Stacking conveyor for printed products and stacking method thereof

Abstract

The application discloses a kind of for printed matter's stacking conveyor and its stacking method, it is related to stacking equipment technical field.The structure of the present application includes four-axis truss type stacker, power conveyor, unpowered roller conveyor, the output end of power conveyor is docked unpowered roller conveyor input, and the rotating pair on the lower end of vertical moving vertical arm of four-axis truss type stacker is installed with multilayer warehouse gripper, for receiving the printed matter pile conveyed from unpowered roller conveyor.The present application uses multilayer warehouse gripper, can grab multiple printed matter piles at a time, substantially reduce the reciprocating grabbing frequency when stacking tray, significantly improve the stacking efficiency;Utilize traditional four-axis truss type stacker, effectively reduce equipment cost;Optimize the layout of conveying device, make compact structure, small footprint, and system stability is strong, can accurate positioning and stacking;The design is flexible to adapt to different specifications printed matter, realizes continuous efficient operation.

Description

Technical Field

[0001] This invention belongs to the field of palletizing equipment technology, specifically the field of aisle stacker cranes, and particularly relates to a palletizing and conveying device and palletizing method for printed materials. Background Technology

[0002] Currently, in automated palletizing operations in printing plants, robotic arms equipped with end effectors are commonly used to transfer stacks of printed materials one by one onto pallets for stacking. Although this method offers improved transfer speed from picking up to placing the materials compared to traditional four-axis gantry palletizers driven by end effectors, and is gradually gaining market dominance, its high cost and limitation of only being able to pick up and place one stack of printed materials at a time mean that the reciprocating motion of the robotic arm still consumes a significant amount of time in the complete pallet stacking task, affecting overall production efficiency.

[0003] In order to fully utilize the low cost advantage of traditional four-axis gantry palletizers, while reducing the number of times printed materials are repeatedly picked up and picked up in a pallet stacking task, and improving palletizing efficiency, this invention designs an innovative palletizing and conveying device and palletizing method for printed materials. Summary of the Invention

[0004] The purpose of this invention is to provide a palletizing and conveying device and palletizing method for printed materials. By using a multi-layer storage gripper in conjunction with a four-axis gantry palletizer, multiple palletized products can be grabbed and stored at once, reducing the number of reciprocating grabs.

[0005] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: This invention relates to a palletizing and conveying device for printed materials, comprising a four-axis truss palletizer, a powered conveyor, and a non-powered roller conveyor. The output end of the powered conveyor is connected to the input end of the non-powered roller conveyor. A multi-layer storage gripper is mounted on the rotating joint at the lower end of the vertical moving arm of the four-axis truss palletizer for receiving pallets of printed materials conveyed from the non-powered roller conveyor. After each pallet is received by the multi-layer storage gripper, the vertical moving arm of the four-axis truss palletizer moves one storage height. A lifting and conveying device for lifting and pushing the pallets of printed materials toward the multi-layer storage gripper is installed on the non-powered roller conveyor. The non-powered roller conveyor is arranged below the four-axis truss palletizer and within the effective movement range of the multi-layer storage gripper.

[0006] As a preferred embodiment of the present invention, a pallet locator for pallet positioning is also provided directly below the four-axis truss palletizer, and the pallet placed in the pallet locator is located within the effective movement range of the multi-layer storage gripper.

[0007] As a preferred embodiment of the present invention, the pallet positioner includes a right-angled upright plate for positioning one corner of the pallet; a right-angled flat plate is fixed to the lower outer wall of the right-angled upright plate; and a plurality of first through holes for mounting and positioning are provided on the right-angled flat plate.

[0008] As a preferred embodiment of the present invention, the multi-layer storage gripper includes a palletizing temporary storage bin and a row of bidirectional synchronous cylinder bearing grippers installed on the palletizing temporary storage bin; the palletizing temporary storage bin includes a rectangular storage tank with openings at the front and bottom; a row of rectangular slots that cooperate with the bidirectional synchronous cylinder bearing grippers are symmetrically opened on the two walls of the rectangular storage tank, and the rectangular slots are connected to the front end of the rectangular storage tank; a long-neck flange that is fixed to the upper end of the rectangular storage tank and connected to the rotating joint at the lower end of the vertical moving arm of the four-axis truss palletizer is fixed to the upper end of the rectangular storage tank.

