Palletizing apparatus

Abstract

The application provides a kind of stacking equipment, comprising: mobile platform, movably arranged on installation base surface, mobile platform is provided with mechanical arm, shaping assembly and weighing assembly, shaping assembly is used to shape material, and weighing assembly is used to weigh material;First limiting part, arranged on installation base surface, at least part of first limiting part is attached to mobile platform, to limit mobile platform;Second limiting part, arranged on mobile platform;Stacking tray, at least part of stacking tray is attached to second limiting part, to limit stacking tray, and mechanical arm stacks material weighed by weighing assembly on stacking tray. To solve the problem of low versatility of the stacking equipment in the prior art.

Description

Technical Field

[0001] This invention relates to the field of material palletizing technology, and more specifically, to a palletizing device. Background Technology

[0002] In the industrial production of modified plastic granules, to improve the automation level and overall production efficiency of the production line, automated palletizing workstations are commonly installed in various plants to complete the automated palletizing of plastic granule packages. Currently, the mainstream application in the industry is the fixed one-to-many palletizing workstation. This equipment can meet the production needs of conventional single-station, long-term fixed operation and is suitable for conventional large-volume, low-change-type production modes.

[0003] However, the modified plastic granule industry is characterized by a wide variety of orders, frequent production changes, and dense switching of production line stations. Existing palletizing equipment cannot adapt to the lightweight production scenario of multiple categories and high-frequency station changes of modified plastic granules, resulting in low equipment versatility and adaptability. Summary of the Invention

[0004] The main objective of this invention is to provide a palletizing device to solve the problem of low versatility of existing palletizing devices.

[0005] To achieve the above objectives, according to one aspect of the present invention, a palletizing device is provided, comprising: a mobile platform movably disposed on a mounting base, the mobile platform being provided with a robotic arm, a shaping component, and a weighing component, the shaping component being used to shape materials, and the weighing component being used to weigh materials; a first limiting part disposed on the mounting base, at least a portion of the first limiting part being in contact with the mobile platform to limit the mobile platform; and a second limiting part disposed on the mobile platform; a palletizing tray, at least a portion of the palletizing tray being in contact with the second limiting part to limit the palletizing tray, wherein the robotic arm stacks the materials weighed by the weighing component onto the palletizing tray.

[0006] The palletizing equipment includes a moving platform, a first limiting part, a second limiting part, a palletizing pallet, a robotic arm, a shaping component, and a weighing component. This application utilizes a dual-limiting structure to reduce positional offset of the moving platform after switching workstations. The moving platform is movably mounted on a mounting base. The first limiting part is fixed to the mounting base. When the moving platform moves to a new workstation, at least a portion of the first limiting part engages with the moving platform, thereby precisely fixing the position of the moving platform relative to the mounting base. Simultaneously, the second limiting part is mounted on the moving platform, and at least a portion of the palletizing pallet engages with the second limiting part, thereby fixing the position of the palletizing pallet relative to the moving platform. Since the robotic arm, shaping component, and weighing component are all mounted on the moving platform, this dual-limiting mechanism ensures that the relative position between the palletizing pallet and the robotic arm on the moving platform remains constant after the moving platform is positioned.

[0007] This approach overcomes the shortcomings of traditional mobile palletizing workstations, which require recalibration due to the relative positional shift between the robot and the pallet. It directly eliminates the need for repeated calibration caused by positional changes, thereby solving the problems of long preparation time and low production efficiency, and improving the continuity and efficiency of palletizing operations.

[0008] Furthermore, the first limiting part includes a limiting plate, which is disposed on the mounting base surface, and at least a portion of the side of the mobile platform is in contact with the limiting plate to limit the movement of the mobile platform.

[0009] Furthermore, the limiting plate includes: a first limiting plate and a second limiting plate, the first limiting plate and the second limiting plate are respectively disposed on the mounting base surface, and the first limiting plate and the second limiting plate are disposed at an angle; the first side of the moving platform is attached to the first limiting plate, and the second side of the moving platform is attached to the second limiting plate.

[0010] Furthermore, buffer components are respectively provided on the first limiting plate and the second limiting plate. The buffer components can be flexibly set, and the first side and / or the second side of the moving platform are in contact with the buffer components.

