Film roll multi-mechanism automatic stacking device and control method thereof

Abstract

The application discloses a kind of film roll multi-mechanism automatic stacking device and control method thereof, it is related to the field of stacking technology.The application adopts air bag inner support type clamping structure, eliminates the scratch problem caused by easy outside clamping handling, realizes the lossless transfer of precision film product;Carry six-axis kinematic chain mechanical arm, air bag inner support type clamping structure is sent into the inside of roller, while it can flexibly avoid peripheral equipment obstacles;And supporting adjustable positioning storage mechanism, can quickly complete tray four-way positioning, with switchable state baffle assembly, limit the film roller of multiple row stacking, effectively prevent roller tilt, roll in the process of stacking, stacking neatness and safety significantly improve;Complete set of device can link production line multi-station, automatically complete film roller whole process of receiving, transfer, stacking, greatly reduce manual intervention, reduce labor cost, stacking efficiency and consistency are much higher than manual operation, adapt to multiple machine parallel film production scene.

Description

Technical Field

[0001] This invention relates to the field of palletizing technology, specifically to a multi-mechanism automated palletizing device for film rollers and its control method. Background Technology

[0002] In the current film manufacturing industry, the off-line transfer and palletizing of film rolls has long been a core pain point restricting the automation upgrade of production lines.

[0003] Currently, most film roller palletizing operations rely on manual labor with simple lifting devices. This is not only labor-intensive and has a high turnover rate, but also poses a significant risk of collisions and drops during handling. Although some companies have introduced automated palletizing equipment, the gripping ends often use external clamping mechanical grippers. Because the film roller itself has a circular structure with a continuous arc surface and lacks an effective clamping and positioning reference, the mechanical gripper cannot achieve a stable fit during gripping, and is prone to slippage, displacement, or even detachment. To ensure gripping reliability, the clamping force often needs to be increased. However, excessive clamping force acts directly on the outer surface of the film roller, which can easily cause indentations and scratches on the surface of high-precision film products, directly leading to the scrapping of finished products. The defect rate of this type of external clamping gripping method has remained high for a long time, significantly increasing production loss costs. Summary of the Invention

[0004] To solve the above-mentioned technical problems, a multi-mechanism automated palletizing device for film rollers and its control method are provided. This technical solution solves the problems mentioned in the background art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An automated multi-mechanism palletizing device for film rollers includes a transverse slide rail, a support mechanism, a palletizing mechanism, and a storage mechanism. The device is characterized in that several processing machines are arranged behind the transverse slide rail, each processing machine is equipped with a support rod, and a film roller is sleeved on the support rod. A palletizing mechanism is installed on the transverse slide rail, and the support mechanism and storage mechanism are installed beside the processing machines. The support mechanism, palletizing mechanism, and storage mechanism work together to palletize and store several film rollers.

[0006] Preferably, the support mechanism includes a first housing, inside which two sets of first cylinders are installed, and the output end of the first cylinder is fixedly connected to the V-shaped support member.

[0007] Preferably, the palletizing mechanism includes a fixed base, a second cylinder, and a third rotating arm. A motor is provided at the bottom of the fixed base, and a base is fixedly installed at the output end of the motor. The second cylinder is rotatably connected inside the base, and the output end of the second cylinder is rotatably connected to the outside of the first rotating arm. The top of the first rotating arm is rotatably connected to the second rotating arm, and the other end of the second rotating arm is rotatably connected to the third rotating arm.

[0008] Preferably, the end of the third rotating arm away from the second rotating arm is fixedly connected to the first mounting plate. Sliding rods are slidably connected at the four corners of the first mounting plate. The bottom of the sliding rods is fixedly connected to the second mounting plate. Springs are sleeved on the outside of the two sets of sliding rods. One end of the spring is fixedly connected to the top of the second mounting plate, and the other end of the spring is fixedly connected to the bottom of the first mounting plate.