[0009] As a preferred embodiment of the present invention, the bidirectional synchronous cylinder bearing gripper includes a bidirectional synchronous cylinder, a pair of bearing grippers symmetrically arranged on the two extension ends of the bidirectional synchronous cylinder, a linear guide post, and a linear guide slide; a linear guide post is fixed on each of the pair of bearing grippers and is arranged parallel to the extension direction of the bidirectional synchronous cylinder; a pair of linear guide slides are fixed on the back of the rectangular storage tank, and the linear guide slides slide linearly with the pair of linear guide posts.

[0010] As a preferred embodiment of the present invention, the bearing gripper includes a gripper upright plate connected to the telescopic end of the bidirectional synchronous cylinder; a horizontally arranged rectangular bearing plate is fixed to the side of the gripper upright plate adjacent to the rectangular storage tank; an inclined plate is provided between the gripper upright plate and the rectangular bearing plate, and the outer end of the rectangular bearing plate passes through the rectangular slot.

[0011] As a preferred embodiment of the present invention, the unpowered roller conveyor includes a U-shaped frame and a row of unpowered idlers installed on the upper end of the U-shaped frame; a pair of first photoelectric switches for detecting stacks of printed materials are installed at the input end of the upper end of the U-shaped frame; and a pair of second photoelectric switches for detecting stacks of printed materials are installed at the output end of the upper end of the U-shaped frame.

[0012] As a preferred embodiment of the present invention, the lifting and conveying device includes a scissor-type lifting platform driven by a screw motor and slider mechanism; a limit baffle is fixed at one end of the upper platform of the scissor-type lifting platform located at the output end of the unpowered roller conveyor; a cylinder mounting bracket is fixed on the upper platform of the scissor-type lifting platform on the side adjacent to the limit baffle; a double-rod cylinder is mounted on the cylinder mounting bracket; a push plate is mounted on the telescopic end of the double-rod cylinder, and the push plate is not within the vertical orthographic projection range of the unpowered roller conveyor when the double-rod cylinder retracts; multiple lifting brackets are fixed on the top surface of the upper platform of the scissor-type lifting platform within the movement range of the push plate, and the lifting brackets are placed between two adjacent unpowered rollers; the lifting bracket includes a row of support plates; a support strip bent downwards at both ends is fixed at the upper end of the row of support plates; a first inductive switch and a second inductive switch for detecting the extension and retraction limits of the scissor-type lifting platform are mounted on the lower platform of the scissor-type lifting platform via a bracket.

[0013] When both the first and second photoelectric switches are simultaneously blocked, the powered conveyor stops conveying stacks of printed materials to the unpowered roller conveyor. When the second photoelectric switch is unblocked and the lifting conveyor is in the lifting state, if the second sensor switch has no signal or the first sensor switch has a signal, the powered conveyor stops conveying stacks of printed materials to the unpowered roller conveyor. Furthermore, when the first sensor switch has a signal, the double-rod cylinder extends the push plate to push the stacks of printed materials on a row of lifting supports towards the multi-layer storage gripper. When the second photoelectric switch is unblocked and the lifting conveyor is in the lowering state, if the second sensor switch has a signal, the powered conveyor resumes conveying stacks of printed materials to the unpowered roller conveyor.

[0014] The present invention also relates to a palletizing method for printed matter, using the above-described palletizing conveyor, comprising the following steps: S1: Move to the loading position. The four-axis truss palletizer moves the multi-layer storage gripper to the side of the non-powered roller conveyor where it is pushed out by the lifting conveyor. The bottom / top storage position of the multi-layer storage gripper corresponds to the push-out height when the lifting conveyor lifts it.

[0015] S2: Loading a stack of printed materials, the lifting conveyor raises one stack of printed materials conveyed on the unpowered roller conveyor and pushes it to the lowest / highest storage position of the multi-layer storage gripper; the lifting conveyor retracts and lowers, and then the powered conveyor pushes the subsequent stack of printed materials forward to fill the gap; then the four-axis truss palletizer moves the multi-layer storage gripper down / up by one storage position height.

[0016] S3: Repeat the loading action of S2 above until all storage positions of the multi-layer storage gripper are completed.

