An automatic mixed palletizing device

Abstract

The present application relates to the technical field of automatic stacking equipment, and particularly relates to an automatic mixed stacking device, which comprises a top suction sponge suction tool assembly, a case falling sensor is arranged outside the inductive iron sheet, a first lifting assembly is arranged outside the top suction tool body, a second lifting assembly is arranged outside the first lifting plate, a rotary bottom-holding anti-falling assembly is arranged below the second lifting plate, the rotary bottom-holding anti-falling assembly comprises a cover shell, a rotary servo reducer is installed on the upper end of the cover shell, a main gear is arranged inside the cover shell, two slave gears are arranged outside the main gear, a supporting plate is installed at the lower end of the slave gear, and a gear set is arranged inside the cover shell; the rotary bottom-holding anti-falling assembly is arranged, the bottom of the material is lifted on the basis of vacuum sponge adsorption of the material, the material is effectively prevented from falling in the carrying process, and the safety and reliability in the stacking operation process are further improved.

Description

Technical Field

[0001] This invention relates to the field of automated palletizing equipment technology, and more particularly to an automated mixed palletizing device. Background Technology

[0002] Palletizing refers to the process of neatly stacking packaged or unpackaged items on pallets or designated load-bearing surfaces according to a certain arrangement and layer rules to form a stable, unitized stack for easy storage, handling, and transportation.

[0003] In automated palletizing operations, AI vision robot grippers are the core actuators for picking up and handling materials.

[0004] Currently, when common palletizing grippers pick up materials, they face safety hazards such as falling when handling workpieces with uneven surfaces, high air permeability, or heavy weight. Therefore, existing grippers have added anti-fall or bottom-support mechanisms. However, the existing bottom-support structures still have some problems: First, the existing bottom-support mechanisms are mostly driven by cylinders, which have limited motion precision and make it difficult to achieve precise timing control. In addition, the pallets are mostly single-sided flipping or forward and backward translation, with limited bottom-support coverage area, which is not suitable for large or irregular workpieces. Second, the existing gripper lifting mechanism is mostly single-stage lifting, and the lifting stroke is limited by the height of the device itself, which is difficult to meet the palletizing needs of workpieces of different heights.

[0005] Therefore, we provide an automated mixed palletizing device. Summary of the Invention

[0006] The purpose of this invention is to address the aforementioned technical problems by providing an automatic mixed palletizing device that achieves stable gripping and reliable handling of workpieces.

[0007] In view of this, the present invention provides an automatic mixed palletizing device, including a top suction sponge suction assembly, the top suction sponge suction assembly including a top suction body, a vacuum sponge installed at the lower end of the top suction body, a vacuum interface installed at the upper end of the top suction body, a buffer rod provided outside the vacuum interface, an induction iron plate installed at the upper end of the buffer rod, and a box drop sensor provided outside the induction iron plate.

[0008] The top suction device body is provided with a primary lifting assembly, which includes a lifting servo reducer. The output end of the lifting servo reducer is connected to a first drive gear. The first drive gear is meshed with a rack. A first lifting plate is connected to one side surface of the rack.

[0009] The first lifting plate is provided with a secondary lifting assembly, which includes a second lifting plate. Two synchronous pulleys are symmetrically arranged on the outside of the second lifting plate. The two synchronous pulleys are meshed with a synchronous belt. Two synchronous belt pressure plates are installed on the surface of the synchronous belt.

[0010] A rotating bottom-supporting anti-fall component is provided below the second lifting plate. The rotating bottom-supporting anti-fall component includes a cover, a rotary servo reducer is installed at the upper end of the cover, a main gear is provided inside the cover, two driven gears are provided outside the main gear, a support plate is installed at the lower end of the driven gears, and a gear set is provided inside the cover.

[0011] Preferably, the top suction device body, the vacuum interface, and the vacuum sponge are arranged in a continuous manner, the lower end of the buffer rod is inserted through the vacuum sponge, the lower end of the buffer rod is in contact with the inner wall of the lower end of the vacuum sponge, a vacuum sensor is installed on the top suction device body, a junction box is installed on the top suction device body, and a connecting flange is installed on the upper end of the top suction device body.