[0009] Preferably, a through hole is provided in the middle of the second mounting plate, and a tensioning shaft is fixedly connected to the bottom of the second mounting plate by bolts. The center of the tensioning shaft is concentric with the center of the through hole, and an air bladder is provided inside the tensioning shaft.

[0010] Preferably, the top of the airbag is provided with an air inlet, which is connected to an external air pump, and a sensor is also installed on the second mounting plate, which is electrically connected to the external air pump.

[0011] Preferably, the storage mechanism includes two sets of bodies, one set of bodies has an L-shaped component fixedly connected to its outer side, and the other set of bodies is connected to a movable component via an adjustment component. The adjustment component is used to adjust the distance between the L-shaped component and the movable component, and a tray is provided between the two sets of bodies. Limiting components are also installed inside the top of the two sets of bodies.

[0012] Preferably, the adjustment assembly includes a second housing and a first lead screw. The second housing is fixedly connected to one of the sets of the machine body. The first lead screw is rotatably connected inside the second housing. A stop block is fixedly installed at the outer end of the first lead screw. The movable part is threadedly connected to the outer wall of the first lead screw. A rotating shaft is also rotatably connected inside the second housing. The outer end of the rotating shaft is fixedly connected to a rotating wheel. The rotating shaft and the first lead screw are connected by a bevel gear set.

[0013] Preferably, the limiting component includes two sets of support blocks fixedly connected to the inside of the top of the machine body, a second lead screw rotatably connected between the two sets of support blocks, a movable seat threadedly connected to the outer wall of the second lead screw, a baffle rotatably connected to the movable seat, the baffle slidably connected to two sets of guide rails, both sets of guide rails being fixedly installed inside the top of the machine body, and a driven wheel fixedly installed at the outer end of the second lead screw, a drive motor being provided on the outer side of the machine body, the output end of the drive motor being fixedly connected to the drive wheel, and the drive wheel being driven by the driven wheel via a belt.

[0014] Compared with the prior art, the present invention provides a multi-mechanism automated palletizing device for film rollers and its control method, which has the following beneficial effects: 1. This invention adopts an airbag-supported clamping structure, which applies the clamping force to the inner wall of the film roller, completely avoiding contact with the outer surface of the film. This eliminates the scratches and indentations that are easily caused by external clamping, enabling the non-destructive transfer of precision film products and making it suitable for high-requirement clean production environments.

[0015] 2. Equipped with a six-axis motion chain robotic arm, it can flexibly adjust its posture in three-dimensional space, accurately deliver the airbag-supported clamping structure into the roller, and at the same time flexibly avoid obstacles in the surrounding equipment, greatly improving the spatial adaptability and smoothness of operation of transfer and palletizing.

[0016] 3. Equipped with an adjustable positioning storage mechanism, it can quickly complete four-way positioning of the pallet. With the switchable baffle assembly, it limits the film rollers of multi-row stacking, effectively preventing the rollers from tilting or rolling off during the stacking process, and significantly improving the neatness and safety of stacking.

[0017] 4. The entire device can connect to multiple workstations on the production line and automatically complete the entire process of receiving, transferring, and palletizing film rollers, greatly reducing manual intervention and lowering labor costs. The palletizing efficiency and consistency are far superior to manual operation, making it suitable for film production scenarios with multiple machines operating in parallel. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the support mechanism, palletizing mechanism and storage mechanism in this invention; Figure 3 This is a schematic diagram of the support mechanism in this invention; Figure 4 This is a schematic diagram of the storage mechanism in this invention; Figure 5 This is a schematic diagram of the structure of the first mounting plate and the second mounting plate in this invention; Figure 6 This is a schematic diagram showing the position of the air intake in this invention; Figure 7 This is a schematic diagram of the storage mechanism in this invention; Figure 8 This is a schematic diagram showing the installation position of the second housing in this invention; Figure 9 This is a schematic diagram showing the installation position of the rotating shaft in this invention; Figure 10 This is a schematic diagram showing the installation position of the second lead screw in this invention; Figure 11 This is a schematic diagram showing the installation position of the drive motor in this invention.