[0017] S4: Move to the top of the pallet for palletizing. The four-axis truss palletizer, along with the multi-layer storage gripper, arranges and moves according to the palletizing strategy. Each time the multi-layer storage gripper moves to a new position, it releases the bottommost stack of printed materials.

[0018] S5: After all the printed materials stacks in the multi-layer storage gripper are released, repeat steps S1-S4.

[0019] The specific process of step S4 is as follows: S41: The multi-layer storage gripper moves to the pallet stacking position above the pallet and first releases the bottommost stack of printed materials.

[0020] S42: The multi-layer storage gripper moves to the next position. During the movement, the stack of printed materials in the previous storage position is released and falls to the adjacent empty storage position below to fill the gap. The filling is carried out in a cycle from bottom to top until the entire stack of printed materials moves down one storage position. The bottommost stack of printed materials after the movement and filling is released again for stacking.

[0021] S43: Repeat step S42.

[0022] The present invention has the following beneficial effects: 1. This invention utilizes a traditional four-axis gantry palletizer combined with a multi-layer storage gripper design, enabling the grabbing and storage of multiple stacks of printed materials at a time, reducing the number of reciprocating grabs during pallet stacking. This batch processing method significantly improves palletizing efficiency and shortens the production cycle.

[0023] 2. The present invention achieves a compact structure and small footprint of the entire palletizing and conveying device through the rational layout of the non-powered roller conveyor and the lifting conveying device, which is conducive to realizing efficient automated palletizing operations in a limited production space.

[0024] 3. This invention ensures the accuracy and stability of printed material stacks during the stacking process through the precise cooperation of pallet positioners and multi-layer storage grippers. Simultaneously, the scissor-type lifting platform and double-cylinder design of the lifting and conveying device provide stable and reliable lifting and pushing functions for printed material stacks, reducing the failure rate and improving the overall stability of the system.

[0025] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the structure of a palletizing and conveying device for printed materials according to the present invention.

[0028] Figure 2 for Figure 1 The front view.

[0029] Figure 3 for Figure 1 Top view.

[0030] Figure 4 for Figure 1 The right view.

[0031] Figure 5 This is a schematic diagram of a multi-layered warehouse gripper structure.

[0032] Figure 6 A structural diagram of a multi-layered warehouse gripper from another perspective.

[0033] Figure 7 A front view of a multi-layered warehouse gripper.

[0034] Figure 8 This is a structural diagram of a palletizing temporary storage warehouse.

[0035] Figure 9 This is a schematic diagram of the structure of the gripper for the bidirectional synchronizing cylinder after the bidirectional synchronizing cylinder has been removed.

[0036] Figure 10 This is a schematic diagram of a non-powered roller conveyor and a lifting conveyor device.

[0037] Figure 11 for Figure 10 The front view.

[0038] Figure 12 This is a schematic diagram of a non-powered roller conveyor.

[0039] Figure 13 for Figure 12 A magnified view of a portion of point A in the middle.

[0040] Figure 14 This is a schematic diagram of the pallet positioner.

[0041] The attached diagram lists the components represented by each number as follows: 1-Four-axis truss palletizer, 2-Powered conveyor, 3-Non-powered roller conveyor, 31-U-shaped frame, 32-Non-powered idler roller, 4-Multi-layer storage gripper, 5-Lifting and conveying device, 51-Scissor lift platform, 52-Limit baffle, 53-Cylinder mounting bracket, 54-Double-bar cylinder, 55-Push plate, 56-Lifting bracket, 561-Supporting upright plate, 562-Supporting strip, 6-Palletizing temporary storage bin, 61-Rectangular storage tank, 62-Rectangular slot, 6 3-Long neck flange, 7-Double-direction synchronous cylinder bearing gripper, 71-Double-direction synchronous cylinder, 72-Bearing gripper, 721-Gripper upright plate, 722-Rectangular bearing plate, 723-Slanted tie plate, 73-Linear guide column, 74-Linear guide slide, 8-First through-beam switch, 9-Second through-beam switch, 10-First inductive switch, 11-Second inductive switch, 12-Pattern positioner, 121-Right-angle upright plate, 122-Right-angle flat plate, 123-First through hole. Detailed Implementation

[0042] 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.