[0012] Preferably, a fixing plate is installed on the inner wall of the connecting flange, and the lifting servo reducer is fixedly installed on one side surface of the fixing plate. A through hole is provided on one side surface of the fixing plate, and the first drive gear is connected to the rack through the through hole.

[0013] Preferably, a first slide rail is installed on the surface of the fixed plate near the first lifting plate, a first slider is slidably connected to the surface of the first slide rail, the first slider is fixedly connected to one side surface of the first lifting plate, and slide rail limiting blocks are installed on the surfaces of the first slide rail near both ends.

[0014] Preferably, a second slide rail is installed on the surface of the first lifting plate near the second lifting plate, and a second slider is slidably disposed inside the second slide rail, and the second slider is fixedly connected to one side surface of the second lifting plate.

[0015] Preferably, pulley shafts are installed on both opposite sides of the first lifting plate, and the synchronous pulley is rotatably connected to the surface of the pulley shaft.

[0016] Preferably, the two synchronous belt pressure plates are symmetrically staggered, one of the synchronous belt pressure plates is fixedly connected to one side of the connecting flange, and the other synchronous belt pressure plate is fixedly connected to one side surface of the second lifting plate.

[0017] Preferably, the lower end of the second lifting plate is fixedly connected to the upper end of the cover, the output end of the rotary servo reducer is inserted through into the inside of the cover, and the output end of the rotary servo reducer is fixedly connected to the main gear.

[0018] Preferably, the two slave gears are symmetrically distributed, the tray is located outside the cover, and the lower end surface of the tray is located above the upper end of the vacuum sponge.

[0019] Preferably, the main gear, the driven gear, and the gear set are meshed together, and the second lifting plate and the fixed plate are connected together by a cable chain.

[0020] Compared with the prior art, the present invention provides an automatic mixed palletizing device, which has the following beneficial effects:

[0021] 1. This invention, by setting up a rotating bottom-supporting anti-drop component, lifts the bottom of the material based on the vacuum sponge adsorbing the material, effectively preventing the material from falling during transportation, and further improving the safety and reliability of the palletizing operation.

[0022] 2. This invention employs a rotating bottom-supporting anti-fall component. Through a rotary servo reducer and the entire gear assembly, two pallets are driven to rotate synchronously, so that the two pallets rotate from the outside to the inside to achieve bottom support. Compared with the traditional cylinder-driven or single-sided flipping scheme, the action is more precise and stable, and the double pallet structure can provide a larger bottom support area, which can adapt to workpieces of different sizes.

[0023] 3. In this invention, the lifting mechanism adopts a primary and secondary synchronous lifting design. The primary and secondary stages achieve relative movement through synchronous belts and synchronous pulleys, thereby achieving multiple lifting and lowering. This enables a large lifting stroke within a limited device height, allowing the device to adapt to workpieces of different heights and palletizing scenarios.

[0024] The parts of this device not covered herein are the same as or can be implemented using existing technologies. This invention has a simple structure and is easy to operate. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of an automatic mixed palletizing device proposed in this invention;

[0026] Figure 2 This is a schematic diagram of the top-suction sponge suction cup assembly of an automatic mixing and palletizing device proposed in this invention;

[0027] Figure 3 This is a schematic diagram of the primary lifting component of an automatic hybrid palletizing device proposed in this invention;

[0028] Figure 4 This is a side view of an automatic mixed palletizing device proposed in this invention;

[0029] Figure 5 This is a schematic diagram of the two-stage lifting assembly of an automatic hybrid palletizing device proposed in this invention;

[0030] Figure 6 This is a schematic diagram of the rotating bottom anti-fall component of an automatic mixed palletizing device proposed in this invention;

[0031] Figure 7 This is a schematic diagram of the connection of the first-stage lifting component of an automatic mixed palletizing device proposed in this invention.