[0019] The numbers on the map are: 1. Horizontal slide rail; 101. Processing machine; 102. Support rod; 103. Film roller; 2. Support mechanism; 201. First housing; 202. First cylinder; 203. V-shaped support component; 3. Palletizing mechanism; 301. Fixed base; 302. Base; 303. Second cylinder; 304. First rotating arm; 305. Second rotating arm; 306. Third rotating arm; 307. First mounting plate; 308. Sliding rod; 309. Second mounting plate; 310. Spring; 311. Tensioning shaft; 312. Through hole; 313. Air inlet; 4. Storage mechanism; 401. Body; 402. Tray; 403. L-shaped part; 404. Moving part; 405. Second housing; 406. First lead screw; 407. Stop block; 408. Rotating shaft; 409. Rotating wheel; 410. Support block; 411. Second lead screw; 412. Guide rail; 413. Movable seat; 414. Baffle; 415. Driven wheel; 416. Drive motor; 417. Drive wheel; 418. Belt. Detailed Implementation

[0020] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0021] Example 1

[0022] Please refer to Figures 1-11 As shown, a multi-mechanism automated palletizing device for film rollers includes a transverse slide rail 1, a support mechanism 2, a palletizing mechanism 3, and a storage mechanism 4. Several sets of processing machines 101 are arranged on the rear side of the transverse slide rail 1. Support rods 102 are installed on the processing machines 101, and film rollers 103 are sleeved on the support rods 102. The palletizing mechanism 3 is installed on the transverse slide rail 1. The support mechanism 2 and the storage mechanism 4 are installed on the side of the processing machines 101. The support mechanism 2, the palletizing mechanism 3, and the storage mechanism 4 cooperate to palletize and store several film rollers 104.

[0023] Example 2

[0024] Please refer to Figure 2 and Figure 3 As shown, the support mechanism 2 includes a first housing 201, and two sets of first cylinders 202 are installed inside the first housing 201. The output end of the first cylinder 202 is fixedly connected to the V-shaped support member 203.

[0025] Those skilled in the art will understand that by controlling the extension of the output end of the first cylinder 202, the V-shaped support 203 is driven to move upward; conversely, by driving the output end of the first cylinder 202 to retract, the V-shaped support 203 is driven to move downward.

[0026] Example 3

[0027] Please refer to Figure 4 As shown, the palletizing mechanism 3 includes a robotic arm assembly, which includes a fixed base 301, a second cylinder 303, and a third rotating arm 306. A motor is provided at the bottom of the fixed base 301, and a base 302 is fixedly installed at the output end of the motor. The second cylinder 303 is rotatably connected inside the base 302, and the output end of the second cylinder 303 is rotatably connected to the outside of the first rotating arm 304. The top of the first rotating arm 304 is rotatably connected to the second rotating arm 305, and the other end of the second rotating arm 305 is rotatably connected to the third rotating arm 306.

[0028] Please refer to Figure 5 As shown, the end of the third rotating arm 306 away from the second rotating arm 305 is fixedly connected to the first mounting plate 307. Sliding rods 308 are slidably connected at the four corners of the first mounting plate 307. The bottom of the sliding rods 308 is fixedly connected to the second mounting plate 309. Springs 310 are sleeved on the outside of the two sets of sliding rods 308. One end of the spring 310 is fixedly connected to the top of the second mounting plate 309, and the other end of the spring 310 is fixedly connected to the bottom of the first mounting plate 307.