[0011] Furthermore, the first limiting part also includes a guide plate, which is disposed at the end of the limiting plate. The guide plate is inclined relative to the limiting plate in a direction away from the moving platform, so as to guide the moving platform during the moving process.

[0012] Furthermore, the second limiting part includes a third limiting plate and a fourth limiting plate, which are arranged at an angle to each other. The third side of the pallet is attached to the third limiting plate, and the fourth side of the pallet is attached to the fourth limiting plate.

[0013] Furthermore, the palletizing equipment also includes a position detection component, which is disposed on the second limiting part, for detecting the position information of the palletizing pallet.

[0014] Furthermore, the palletizing equipment also includes: a clamping assembly disposed on the mounting base and opposite to the first limiting portion, at least a portion of the clamping assembly being movably disposed to clamp the mobile platform between the clamping assembly and the first limiting portion.

[0015] Furthermore, the clamping assembly includes: a mounting base; a movable clamping plate hinged to the mounting base; and a driving component, which includes a telescopic rod connected to the movable clamping plate. The telescopic rod drives the movable clamping plate to rotate, thereby clamping or releasing the mobile platform.

[0016] Furthermore, the palletizing equipment also includes: an incoming material conveyor line, set on the mounting base for conveying materials, with the shaping component docking with the incoming material conveyor line; and a side-pushing component, set above the incoming material conveyor line, at least a portion of which is movably set to push the materials on the incoming material conveyor line onto the shaping component.

[0017] The palletizing equipment, employing the technical solution of this invention, includes a moving platform, a first limiting part, and a second limiting part. This embodiment utilizes a multi-limiting mechanism to reduce positional deviation during movement. The moving platform is movably mounted on the mounting base and carries the robotic arm, shaping assembly, and weighing assembly. When the moving platform moves to the target workstation on the mounting base, the first limiting part, located on the mounting base, engages with the moving platform, thereby precisely positioning and limiting the position of the moving platform on the mounting base.

[0018] Subsequently, the pallet is placed on the moving platform, and the pallet is aligned with the second limiting part set on the moving platform, thereby limiting the position of the pallet relative to the moving platform. Through the positioning of the moving platform by the first limiting part and the positioning of the pallet by the second limiting part, the relative positional relationship between the robotic arm, the pallet, and the mounting base remains fixed when the moving platform moves to different positions on the mounting base.

[0019] This fixed relative position relationship avoids the offset of the robot and pallet relative position caused by the reset error of the mobile platform, so there is no need to re-align and calibrate after each workstation switch, which significantly shortens the operation preparation time and improves the production efficiency of palletizing operations. Attached Figure Description

[0020] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0021] Figure 1 A schematic diagram of an embodiment of the palletizing equipment according to the present invention is shown;

[0022] Figure 2 A schematic diagram of the structure of the first limiting part and the second limiting part in the palletizing device according to the present invention is shown.

[0023] The above figures include the following reference numerals:

[0024] 100. Mobile platform; 110. Robotic arm; 120. Shaping assembly; 121. Shaping conveyor line; 122. Shaping plate; 130. Weighing assembly; 140. Gripper assembly; 150. Wheel; 160. Sensor grating;

[0025] 200. Mounting base surface;

[0026] 300, First limiting part; 310, Limiting plate; 311, First limiting plate; 312, Second limiting plate; 320, Buffer component; 330, Guide plate;

[0027] 400. Second limiting part; 410. Third limiting plate; 420. Fourth limiting plate;

[0028] 500. Palletizing pallets;

[0029] 600. Position detection component;

[0030] 700 Clamping assembly; 710 Mounting base; 720 Movable clamping plate; 730 Drive component;

[0031] 800. Incoming material conveyor line;

[0032] 900, Side push assembly; 910, Push cylinder; 920, Push plate. Detailed Implementation

[0033] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0034] Please refer to Figure 1 and Figure 2 This application provides a palletizing device, comprising:

[0035] The mobile platform 100 is movably mounted on the mounting base 200. The mobile platform 100 is equipped with a robotic arm 110, a shaping component 120 and a weighing component 130. The shaping component 120 is used to shape the material and the weighing component 130 is used to weigh the material.

[0036] A first limiting part 300 is disposed on the mounting base 200, and at least a portion of the first limiting part 300 is in contact with the mobile platform 100 to limit the mobile platform 100.