[0032] In the diagram: 1. Top-mounted suction sponge assembly; 101. Top-mounted suction body; 102. Vacuum interface; 103. Vacuum sponge; 104. Buffer rod; 105. Induction iron plate; 106. Drop sensor; 107. Vacuum sensor; 108. Junction box; 109. Connecting flange; 2. First-stage lifting assembly; 201. Fixing plate; 2011. Through hole; 202. Lifting servo reducer; 203. First drive gear; 204. Rack; 205. First slide rail; 206. 1. First slider; 207. Slide rail limit block; 208. First lifting plate; 209. Second slider; 210. Second slide rail; 3. Secondary lifting assembly; 301. Second lifting plate; 302. Pulley shaft; 303. Synchronous pulley; 304. Synchronous belt; 305. Synchronous belt pressure plate; 4. Rotary bottom anti-fall assembly; 401. Cover; 402. Rotary servo reducer; 403. Main gear; 404. Driven gear; 405. Support plate; 406. Gear set; 407. Cable chain. Detailed Implementation

[0033] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0034] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0035] Example: An automated mixed palletizing device, such as Figures 1-7As shown, the device includes a top-suction sponge suction assembly 1, which includes a top-suction suction body 101. A vacuum sponge 103 is installed at the lower end of the top-suction suction body 101. The vacuum sponge 103 can be compressed when it comes into contact with the workpiece. A vacuum interface 102 is installed at the upper end of the top-suction suction body 101. The top-suction suction body 101, vacuum interface 102, and vacuum sponge 103 are arranged in a through-type configuration. During operation, a vacuum pump is connected to the vacuum interface 102, and the vacuum sponge 103 simultaneously draws air from bottom to top, thereby sucking up and fixing the material. A buffer rod 104 is provided outside the vacuum interface 102, and the lower end of the buffer rod 104 is inserted through the vacuum sponge 103. The lower inner wall of the vacuum sponge 103 is fitted. When the vacuum sponge 103 is compressed and rebounds, the vacuum sponge 103 can drive the buffer rod 104 to move up and down synchronously. The upper end of the buffer rod 104 is equipped with an induction iron plate 105. The outside of the induction iron plate 105 is equipped with a box drop sensor 106. The induction iron plate 105 and the box drop sensor 106 are set accordingly. The top suction device body 101 is equipped with a vacuum sensor 107. The vacuum sensor 107 is used to detect the vacuum degree of the top suction device. The top suction device body 101 is equipped with a junction box 108. The junction box 108 is used for wire connection, branching, transition and protection. The upper end of the top suction device body 101 is equipped with a connecting flange 109. The connecting flange 109 is used to connect with the AI ​​vision robot.

[0036] When picking up materials, firstly, the robot is connected to the top suction device body 101 via a flange. After the top suction device body 101 is connected and fixed to the AI ​​vision robot, the AI ​​vision robot moves the top suction device body 101 above the material. Then, the AI ​​vision robot drives the top suction device body 101 to move upwards onto the material until the vacuum sponge 103 contacts and is compressed against the material surface. At this point, the vacuum pump operates, and the vacuum interface 102 drives the vacuum sponge 103 to suck up and fix the material. Furthermore, during this process... During the process, when the material is on the vacuum sponge 103, the vacuum sponge 103 is compressed, causing the buffer rod 104 to move upward. The buffer rod 104 causes the sensing iron plate 105 to move upward synchronously. The box drop sensor 106 can sense the sensing iron plate 105 and can output a signal. When the material falls, the vacuum sponge 103 rebounds, and the buffer rod 104 and the sensing iron plate 105 move downward synchronously. The box drop sensor 106 can no longer sense the sensing iron plate 105 and cannot output a signal, thus indicating that the material has fallen.