[0043] The accompanying drawings in this disclosure are not drawn to scale, and the specific dimensions of each structure can be determined according to actual needs. The drawings described in this disclosure are only structural schematic diagrams. Specific Implementation Example 1: Please see Figure 1-14 As shown, this invention is a palletizing and conveying device for printed materials, comprising a four-axis gantry palletizer 1, a powered conveyor 2, and a non-powered roller conveyor 3. The output end of the powered conveyor 2 is connected to the input end of the non-powered roller conveyor 3, forming a continuous printed material conveying line. A multi-layer storage gripper 4 is installed on the rotating joint at the lower end of the vertical moving arm of the four-axis gantry palletizer 1. This multi-layer storage gripper 4 is designed to receive pallets of printed materials conveyed from the non-powered roller conveyor 3. After receiving each pallet of printed materials, the vertical moving arm of the four-axis gantry palletizer 1 automatically moves one storage height to receive the next pallet of printed materials.

[0045] A lifting conveyor 5 is specially installed on the non-powered roller conveyor 3. This device can lift and push the printed material stacks from the non-powered roller conveyor 3 to the multi-level storage gripper 4, realizing the automatic loading of the printed material stacks. The non-powered roller conveyor 3 is reasonably arranged below the four-axis gantry palletizer 1 and is ensured to be within the effective movement range of the multi-level storage gripper 4 to facilitate the smooth transfer of the printed material stacks.

[0046] Furthermore, a pallet locator 12 is installed directly below the four-axis gantry palletizer 1 for precise placement and positioning of pallets, ensuring the accuracy of palletizing operations. The pallets positioned within the pallet locator 12 are also within the effective movement range of the multi-layer storage gripper 4, facilitating the direct release of printed materials onto the pallet during palletizing. The pallet locator 12 includes a right-angled upright plate 121 for positioning one corner of the pallet; a right-angled flat plate 122 is fixed to the lower outer wall of the right-angled upright plate 121, and the right-angled flat plate 122 has several first through holes 123 for mounting and positioning, facilitating fixed connection with external equipment.

[0047] The multi-layer storage gripper 4 is ingeniously designed, including a palletizing storage compartment 6 and a row of bidirectional synchronous cylinder-supporting grippers 7 installed on the palletizing storage compartment 6. The palletizing storage compartment 6 adopts a rectangular storage tank 61 with openings at the front and bottom, which facilitates the entry and exit of printed material stacks; a row of rectangular slots 62 are symmetrically opened on the two walls of the rectangular storage tank 61 to cooperate with the bidirectional synchronous cylinder-supporting grippers 7, ensuring that the bidirectional synchronous cylinder-supporting grippers 7 can stably support the printed material stacks transferred into the palletizing storage compartment 6.

[0048] The upper end of the rectangular storage tank 61 is fixed with a long-neck flange 63 that is connected to the swivel joint at the lower end of the vertical moving arm of the four-axis truss palletizer 1, so as to realize a stable connection between the multi-layer storage gripper 4 and the four-axis truss palletizer 1.

[0049] The bidirectional synchronous cylinder bearing gripper 7 includes a bidirectional synchronous cylinder 71, a pair of bearing grippers 72 symmetrically arranged at the two telescopic ends of the bidirectional synchronous cylinder 71, linear guide posts 73, and linear guide slides 74. A linear guide post 73 parallel to the telescopic direction of the bidirectional synchronous cylinder 71 is fixed to each pair of bearing grippers 72. A pair of linear guide slides 74 are fixed to the back of the rectangular storage tank 61. The linear guide slides 74 slide linearly with the pair of linear guide posts 73, ensuring the stability and accuracy of the bidirectional synchronous cylinder bearing gripper 7 during telescopic movement, while also improving the bearing capacity of the bearing grippers 72. The specific structure of the bearing gripper 72 includes a gripper upright plate 721 connected to the telescopic end of the bidirectional synchronous cylinder 71; a horizontally arranged rectangular bearing plate 722 is fixed on the side of the rectangular storage tank 61 adjacent to the gripper upright plate 721 for directly bearing the stack of printed materials; a diagonal brace 723 is provided between the gripper upright plate 721 and the rectangular bearing plate 722 to enhance the structural strength; the outer end of the rectangular bearing plate 722 passes through the rectangular slot 62 to facilitate supporting / releasing the stack of printed materials.