[0037] The second limiting part 400 is disposed on the mobile platform 100;

[0038] The pallet 500 is at least partially abutted against the second limiting part 400 to limit the pallet 500. The robotic arm 110 stacks the material weighed by the weighing component 130 onto the pallet 500.

[0039] The palletizing equipment provided in this application includes a mobile platform 100, a first limiting part 300, and a second limiting part 400. This embodiment utilizes a multi-limiting mechanism to reduce positional deviation during movement. The mobile platform 100 is movably mounted on the mounting base 200 and carries the robotic arm 110, the shaping component 120, and the weighing component 130. When the mobile platform 100 moves to the target workstation on the mounting base 200, the first limiting part 300 mounted on the mounting base 200 engages with the mobile platform 100, thereby precisely positioning and limiting the position of the mobile platform 100 on the mounting base 200.

[0040] Subsequently, the pallet 500 is placed on the mobile platform 100, and the pallet 500 is abutted against the second limiting part 400 provided on the mobile platform 100, thereby limiting the position of the pallet 500 relative to the mobile platform 100. Through the positioning of the mobile platform 100 by the first limiting part 300 and the positioning of the pallet 500 by the second limiting part 400, the relative positional relationship between the robotic arm 110, the pallet 500, and the mounting base 200 remains fixed as the mobile platform 100 moves to different positions on the mounting base 200. This fixed relative positional relationship avoids the relative positional shift between the robot and the pallet caused by the reset error of the mobile platform 100, thus eliminating the need for recalibration after each workstation change, significantly shortening the work preparation time and improving the production efficiency of the palletizing operation.

[0041] Specifically, such as Figure 2 As shown, the first limiting part 300 includes:

[0042] A limiting plate 310 is disposed on the mounting base 200, and at least a portion of the side of the moving platform 100 is in contact with the limiting plate 310 to limit the movement of the moving platform 100.

[0043] In this application, the limiting plate 310 is fixed to the mounting base 200, and the side of the moving platform 100 is in contact with the limiting plate 310, thus forming a physical stop structure. When the moving platform 100 moves along the mounting base 200 to the target workstation, its side directly contacts and adheres to the limiting plate 310. Using the limiting plate 310 as a fixed reference, the lateral movement freedom of the moving platform 100 is precisely limited, reducing positioning deviations caused by cumulative errors or shaking during movement. This method of direct cooperation between the fixing component on the mounting base 200 and the side of the moving component ensures the consistency of the position of the moving platform 100 after it is in place, avoiding the need for recalibration due to relative positional offset, thereby significantly shortening the work preparation time and improving the switching efficiency of the palletizing workstation and the overall production efficiency.

[0044] In the specific implementation process, the limit plate 310 includes:

[0045] The first limiting plate 311 and the second limiting plate 312 are respectively disposed on the mounting base 200, and the first limiting plate 311 and the second limiting plate 312 are disposed at an angle.

[0046] The first side of the mobile platform 100 is attached to the first limiting plate 311, and the second side of the mobile platform 100 is attached to the second limiting plate 312.

[0047] In this embodiment, the limiting plate 310 includes a first limiting plate 311 and a second limiting plate 312 respectively disposed on the mounting base surface 200, with the first limiting plate 311 and the second limiting plate 312 arranged at an angle. The first side of the moving platform 100 is in contact with the first limiting plate 311, and the second side of the moving platform 100 is in contact with the second limiting plate 312. Through this double limiting plate arrangement at an angle, when the moving platform 100 moves to a predetermined position, its first side and second side can respectively abut against the first limiting plate 311 and the second limiting plate 312, using the two limiting surfaces in different directions to jointly constrain the movement trajectory of the moving platform 100.

[0048] This structure not only restricts the displacement of the mobile platform 100 in a single direction, but also effectively eliminates its rotational freedom and multi-directional offset that may occur on the horizontal plane, allowing the mobile platform 100 to obtain more stable positioning support on the mounting base 200. Compared with structures that rely solely on unilateral limiting, this design significantly improves the positional repeatability and stability of the mobile platform 100 when docked, ensuring the accurate relative position between subsequent operating components such as the robotic arm 110 and the palletizing pallet 500, thereby improving the overall preparation efficiency and operational reliability of the operation.