[0029] Please refer to Figure 6 As shown, a through hole 312 is provided in the middle of the second mounting plate 309. An expansion shaft 311 is fixedly connected to the bottom of the second mounting plate 309 by bolts. The center of the expansion shaft 311 is concentric with the center of the through hole 312. An air bladder is provided inside the expansion shaft 311. An air inlet 313 is provided on the top of the air bladder. The air inlet 313 is connected to an external air pump. A sensor is also installed on the second mounting plate 309. The sensor is electrically connected to the external air pump.

[0030] Specifically, the motor inside the fixed base 301 drives the base 302 to rotate around the vertical axis, realizing the first degree of freedom of the robotic arm. This rotational motion enables a wide range of azimuth angle adjustment in the horizontal plane, meeting the transfer needs between different workstations. The second cylinder 303, as a driving element, pushes the first rotating arm 304 to pitch around the hinge point on the base 302, realizing the second degree of freedom. The first rotating arm 304 and the second rotating arm 305 are connected by a revolute joint, and the second rotating arm 305 can swing relative to the first rotating arm 304, realizing the third degree of freedom and further expanding the working space of the robotic arm. The end of the third rotating arm 306 is rotatably connected to the first mounting plate 307, the second mounting plate 309, and the tensioning shaft 311. In summary, the robotic arm assembly forms a six-axis kinematic chain, enabling the tensioning shaft 311 to move freely in three-dimensional space and allowing the tensioning shaft 311 to enter the film roller 103 at the optimal angle. In addition, when the tensioning shaft 311 is sent into the film roller 103, the second mounting plate 309 is also driven to approach the film roller 103, and the spring 310 is in a contracted state. The sensor monitors the force state of the spring 310. After reaching the threshold, the sensor controls the external air pump to start, and then the air inlet 313 fills the air bag inside the tensioning shaft 311 with compressed gas (usually clean compressed air). Under the action of air pressure, the air bag expands outward and passes through the slot opened on the tensioning shaft 311, forming a surface contact with the inner wall surface of the film roller 103, thereby generating a uniform radial tensioning force to clamp and fix the inside of the film roller 103. In this way, the present invention transforms the traditional external clamping handling method into an internal support clamping method. When traditional robotic arms grasp film rollers, they usually use external surface clamping, which can easily cause scratches or indentations on the outer surface of the film roller. Especially for precision film products, external surface damage is unacceptable. However, the present invention adopts an airbag internal support structure, which applies the clamping force to the inner wall of the film roller, completely avoiding direct contact with the outer surface of the film roller, thus achieving non-destructive clamping. Moreover, the six-axis motion chain provides six degrees of freedom of spatial position adjustment capability, which can accurately send the tensioning shaft 311 into the interior of the film roller, and flexibly avoid surrounding equipment and obstacles during the transfer process. It is suitable for production environments with extremely high requirements for product surface quality, such as clean rooms. The entire system, through the coordinated cooperation of "robotic arm positioning + airbag internal support clamping", realizes the efficient, non-destructive, and precise transfer and palletizing of film rollers 103 in the production line.

[0031] Example 4

[0032] Please refer to Figure 7As shown, the storage mechanism 4 includes two sets of bodies 401. One set of bodies 401 has an L-shaped component 403 fixedly connected to its outer side. The other set of bodies 401 is connected to a movable component 404 via an adjustment component. The adjustment component is used to adjust the distance between the L-shaped component 403 and the movable component 404. A tray 402 is provided between the two sets of bodies 401. Limiting components are also installed inside the top of the two sets of bodies 401.

[0033] Please refer to Figure 8 and Figure 9 As shown, the adjustment assembly includes a second housing 405 and a first lead screw 406. The second housing 405 is fixedly connected to one of the sets of machine bodies 401. The first lead screw 406 is rotatably connected inside the second housing 405. A stop 407 is fixedly installed on the outer end of the first lead screw 406. A movable part 404 is threadedly connected to the outer wall of the first lead screw 406. A rotating shaft 408 is also rotatably connected inside the second housing 405. The outer end of the rotating shaft 408 is fixedly connected to a rotating wheel 409. The rotating shaft 408 and the first lead screw 406 are connected by a bevel gear set for transmission.