[0037] The top suction device body 101 is externally equipped with a primary lifting assembly 2, and a fixing plate 201 is installed on the inner wall of the connecting flange 109. The primary lifting assembly 2 includes a lifting servo reducer 202, which has a rated torque of 0.64 Nm and a maximum torque of 1.92 Nm. The overall reduction ratio of the lifting servo reducer 202 is 10, and its transmission efficiency is greater than or equal to 96%. Furthermore, the rated output torque of the lifting servo reducer 202 at its end is approximately 6.1 Nm, and its maximum output torque is approximately 18.4 Nm. The servo reducer 202 is fixedly installed on one side surface of the fixed plate 201. The output end of the lifting servo reducer 202 is connected to a first drive gear 203. The first drive gear 203 has 2 modules and 18 teeth with a tooth pitch of 6.28. The first drive gear 203 has a stroke of approximately 113mm per revolution. A through hole 2011 is provided on one side surface of the fixed plate 201. The first drive gear 203 is connected to the rack 204 through the through hole 2011. The first drive gear 203 is meshed with the rack 204. The first drive gear 203 carries... The moving rack 204 moves up and down. A first lifting plate 208 is connected to one side of the rack 204. It should be noted that all the lifting components connected to the first lifting plate 208 weigh approximately 8 kg. Therefore, for every one revolution of the lifting servo reducer 202, the first drive gear 203 rotates 1 / 10 of a revolution, and the lifting portion of the rack 204 rises / falls approximately 22.6 mm. Simultaneously, the minimum speed and acceleration under the specified cycle time are v = 0.5 m / s² and a = 1 m / s², respectively. The surface of the fixed plate 201 near the first lifting plate 208... A first slide rail 205 is installed on the surface of the first slide rail 205, and a first slider 206 is slidably connected to the surface of the first slide rail 205. The first slider 206 is fixedly connected to one side surface of the first lifting plate 208. The stability of the first lifting plate 208 during movement is ensured by the first slide rail 205 and the first slider 206. Slide rail limit blocks 207 are installed on the surface of the first slide rail 205 near both ends. The slide rail limit blocks 207 limit the stroke range of the first slider 206 to prevent overtravel, derailment, collision and impact. At the same time, they can also serve as a precise positioning reference.

[0038] After the vacuum sponge 103 sucks up the material, it needs to move the material upward a certain distance. During this process, the upward position of the material is adjustable, as long as the opening and closing process of the pallet 405 does not interfere with other workpieces and external equipment. Then, the lifting servo reducer 202 rotates and drives the first drive gear 203 to rotate. The first drive gear 203 drives the rack 204 to move downward, and the rack 204 will drive the first lifting plate 208 to move downward. When it is necessary to move upward, the lifting servo reducer 202 will drive the first drive gear 203 to rotate in the opposite direction, thereby driving the rack 204 and the first lifting plate 208 to move upward. This process is a first-stage lifting motion.

[0039] A secondary lifting assembly 3 is provided on the outside of the first lifting plate 208. The secondary lifting assembly 3 includes a second lifting plate 301. A second slide rail 210 is installed on the surface of the first lifting plate 208 near the second lifting plate 301. A second slider 209 is slidably disposed inside the second slide rail 210. The second slider 209 is fixedly connected to one side surface of the second lifting plate 301. With the cooperation of the second slide rail 210 and the second slider 209, the stability of the upward movement of the second lifting plate 301 can be ensured. Two synchronous pulleys 303 are symmetrically arranged on the outside of the second lifting plate 301. Pulley shafts 302 are installed on opposite sides of the first lifting plate 208. The position of the pulley shafts 302 can be adjusted by screws, thereby adjusting the synchronous belt 30. The tension of 4 is adjusted. The synchronous pulley 303 is rotatably connected to the surface of the pulley shaft 302. The two synchronous pulleys 303 are meshed together with the synchronous belt 304. Two synchronous belt pressure plates 305 are installed on the surface of the synchronous belt 304. The synchronous belt pressure plate 305 has its own fixing seat, which can be connected to external components. The two synchronous belt pressure plates 305 are symmetrically staggered. One of the synchronous belt pressure plates 305 is fixedly connected to one side of the connecting flange 109. This synchronous belt pressure plate 305 cannot move and plays a role in fixing one part of the synchronous belt 304. The other synchronous belt pressure plate 305 is fixedly connected to one side of the surface of the second lifting plate 301. Therefore, the other synchronous belt pressure plate 305 can drive the second lifting plate 301 to move.

[0040] During the downward movement of the first lifting plate 208, the first lifting plate 208 will drive the pulley shaft 302 and the synchronous pulley 303 to move downward synchronously. Since the synchronous belt 304 connected to the synchronous belt pressure plate 305 of the top suction device body 101 cannot move, when the synchronous pulley 303 moves downward, the synchronous belt 304 will move synchronously. Therefore, the synchronous belt 304 will rotate under the action of the fixed synchronous belt pressure plate 305. The synchronous belt 304 will drive the synchronous belt pressure plate 305 connected to the second lifting plate 301 to move downward. During the downward movement of the movable synchronous belt pressure plate 305, the movable synchronous belt pressure plate 305 will drive the second lifting plate 301 to move downward synchronously.