[0049] The first limiting plate 311 and the second limiting plate 312 are respectively provided with buffer components 320. The buffer components 320 can be flexibly set, and the first side and / or the second side of the moving platform 100 are in contact with the buffer components 320.

[0050] Buffer components 320 are respectively provided on the first limiting plate 311 and the second limiting plate 312. The buffer components 320 are elastically disposed, and the first side and / or the second side of the moving platform 100 are in contact with the buffer components 320. When the moving platform 100 moves to a designated position on the moving base surface and is in contact with the limiting plate 310, the side of the moving platform 100 first or simultaneously contacts the buffer component 320. At this time, the buffer component 320 deforms using its elastic properties to absorb the inertial impact kinetic energy generated during the process of the moving platform 100 reaching its position, thereby avoiding a rigid hard collision between the moving platform 100 and the limiting plate 310.

[0051] This buffer design effectively reduces noise and vibration during equipment operation, protects the surface integrity of the mobile platform 100 and the limiting structure, ensures the positioning accuracy and stability of the mobile platform 100 in a stationary state, and thus improves the overall safety and reliability of the palletizing workstation.

[0052] Specifically, the buffer component 320 is made of a material or structure with elastic deformation capabilities, such as a spring, rubber pad, polyurethane buffer block, or air cushion. When the moving platform 100 approaches the workstation under the rolling of the wheels 150, the first side of the moving platform 100 contacts the buffer component 320 first or simultaneously.

[0053] The first limiting part 300 also includes:

[0054] A guide plate 330 is disposed at the end of the limiting plate 310. The guide plate 330 is inclined relative to the limiting plate 310 in a direction away from the moving platform 100, so as to guide the moving platform 100 during the moving process.

[0055] The first limiting part 300 also includes a guide plate 330, which is disposed at the end of the limiting plate 310 and is inclined relative to the limiting plate 310 toward a direction away from the moving platform 100, so as to guide the moving platform 100 during the moving process.

[0056] Specifically, when the mobile platform 100 moves towards the target workstation, its side first contacts the inclined guide plate 330. The inclined structure of the guide plate 330 guides the mobile platform 100 to slide along the inclined surface and gradually adjust its position, thereby smoothly guiding the mobile platform 100 to the predetermined position where it fits against the limiting plate 310. This guiding design effectively solves the problem that the mobile platform 100 is difficult to quickly and accurately align with the limiting plate 310 during movement, avoiding multiple adjustments or fitting difficulties caused by misalignment.

[0057] The second limiting part 400 includes:

[0058] The third limiting plate 410 and the fourth limiting plate 420 are set at an angle to each other. The third side of the pallet 500 is in contact with the third limiting plate 410, and the fourth side of the pallet 500 is in contact with the fourth limiting plate 420.

[0059] By setting the second limiting part 400 to include a third limiting plate 410 and a fourth limiting plate 420 arranged at an angle, the third limiting plate 410 abuts against the third side of the palletizing pallet 500, and the fourth limiting plate 420 abuts against the fourth side of the palletizing pallet 500. The included angle structure formed by the two limiting plates constrains the palletizing pallet 500 from two interrelated directions. This multi-point contact limiting method can more stably lock the relative position between the palletizing pallet 500 and the moving platform 100, effectively limiting the rotational and lateral displacement degrees of freedom of the pallet on the moving platform 100. This reduces the relative positional offset between the robot and the pallet caused by workstation switching, avoids the tedious operation of repositioning and calibration after each movement, significantly shortens the work preparation time, and improves the overall production efficiency of the palletizing workstation.

[0060] Palletizing equipment also includes:

[0061] A position detection component 600 is disposed on the second limiting part 400 for detecting the position information of the palletizing pallet 500.

[0062] A position detection component 600 is disposed on the second limiting part 400 for detecting the position information of the palletizing pallet 500. By directly detecting the position of the palletizing pallet 500 through the position detection component 600, the position data of the palletizing pallet 500 relative to the second limiting part 400 can be obtained in real time. Since the palletizing pallet 500 is limited and fixed by the second limiting part 400 before or during the palletizing operation, the position data can accurately reflect the actual position state of the palletizing pallet 500 relative to the moving platform and the robotic arm.