[0034] Specifically, by rotating the wheel 409, the shaft 408 rotates, and under the action of the bevel gear transmission structure, the first lead screw 406 rotates, thereby driving the moving part 404 to reciprocate, thus changing the distance between the moving part 404 and the L-shaped part 403.

[0035] Please refer to Figure 10 and Figure 11 As shown, the limiting assembly includes two sets of support blocks 410 fixedly connected inside the top of the body 401. A second lead screw 411 is rotatably connected between the two sets of support blocks 410. A movable seat 413 is threadedly connected to the outer wall of the second lead screw 411. A baffle 414 is rotatably connected to the movable seat 413. The baffle 414 is slidably connected to two sets of guide rails 412. Both sets of guide rails 412 are fixedly installed inside the top of the body 401. A driven wheel 415 is fixedly installed on the outer end of the second lead screw 411. A drive motor 416 is provided on the outer side of the body 401. The output end of the drive motor 416 is fixedly connected to the drive wheel 417. The drive wheel 417 is connected to the driven wheel 415 through a belt 418.

[0036] Specifically, by controlling the output of the drive motor 416 to rotate, the drive wheel 417 rotates, and under the action of the belt 418, the driven wheel 415 rotates, which in turn drives the second lead screw 411 to rotate, causing the movable seat 413 to reciprocate along the outer wall of the two sets of guide rails 412, thus changing the overall reciprocating motion of the movable seat 413 and the baffle 414; and by controlling the rotation of the baffle 414 on the movable seat 413, the baffle 414 can be in a horizontal or vertical state.

[0037] The working principle of this device is as follows: S1. Several sets of processing machines 101 produce film. After production, the film is wound on the outer wall of film roller 103. Each set of processing machines 101 is equipped with a support mechanism 2 and a storage mechanism 4. Operators cut and label the film on the film roller 103 accordingly. Each storage mechanism 4 has two sets of body 401 with gates on the outside. The operator opens the gates, places the tray 402 between the two sets of body 401, and closes the gates. Then, by rotating the wheel 409, the shaft 408 rotates. Under the action of the bevel gear structure, the first lead screw 406 rotates, which drives the movable part 404 to move towards the side plate of the L-shaped part 403. The movable part 404 and the two side plates of the L-shaped part 403 contact the three outer sides of the tray 402 respectively, and the gates also contact the tray 402, thus achieving positioning of all four outer sides of the tray 402. Similarly, a tray 402 is installed in each storage mechanism 4. S2. After labeling is completed, the output end of the first cylinder 202 is extended by controlling it, which drives the V-shaped support 203 to move upward. Then, the operator pulls the film roller 103 outward so that the end of the film roller 103 is located inside the V-shaped support 203, waiting for stacking. S3. Under the action of the transverse slide rail 1, the palletizing mechanism 3 moves to the position of the film roller 103. Under the action of the six-axis motion chain of the palletizing mechanism 3, the tensioning shaft 311 is sent to the inside of the film roller 103. During this process, the second mounting plate 309 is also driven to approach the film roller 103. The spring 310 is in a contracted state. The sensor monitors the force state of the spring 310. After reaching the threshold, the sensor controls the external air pump to start. Then, the air inlet 313 fills the air bag inside the tensioning shaft 311 with compressed gas. The air bag expands outward under the action of air pressure and passes through the slot opened on the tensioning shaft 311, forming a surface contact with the inner wall of the film roller 103, thereby generating a uniform radial tensioning force to clamp and fix the inside of the film roller 103. S4. Under the action of the palletizing mechanism 3, the clamped and fixed film roller 103 is transferred to the tray 402. Under the action of the upper limit assembly of one set of machine body 401, the movable seat 413 and the baffle 414 move together to the front position of the first row of film roller 103. Then, the baffle 414 is driven to be in a horizontal state and contacts the top wall of the film roller 103 to prevent the film roller 103 from tilting forward. After that, if there are other processing machines 101 with labeled film rollers 103, the palletizing mechanism 3 moves to that position under the action of the transverse slide rail 1 and transfers and pallets them to the corresponding tray 402, and the corresponding baffle 414 is used for limiting. S5. When stacking on the same pallet 402, several film rollers 103 are stacked horizontally. Therefore, after the first row of film rollers 103 is stacked on the pallet 402 near the gate, after the first film roller 103 of the second row is placed on the pallet 402, the other set of baffles 414 are also in a horizontal state under the action of the upper limit assembly of another set of machine body 401, and contact and block the top wall of the second row of stacked film rollers 103, thus preventing the second row of film rollers 103 from tilting forward. The palletizing operation is then repeated. After the first film roller 103 of the third row is placed on the pallet 402, the baffle 414 used to intercept the first row contacts and blocks the top wall of the film roller 103 of the third row. The palletizing and intercepting operations are repeated in the same way until the pallet 402 is full of rollers. Then the operator opens the gate and transfers them by an external forklift. It is convenient and fast. The palletizing process is automated, which meets the needs of the staff and saves labor costs.