[0050] The unpowered roller conveyor 3 includes a U-shaped frame 31 and a row of unpowered idlers 32 installed on the upper end of the U-shaped frame 31, forming a conveying channel for the printed material stack. A pair of first photoelectric switches 8 for detecting the printed material stack are installed at the input end of the upper end of the U-shaped frame 31; a pair of second photoelectric switches 9 for detecting the printed material stack are installed at the output end of the upper end of the U-shaped frame 31, which monitor the conveying status of the printed material stack in real time.

[0051] The lifting and conveying device 5 uses a scissor-type lifting platform 51 driven by a screw motor and slider mechanism to achieve stable lifting of the printed product stacks. A limit baffle 52 is fixed to one end of the upper platform of the scissor-type lifting platform 51 at the output end of the unpowered roller conveyor 3 to prevent the printed product stacks from slipping during lifting. A cylinder mounting bracket 53 is fixed to the side of the upper platform of the scissor-type lifting platform 51 adjacent to the limit baffle 52. A double-rod cylinder 54 is mounted on the cylinder mounting bracket 53. A push plate 55 is installed at the telescopic end of the double-rod cylinder 54 to push the lifted printed product stacks toward the multi-layer storage gripper 4.

[0052] When the double-cylinder 54 retracts, the pusher plate 55 is not within the vertical projection range of the unpowered roller conveyor 3, thus avoiding interference with the normal transport of the printed material stack. Multiple lifting supports 56 are fixed to the top surface of the upper platform of the scissor lift platform 51 within the movement range of the pusher plate 55. The lifting supports 56 are positioned between two adjacent unpowered rollers 32 to ensure the stability of the printed material stack during lifting. The lifting supports 56 include a row of support plates 561; the upper end of each row of support plates 561 is fixed with support strips 562 bent downwards at both ends, ensuring stable support for the printed material stack and preventing end scraping. The lower platform of the scissor lift platform 51 is equipped with a first inductive switch 10 and a second inductive switch 11 via a bracket for detecting the extension and retraction limits of the scissor lift platform 51, ensuring the safe operation of the lifting and conveying device 5.

[0053] When both the first and second photoelectric switches 8 and 9 are simultaneously blocked, the powered conveyor 2 stops conveying stacks of printed materials to the unpowered roller conveyor 3. When the second photoelectric switch 9 is unblocked, and the lifting conveyor 5 is in the lifting state, if the second inductive switch 11 has no signal or the first inductive switch 10 has a signal, the powered conveyor 2 stops conveying stacks of printed materials to the unpowered roller conveyor 3. Furthermore, when the first inductive switch 10 has a signal, the double-rod cylinder 54 extends the push plate 55 to push the stacks of printed materials on a row of lifting supports 56 towards the multi-layer storage gripper 4 for storage. When the second photoelectric switch 9 is unblocked, and the lifting conveyor 5 is in the lowering state, if the second inductive switch 11 has a signal, the powered conveyor 2 resumes conveying stacks of printed materials to the unpowered roller conveyor 3.

[0054] This embodiment also relates to a palletizing method for printed materials, comprising the following steps: S1: Move to the loading position. The four-axis truss palletizer 1 moves the multi-layer storage gripper 4 to the side of the non-powered roller conveyor 3 where the lifting conveyor 5 pushes it out. The bottom / top storage position of the multi-layer storage gripper 4 corresponds to the push-out height when the lifting conveyor 5 is lifted, ensuring that the stack of printed materials can smoothly enter the multi-layer storage gripper 4.

[0055] S2: Loading a stack of printed materials, the lifting conveyor 5 raises and pushes a stack of printed materials conveyed on the unpowered roller conveyor 3 to the lowest / highest storage position of the multi-layer storage gripper 4. The lifting conveyor 5 retracts and lowers, and then the powered conveyor 2 pushes the subsequent stack of printed materials forward to fill the gap. Then, the four-axis gantry palletizer 1 moves the multi-layer storage gripper 4 down / up by one storage position height to prepare for receiving the next stack of printed materials.

[0056] S3: Repeat the loading action of S2 above until all storage positions of the multi-layer storage gripper 4 are completed, so as to realize the batch storage of the printed matter stack.

