. The inner wall of 481 has a tight sliding connection, which provides precise guidance for the axial movement of the collar 481, effectively preventing jamming, offset, or tilting during the movement of the collar 481. The compression springs 492, which are fixedly connected to the upper and lower sides of the collar 481, are sleeved on the outside of the guide post 491. The elastic force of the compression springs 492 can effectively buffer the axial impact force between the collar 481 and the counterweight 43 and universal joint 42 during bumps, reducing the mechanical wear between the collar 481, piston rod 482, and sleeve 483, and reducing... The reduced collision noise during equipment operation, along with the floating effect of the collar 481, ensures that the deflection angles of the piston rod 482 and sleeve 483 remain within a controllable range when they deflect, preventing telescopic locking. It also prevents the universal joint 42 from deflecting towards one piston rod 482 with an excessively large angle and the opposing piston rod 482 having an excessively small angle, which could lead to jamming during telescopic reset. Simultaneously, the compression spring 492 compensates for the axial displacement generated by the swing of the counterweight 43 in real time, preventing misalignment or uneven force distribution among the components of the locking assembly 48, and preventing damage to the sleeve 483 from additional lateral forces. This ensures that the six piston rods 482 and their corresponding sleeves 483 always maintain a force-sharing state, further improving the anti-sway stability and locking reliability of the locking assembly 48, reducing equipment maintenance frequency, extending the service life of the locking assembly 48 and the overall equipment, and allowing the equipment to maintain stable performance during long-term, high-frequency operation.

[0027] like Figures 1-7 As shown, it also includes a system control module, which includes a signal acquisition module 5 and an on / off control module 6. The signal acquisition module 5 is used to receive the deflection signal from the tilt sensor and transmit it to the on / off control module 6. The on / off control module 6 is used to control the opening or closing of the solenoid valve according to the received signal, so as to realize the linkage control between the tilt sensor and the solenoid valve.

[0028] The working principle of this invention is as follows: During use, the casters at the bottom of the machine body 1 facilitate movement of the equipment between different work scenarios. The palletizing robotic arm 2 on one side of the machine body 1 enables automated sorting and layered stacking of cans, significantly improving palletizing efficiency. The leveling mechanism 4 at the top of the machine body 1, through the coordinated work of the adjusting components, supporting components, locking components 48, protective components 49, and the system control module, ensures that the palletizing platform 3 always remains level. The movable compartment 41 serves as a high-damping hydraulic oil tank; the high-damping hydraulic oil filled inside provides stable damping force to the counterweight pendulum formed by the counterweight blocks 43, effectively suppressing instantaneous oscillations, and also ensures smooth and stable extension and retraction of the hydraulic telescopic rod 443. The top of the universal joint 42 is fixedly connected to the palletizing platform 3, and the bottom... The end is fixed to the counterweight 43 to form a precise horizontal reference linkage structure. The protective sleeve at the bottom of the counterweight 43 can effectively isolate hydraulic oil and impact, and protect the internal tilt sensor 44 so that it can accurately collect the deflection attitude signal of the counterweight 43. After receiving the signal from the tilt sensor 44, the signal acquisition module 5 of the system control module transmits it to the on / off control module 6 in real time. In the early stage of palletizing, the concentrated placement of cans may cause a large deviation in the center of gravity of the palletizing platform 3. At this time, the tilt sensor 44 detects that the counterweight 43 is vertical and the palletizing platform 3 is horizontal. The on / off control module 6 controls the solenoid valve 446 to close, and the six hydraulic telescopic rods 443 are independently locked to form a multi-point rigid support. By evenly distributing the force, the center of gravity shift is resisted, and the palletizing platform 3 is prevented from deflecting.After palletizing, the center of gravity of the can stack returns to near the center of the palletizing platform 3. When the equipment encounters a tilted ground during movement or transfer, the counterweight 43 will deviate from the vertical direction. The on / off control module 6 then controls the solenoid valve 446 in the middle of the oil supply pipe 445 to open. The six hydraulic telescopic rods 443 are connected to the oil supply pipe 445 through the through hole 447 at the bottom. The weight of the counterweight 43, combined with the hydraulic oil damping in the movable compartment 41, pulls the palletizing platform 3 to swing around the universal joint 42 to return to a horizontal state. When the solenoid valve 446 closes, the hydraulic telescopic rod 443 relocks, ensuring horizontal support throughout the entire movement. When the equipment encounters bumps during movement, the collar 481 of the locking assembly 48 undergoes axial displacement as the universal joint 42 swings. The piston rod 482, hinged to the outer wall of the collar 481, simultaneously pushes into the sleeve 483, hinged to the bottom of the connecting block 484. The non-Newtonian fluid filled inside the sleeve 483 rapidly transforms into a high-viscosity solid under the instantaneous impact force, increasing the contact area with the round hole 485 at the end of the piston rod 482, forming a firm... The robust, rigid locking structure quickly locks the swing freedom of the universal joint 42 and the counterweight 43. Even if the tilt sensor 44 generates a deviation signal due to instantaneous bumps, causing the solenoid valve 446 to open briefly, the six hydraulic telescopic rods 443 can maintain their supporting posture under the rigid constraint of the locking assembly 48, preventing sudden deflection of the palletizing platform 3. The guide post 491 of the protection assembly 49 provides precise guidance for the axial movement of the collar 481, preventing jamming or displacement. The compression springs 492 on the upper and lower sides of the collar 481 are fitted onto the guide post. The external structure of column 491 not only buffers the axial impact force during bumps, reducing mechanical wear between collar 481, piston rod 482, and sleeve 483, but also compensates for the axial displacement of counterweight 43 during swing, ensuring uniform force distribution between the six piston rods 482 and their corresponding sleeves 483, preventing sleeves 483 from bearing additional lateral forces, and further improving the anti-sway stability and locking reliability of locking assembly 48. The clear division of labor and close linkage of each component comprehensively ensure the stacking stability and operational safety of the equipment under different working conditions.