[0038] 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 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 claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A multi-mechanism automated palletizing device for film rollers, comprising a transverse slide rail (1), a support mechanism (2), a palletizing mechanism (3), and a storage mechanism (4), characterized in that, Several sets of processing machines (101) are provided on the rear side of the transverse slide rail (1). A support rod (102) is installed on the processing machine (101). A film roller (103) is sleeved on the support rod (102). A stacking mechanism (3) is installed on the transverse slide rail (1). A support mechanism (2) and a storage mechanism (4) are installed on the side of the processing machine (101). The support mechanism (2) and the stacking mechanism (3) cooperate to achieve linkage expansion and material handling. The support mechanism (2) includes a first housing (201), and two sets of first cylinders (202) are installed inside the first housing (201). The output end of the first cylinder (202) is fixedly connected to a V-shaped support member (203). The palletizing mechanism (3) includes a robotic arm assembly and a first mounting plate (307). The first mounting plate (307) is fixedly mounted on the end of the robotic arm assembly. Sliding rods (308) are slidably connected at the four corners of the first mounting plate (307). The bottom of the sliding rods (308) is fixedly connected to the second mounting plate (309). Springs (310) are sleeved on the outside of the two sets of sliding rods (308). The bottom of the second mounting plate (309) is fixedly connected to a tension shaft (311) by bolts. An air bladder is provided inside the tension shaft (311). An air inlet (313) is provided on the top of the air bladder. The air inlet (313) is connected to an external air pump. A sensor is also installed on the second mounting plate (309). The sensor is electrically connected to the external air pump. The storage mechanism (4) includes two sets of bodies (401), and a tray (402) is provided between the two sets of bodies (401). Limiting components are installed inside the top of the two sets of bodies (401), and the limiting components are used to position the stacked film rollers (103) on the tray (402) row by row.

2. The automated palletizing device for multi-mechanism film rollers according to claim 1, characterized in that, The robotic arm assembly includes a fixed base (301), a second cylinder (303), and a third rotating arm (306). A motor is provided at the bottom of the fixed base (301), and a base (302) is fixedly installed at the output end of the motor. The second cylinder (303) is rotatably connected inside the base (302), and the output end of the second cylinder (303) is rotatably connected to the outside of the first rotating arm (304). The top of the first rotating arm (304) is rotatably connected to the second rotating arm (305).

3. The automated palletizing device for multi-mechanism film rollers according to claim 2, characterized in that, The other end of the second rotating arm (305) is rotatably connected to a third rotating arm (306), and the end of the third rotating arm (306) away from the second rotating arm (305) is fixedly connected to the first mounting plate (307).