[0041] A rotating bottom-supporting anti-fall component 4 is installed below the second lifting plate 301. The rotating bottom-supporting anti-fall component 4 includes a cover 401. The lower end of the second lifting plate 301 is fixedly connected to the upper end of the cover 401. A rotary servo reducer 402 is installed on the upper end of the cover 401. The rotary servo reducer 402 has a rated torque of 0.32 Nm and a maximum torque of 0.9 Nm. At the same time, the reducer ratio of the rotary servo reducer 402 is 8, and the transmission efficiency is greater than or equal to 96%. Furthermore, the end of the rotary servo reducer 402... The fixed output torque is approximately 3.0 Nm, and the maximum output torque is approximately 8.4 Nm. The output end of the rotary servo reducer 402 is inserted through and inserted into the inside of the housing 401. The main gear 403 is installed inside the housing 401. The output end of the rotary servo reducer 402 is fixedly connected to the main gear 403. Two driven gears 404 are installed outside the main gear 403. The two driven gears 404 are symmetrically distributed. The main gear 403, driven gears 404, and gear set 406 are meshed together. The reduction ratio of the entire gear set is 36:4. 4. The total reduction ratio is approximately 9.78. Under the action of the overall gear combination, the two pallets 405 can rotate simultaneously outwards or inwards. Pallets 405 are mounted from the lower end of gear 404. For every one revolution of the rotary servo reducer 402, pallet 405 rotates 1 / 9.78 of a revolution, with a rotation angle of approximately 36.8°. Simultaneously, pallets 405 meet the minimum speed and angular velocity requirements under the specified cycle time: n = 0.6 r / s, ω = 220 r / s. Pallets 405 are located outside the housing 401. The lower surface of the support plate 405 is located above the upper end of the vacuum sponge 103. Both sides of the two support plates 405 are provided with clearance grooves so that the two support plates 405 can overlap when closed. The cover 401 is equipped with a gear set 406. The second lifting plate 301 and the fixed plate 201 are connected to a drag chain 407. The core function of the drag chain 407 is to protect and guide the pipeline to move in an orderly manner with the moving parts, prevent the pipeline from being worn, pulled, tangled and scattered, and ensure the stability of the movement of the support plate 405.

[0042] In the initial state, neither of the two support plates 405 is located below the vacuum sponge 103, and the two support plates 405 are in a cross-over state on opposite sides. As the second lifting plate 301 moves downward, the cover 401 will move downward synchronously. After the support plates 405 move to the appropriate position, the first-stage lifting assembly 2 and the second-stage lifting assembly 3 will stop operating. At this time, the rotary servo reducer 402 rotates, driving the main gear 403 to rotate synchronously. During the rotation of the main gear 403, the main gear 403 will drive the driven gear 404 and gear set 406 to rotate synchronously. During the rotation, the two driven gears 404... 4. The two pallets 405 will be driven to rotate synchronously towards the material side. When the two pallets 405 rotate to the appropriate position, the rotary servo reducer 402 will stop running. Then, the first-stage lifting component 2 and the second-stage lifting component 3 will move upward. This operation only requires the lifting servo reducer 202 to rotate in the opposite direction until the pallet 405 contacts the lower surface of the material. After the material is transferred to the appropriate position, the pallet 405 will move downward again until the pallet 405 is separated from the material. The rotary servo reducer 402 will rotate in the opposite direction until the pallet 405 returns to the initial position. Then, the vacuum sponge 103 will disconnect the vacuum, and the material will move to the placement location.