[0057] S4: Move to the top of the pallet for palletizing. The four-axis truss palletizer 1, with the multi-layer storage gripper 4, arranges its position according to the palletizing strategy. When the multi-layer storage gripper 4 moves to a new position, it releases the bottommost stack of printed materials, building the palletizing structure layer by layer.

[0058] S5: After all the printed materials in the multi-layer storage gripper 4 are released, the operations of steps S1-S4 are performed again to achieve continuous palletizing operations and improve production efficiency.

[0059] The specific process of step S4 is as follows: S41: Multi-layer storage gripper 4 moves to the pallet position above the pallet and first releases the bottommost stack of printed materials as the bottom base for palletizing.

[0060] S42: The multi-layer storage gripper 4 moves to the next position. During the movement, the stack of printed materials in the previous storage position is released and falls to the adjacent empty storage position below to fill the gap. The filling is carried out in a cycle from bottom to top until the entire stack of printed materials moves down one storage position. After the bottom stack of printed materials is moved and filled, it is released again for stacking, and a stable stacking structure is built layer by layer.

[0061] S43: Repeat step S42 until the palletizing task of the entire pallet is completed.

[0062] This embodiment presents a palletizing and conveying device and method for printed materials. Through innovative multi-layer storage gripper design and reasonable palletizing strategy arrangement, it fully utilizes the cost advantages of traditional four-axis gantry palletizers while significantly reducing the number of times printed materials are repeatedly gripped in a single pallet stacking task, thus improving palletizing efficiency. The device is compact, stable, and reliable in operation, suitable for large-scale printed material palletizing operations, and has broad market application prospects.

[0063] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0064] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A palletizing and conveying device for printed materials, comprising a four-axis gantry palletizer (1), a powered conveyor (2), and a non-powered roller conveyor (3), wherein the output end of the powered conveyor (2) is connected to the input end of the non-powered roller conveyor (3), characterized in that: The four-axis truss palletizer (1) has a multi-layer storage gripper (4) installed on the rotating joint at the lower end of the vertical moving arm for receiving the stacks of printed matter conveyed from the unpowered roller conveyor (3). After each stack of printed matter is received by the multi-layer storage gripper (4), the vertical moving arm of the four-axis truss palletizer (1) moves by one storage height. The unpowered roller conveyor (3) is equipped with a lifting and conveying device (5) for lifting and pushing the stack of printed materials toward the multi-layer storage gripper (4). The non-powered roller conveyor (3) is arranged below the four-axis truss palletizer (1) and is within the effective movement range of the multi-layer storage gripper (4); The multi-layer storage gripper (4) includes a palletizing temporary storage bin (6) and a row of bidirectional synchronous cylinder bearing grippers (7) installed on the palletizing temporary storage bin (6); the palletizing temporary storage bin (6) includes a rectangular storage tank (61) with openings at the front and bottom; a row of rectangular slots (62) that cooperate with the bidirectional synchronous cylinder bearing grippers (7) are symmetrically opened on the two walls of the rectangular storage tank (61), and the rectangular slots (62) are connected to the front end of the rectangular storage tank (61); a long-neck flange (63) is fixed at the upper end of the rectangular storage tank (61) and connected to the rotating joint at the lower end of the vertical moving arm of the four-axis truss palletizer (1). The bidirectional synchronous cylinder bearing gripper (7) includes a bidirectional synchronous cylinder (71), a pair of bearing grippers (72) symmetrically arranged on the two telescopic ends of the bidirectional synchronous cylinder (71), a linear guide post (73), and a linear guide slide (74); a linear guide post (73) is fixed on each of the pair of bearing grippers (72) and is arranged parallel to the telescopic direction of the bidirectional synchronous cylinder (71); a pair of linear guide slides (74) are fixed on the back of the rectangular storage tank (61), and the linear guide slides (74) slide linearly with the pair of linear guide posts (73); The bearing gripper (72) includes a gripper upright plate (721) connected to the telescopic end of the bidirectional synchronous cylinder (71); a horizontally arranged rectangular bearing plate (722) is fixed to the side of the gripper upright plate (721) adjacent to the rectangular storage tank (61); an inclined plate (723) is provided between the gripper upright plate (721) and the rectangular bearing plate (722), and the outer end of the rectangular bearing plate (722) passes through the rectangular slot (62); The unpowered roller conveyor (3) includes a U-shaped frame (31) and a row of unpowered rollers (32) installed on the upper end of the U-shaped frame (31); a pair of first photoelectric switches (8) for detecting stacks of printed matter are installed at the input end of the upper end of the U-shaped frame (31); a pair of second photoelectric switches (9) for detecting stacks of printed matter are installed at the output end of the upper end of the U-shaped frame (31).