[0029] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A finished can palletizing device, comprising a machine body (1) and a palletizing platform (3), characterized in that: A palletizing robot arm (2) is fixedly installed on one side of the machine body (1). A leveling mechanism (4) is movably installed on the top of the machine body (1). The leveling mechanism (4) includes an adjustment component, a support component, a locking component (48), and a protection component (49). The adjustment component includes a movable compartment (41) fixedly installed on the top of the machine body (1). A universal joint (42) is movably installed on the top of the movable compartment (41). The top of the universal joint (42) is fixedly connected to the bottom of the palletizing platform (3). A counterweight (43) is fixedly installed on the bottom of the universal joint. The support component includes an angle sensor (44) installed on the bottom of the counterweight (43). Six hydraulic telescopic rods (443) for supporting the palletizing platform (3) are arranged in a circular pattern at equal intervals on the top of the movable compartment (41). An oil pipe (445) is provided at the bottom of each adjacent hydraulic telescopic rod (443), and a solenoid valve (446) is provided in the middle of each oil pipe (445).

2. The can palletizing equipment according to claim 1, characterized in that: The interior of the movable chamber (41), as well as the interior of the hydraulic telescopic rod (443) and the oil pipe (445), are filled with hydraulic oil with high damping properties.

3. The can palletizing equipment according to claim 1, characterized in that: The bottom of the counterweight (43) is fixedly connected to a protective sleeve, and the tilt sensor (44) is located inside the protective sleeve.

4. The finished can palletizing equipment according to claim 1, characterized in that: The support assembly also includes six universal joints 2 (441) that are movably mounted on the top of the movable compartment (41) in a circular and equally spaced manner. Each of the six universal joints 2 (441) has a movable seat (442) fixedly connected to its top. The top of each of the six movable seats (442) is fixedly mounted to the bottom of each of the six hydraulic telescopic rods (443). Each of the six hydraulic telescopic rods (443) has a universal joint 3 (444) installed at its output end. The top of each of the six universal joints 3 (444) is movably connected to the bottom of the palletizing platform (3).

5. The can palletizing equipment according to claim 1, characterized in that: All of the hydraulic telescopic rods (443) have a through hole (447) at the bottom end that passes through the hydraulic telescopic rod (443) and the oil pipe (445).

6. The finished can palletizing equipment according to claim 1, characterized in that: The locking assembly (48) includes a collar (481) with the middle part of the collar (481) slidably connected to the outer wall of the top of the universal joint (42). The outer wall of the collar (481) is hinged with a plurality of piston rods (482) at equal intervals. The top of the movable compartment (41) is fixedly connected with a plurality of connecting blocks (484) at equal intervals. The bottom of the connecting block (484) is hinged with a sleeve (483). The outer wall of the piston rod (482) is slidably connected to the inner wall of the sleeve (483).

7. The can palletizing equipment according to claim 6, characterized in that: The sleeve (483) is filled with a non-Newtonian fluid.

8. A can palletizing device according to claim 6, characterized in that: The piston rod (482) has several round holes (485) at its end inside the sleeve (483).

9. A can palletizing device according to claim 1, characterized in that: The protective component (49) includes a guide post (491) disposed inside the universal joint (42). The outer wall of the guide post (491) is slidably connected to the inner wall of the collar (481). Compression springs (492) are fixedly connected to both the upper and lower sides of the collar (481). The compression springs (492) are sleeved on the outside of the guide post (491). The ends of the two compression springs (492) that are far apart are fixedly connected to the top of the counterweight (43) and the inside of the universal joint, respectively.

10. A can palletizing device according to claim 1, characterized in that: It also includes a system control module, which includes a signal acquisition module (5) and an on / off control module (6). The signal acquisition module (5) is used to receive the deflection signal of the tilt sensor and transmit it to the on / off control module (6). The on / off control module (6) is used to control the opening or closing of the solenoid valve according to the received signal, so as to realize the linkage control between the tilt sensor and the solenoid valve.

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