[0043] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An automatic mixed palletizing device, comprising a top-suction sponge suction cup assembly (1), characterized in that, The top-suction sponge suction assembly (1) includes a top-suction suction body (101), a vacuum sponge (103) is installed at the lower end of the top-suction suction body (101), a vacuum interface (102) is installed at the upper end of the top-suction suction body (101), a buffer rod (104) is provided outside the vacuum interface (102), an induction iron plate (105) is installed at the upper end of the buffer rod (104), and a box drop sensor (106) is provided outside the induction iron plate (105). The top suction device body (101) is provided with a primary lifting assembly (2). The primary lifting assembly (2) includes a lifting servo reducer (202). The output end of the lifting servo reducer (202) is connected to a first drive gear (203). The first drive gear (203) is meshed with a rack (204). A first lifting plate (208) is connected to one side surface of the rack (204). The first lifting plate (208) is provided with a secondary lifting assembly (3) on its exterior. The secondary lifting assembly (3) includes a second lifting plate (301). Two synchronous pulleys (303) are symmetrically arranged on the exterior of the second lifting plate (301). The two synchronous pulleys (303) are connected to a synchronous belt (304) through meshing. Two synchronous belt pressure plates (305) are installed on the surface of the synchronous belt (304). A rotating bottom-supporting anti-fall component (4) is provided below the second lifting plate (301). The rotating bottom-supporting anti-fall component (4) includes a cover (401). A rotary servo reducer (402) is installed on the upper end of the cover (401). A main gear (403) is provided inside the cover (401). Two driven gears (404) are provided outside the main gear (403). A support plate (405) is installed at the lower end of the driven gears (404). A gear set (406) is provided inside the cover (401).

2. The automatic mixed palletizing device according to claim 1, characterized in that, The top suction device body (101), vacuum interface (102) and vacuum sponge (103) are arranged in a continuous manner. The lower end of the buffer rod (104) is inserted into the vacuum sponge (103). The lower end of the buffer rod (104) is in contact with the lower inner wall of the vacuum sponge (103). A vacuum sensor (107) is installed on the top suction device body (101). A junction box (108) is installed on the top suction device body (101). A connecting flange (109) is installed on the upper end of the top suction device body (101).

3. An automatic mixed palletizing device according to claim 2, characterized in that, A fixing plate (201) is installed on the inner wall of the connecting flange (109). The lifting servo reducer (202) is fixedly installed on one side surface of the fixing plate (201). A through hole (2011) is provided on one side surface of the fixing plate (201). The first drive gear (203) is connected to the rack (204) through the through hole (2011).

4. An automatic mixed palletizing device according to claim 3, characterized in that, The fixed plate (201) is equipped with a first slide rail (205) on the side surface near the first lifting plate (208). A first slider (206) is slidably connected to the surface of the first slide rail (205). The first slider (206) is fixedly connected to the side surface of the first lifting plate (208). Slide rail limit blocks (207) are installed on the surfaces of the first slide rail (205) near both ends.

5. An automatic mixed palletizing device according to claim 1, characterized in that, A second slide rail (210) is installed on the surface of the first lifting plate (208) near the second lifting plate (301). A second slider (209) is slidably disposed inside the second slide rail (210). The second slider (209) is fixedly connected to one side surface of the second lifting plate (301).

6. An automatic mixed palletizing device according to claim 1, characterized in that, The first lifting plate (208) has pulley shafts (302) installed on both sides of its opposite surfaces, and the synchronous pulley (303) is rotatably connected to the surface of the pulley shaft (302).

7. An automatic mixed palletizing device according to claim 2, characterized in that, The two synchronous belt pressure plates (305) are symmetrically staggered. One of the synchronous belt pressure plates (305) is fixedly connected to one side of the connecting flange (109), and the other synchronous belt pressure plate (305) is fixedly connected to one side of the second lifting plate (301).

8. An automatic mixed palletizing device according to claim 1, characterized in that, The lower end of the second lifting plate (301) is fixedly connected to the upper end of the cover (401), the output end of the rotary servo reducer (402) is inserted through into the inside of the cover (401), and the output end of the rotary servo reducer (402) is fixedly connected to the main gear (403).

9. An automatic mixed palletizing device according to claim 1, characterized in that, The two gears (404) are symmetrically distributed, the tray (405) is located outside the cover (401), and the lower surface of the tray (405) is located above the upper end of the vacuum sponge (103).

10. An automatic mixed palletizing device according to claim 1, characterized in that, The main gear (403), the driven gear (404), and the gear set (406) are meshed together, and the second lifting plate (301) and the fixed plate (201) are connected together by a drag chain (407).

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