2. The palletizing and conveying device for printed matter according to claim 1, characterized in that, A pallet locator (12) for pallet positioning is also provided directly below the four-axis truss palletizer (1), and the pallet set in the pallet locator (12) is within the effective movement range of the multi-layer storage gripper (4).

3. The palletizing and conveying device for printed matter according to claim 2, characterized in that, The pallet locator (12) includes a right-angled upright plate (121) for positioning one corner of the pallet; a right-angled flat plate (122) is fixed to the lower outer wall of the right-angled upright plate (121); the right-angled flat plate (122) is provided with a plurality of first round through holes (123) for installation and positioning.

4. The palletizing and conveying device for printed matter according to claim 3, characterized in that, The lifting and conveying device (5) includes a scissor lifting platform (51) driven by a screw motor and slider mechanism; a limit baffle (52) is fixed at one end of the upper platform of the scissor lifting platform (51) located at the output end of the unpowered roller conveyor (3); a cylinder mounting bracket (53) is fixed on the side of the upper platform of the scissor lifting platform (51) adjacent to the limit baffle (52); a double-rod cylinder (54) is mounted on the cylinder mounting bracket (53); a push plate (55) is mounted on the telescopic end of the double-rod cylinder (54), and when the double-rod cylinder (54) retracts, the push plate (55) is not vertically aligned with the unpowered roller conveyor (3). Projection range; the upper platform of the scissor lift platform (51) is located on the top surface of the push plate (55) within its movement range and is fixed with multiple lifting brackets (56), and the lifting brackets (56) are placed between two adjacent unpowered rollers (32); the lifting brackets (56) include a row of support plates (561); the upper end of the row of support plates (561) is fixed with support strips (562) bent downward at both ends; the lower platform of the scissor lift platform (51) is equipped with a first inductive switch (10) and a second inductive switch (11) for detecting the extension and retraction limits of the scissor lift platform (51) via a bracket.

5. A palletizing method for printed matter, using the palletizing and conveying device for printed matter as described in any one of claims 1-4, characterized in that, Includes the following steps: S1: Move to the loading position. The four-axis truss palletizer (1) moves the multi-layer storage gripper (4) to the side of the non-powered roller conveyor (3) where the lifting conveyor (5) pushes out. The bottom / top storage position of the multi-layer storage gripper (4) corresponds to the push-out height when the lifting conveyor (5) lifts. S2: Loading a stack of printed materials, the lifting conveyor (5) lifts up one stack of printed materials conveyed on the unpowered roller conveyor (3) and pushes it to the lowest / highest storage position of the multi-layer storage gripper (4); the lifting conveyor (5) retracts and pushes down, and then the powered conveyor (2) pushes the subsequent stack of printed materials forward to fill the position; then the four-axis truss palletizer (1) moves the multi-layer storage gripper (4) down / up by one storage position height; S3: Repeat the loading action of S2 above until all storage positions of the multi-layer storage gripper (4) are completed; S4: Move to the top of the pallet for palletizing. The four-axis truss palletizer (1) moves with the multi-layer storage gripper (4) according to the palletizing strategy. The multi-layer storage gripper (4) releases a bottommost stack of printed materials when it moves to a new position. S5: After all the printed materials stacks in the multi-layer storage gripper (4) are released, the operation of steps S1-S4 is performed again.

6. The palletizing method for printed matter according to claim 5, characterized in that, The specific process of step S4 is as follows: S41: The multi-layer storage gripper (4) moves to the pallet stacking position above the pallet and first releases the bottommost stack of printed materials; S42: The multi-layer storage gripper (4) moves to the next position. During the movement, the stack of printed materials in the previous storage position is released and falls to the adjacent empty storage position below to fill the gap. The filling is carried out in a cycle from bottom to top until the entire stack of printed materials moves down one storage position. The bottommost stack of printed materials after the movement and filling is released again for stacking. S43: Repeat step S42.

Images