4. The automated palletizing device for multi-mechanism film rollers according to claim 1, characterized in that, The second mounting plate (309) has a through hole (312) in the middle, and the center of the tensioning shaft (311) is concentric with the center of the through hole (312).

5. The automated palletizing device for multi-mechanism film rollers according to claim 1, characterized in that, One set of the body (401) has an L-shaped part (403) fixedly connected to its outer side, and another set of the body (401) is connected to a movable part (404) via an adjustment component. The adjustment component is used to adjust the distance between the L-shaped part (403) and the movable part (404) to accommodate different sized trays (402).

6. The automated palletizing device for multi-mechanism film rollers according to claim 5, characterized in that, The adjustment assembly includes a second housing (405) and a first lead screw (406). The second housing (405) is fixedly connected to one of the machine bodies (401), and the first lead screw (406) is rotatably connected inside the second housing (405). A stop block (407) is fixedly installed at the outer end of the first lead screw (406).

7. The automated palletizing device for multi-mechanism film rollers according to claim 6, characterized in that, The movable part (404) is threaded to the outer wall of the first lead screw (406), and a rotating shaft (408) is rotatably connected inside the second housing (405). The outer end of the rotating shaft (408) is fixedly connected to the rotating wheel (409), and the rotating shaft (408) and the first lead screw (406) are connected by a bevel gear set.

8. The automated palletizing device for multi-mechanism film rollers according to claim 1, characterized in that, The limiting component includes two sets of support blocks (410) fixedly connected inside the top of the body (401). A second lead screw (411) is rotatably connected between the two sets of support blocks (410). A movable seat (413) is threadedly connected to the outer wall of the second lead screw (411). A baffle (414) is rotatably connected to the movable seat (413). The baffle (414) is slidably connected to two sets of guide rails (412). Both sets of guide rails (412) are fixedly installed inside the top of the body (401).

9. The automated palletizing device for multi-mechanism film rollers according to claim 8, characterized in that, The outer end of the second lead screw (411) is fixedly mounted with a driven wheel (415), and a drive motor (416) is provided on the outer side of the machine body (401). The output end of the drive motor (416) is fixedly connected to the drive wheel (417), and the drive wheel (417) is connected to the driven wheel (415) through a belt (418).

10. A control method for a multi-mechanism automated palletizing device for film rollers, used to implement the multi-mechanism automated palletizing device for film rollers as described in any one of claims 1-9, characterized in that, include: S1. Pallet positioning: Place the pallet (402) between the two sets of machine bodies (401), and use the adjustment component to drive the movable part (404) to cooperate with the L-shaped part (403) to position the pallet (402) in four directions; S2, Supporting and picking up materials: The first cylinder (202) of the control support mechanism (2) extends and drives the V-shaped support (203) to rise to support the end of the film roller (103) and wait for stacking; S3, Tightening and Clamping: The palletizing mechanism (3) moves to the position of the film roller (103), and the robotic arm component drives the tightening shaft (311) to insert into the film roller (103). After the sensor monitors that the spring (310) is stressed to the threshold, the air pump is controlled to inflate the air bag inside the tightening shaft (311) through the air inlet (313). The air bag expands and contacts the inner wall of the roller to form a radial tightening force. Then the V-shaped support (203) descends, so that the film roller (103) smoothly switches from the external support state to the internal tightening and clamping state. S4, Transfer and palletizing: The palletizing mechanism (3) transfers the clamped film roller (103) to the tray (402). Through the row-by-row movement of the baffle (414) in the limiting component, it is always located in front of the current palletizing row or the adjacent row and is in a horizontal state, contacting and resisting the top wall of the already palletized film roller (103) to provide anti-tipping support. S5. Repeated operation: The palletizing mechanism (3) repeats steps S3-S4 to complete the row-by-row palletizing on the pallet (402). After the palletizing is completed, the pallet (402) is transferred.

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