[0063] When the position detection component 600 detects that the position information of the palletizing pallet 500 meets the preset requirements, it can confirm that the pallet is in place accurately, thereby assisting the robotic arm to perform precise gripping and palletizing. This avoids gripping failures or palletizing misalignments caused by unknown or offset pallet positions, significantly improving the accuracy and success rate of palletizing operations and ensuring production efficiency.

[0064] Specifically, the position detection component 600 is a photoelectric switch.

[0065] Palletizing equipment also includes:

[0066] A clamping assembly 700 is disposed on the mounting base 200 and opposite to the first limiting portion 300. At least a portion of the clamping assembly 700 is movably disposed to clamp the mobile platform 100 between the clamping assembly 700 and the first limiting portion 300.

[0067] By providing a clamping assembly 700 on the mounting base 200, which is arranged opposite to the first limiting part 300, and designing at least a portion of the clamping assembly 700 as a movable structure, when the mobile platform 100 moves to the target workstation and comes into contact with the first limiting part 300, the movable portion of the clamping assembly 700 moves, rigidly clamping the mobile platform 100 between the clamping assembly 700 and the first limiting part 300. This clamping engagement effectively restricts the degrees of freedom of the mobile platform 100 in the horizontal and vertical directions, eliminating the displacement and shaking that may occur during operation.

[0068] Because the position of the mobile platform 100 is securely locked, the relative spatial position between the robotic arm 110 and the palletizing pallet 500 on it remains constant, thereby avoiding the problem of palletizing misalignment caused by platform offset and significantly improving the accuracy and stability of material palletizing.

[0069] The clamping assembly 700 includes:

[0070] Mounting bracket 710;

[0071] The movable clamp 720 is hinged to the mounting base 710;

[0072] The drive component 730 includes a telescopic rod connected to a movable clamping plate 720. The telescopic rod drives the movable clamping plate 720 to rotate, thereby clamping or releasing the mobile platform 100.

[0073] In this embodiment, the clamping assembly 700 is disposed on the mounting base 200 and opposite to the first limiting part 300. It includes a mounting base 710, a movable clamping plate 720 hinged to the mounting base 710, and a driving component 730. The driving component 730 includes a telescopic rod and the telescopic rod is connected to the movable clamping plate 720. The telescopic rod drives the movable clamping plate 720 to rotate in order to clamp or release the mobile platform 100.

[0074] When the mobile platform 100 moves to the target workstation and fits into the first limiting part 300, the telescopic rod of the driving component 730 extends, driving the movable clamping plate 720 to rotate around the hinge point, so that the movable clamping plate 720 cooperates with the first limiting part 300, and firmly clamps the mobile platform 100 between the two, thereby eliminating the displacement and shaking of the mobile platform 100 caused by external force interference after the workstation is switched to the position, and improving the stability during palletizing operations.

[0075] After the operation is completed, the telescopic rod moves in the opposite direction, driving the movable clamp 720 to rotate in the opposite direction to release the clamp on the mobile platform 100, so that the mobile platform 100 can move to the next work station, realizing the efficient switching of the mobile platform 100 between the fixed work station and the mobile state.

[0076] Palletizing equipment also includes:

[0077] The material conveyor line 800 is set on the mounting base 200 and is used to convey materials. The shaping component 120 is connected to the material conveyor line 800.

[0078] A side-pushing assembly 900 is disposed above the incoming material conveyor line 800. At least a portion of the side-pushing assembly 900 is movably disposed to push the material on the incoming material conveyor line 800 onto the shaping assembly 120.

[0079] By connecting the incoming material conveyor line 800 set on the mounting base 200 with the shaping component 120, and cooperating with the side push component 900 set above the incoming material conveyor line 800 and at least partially movable, the automated connection between material conveying and attitude adjustment is realized.

[0080] During operation, the movable part of the side-pushing component 900 actively pushes the material on the incoming material conveyor line 800 to the docking position with the shaping component 120. This active pushing mechanism effectively overcomes the misalignment or loose posture problems that may occur when the material relies solely on inertia or passive conveying to reach the shaping position, ensuring the accuracy of the material's position and the regularity of its shape when it enters the shaping component 120. The shaping component 120 then shapes the material, which then enters the weighing component 130 for weighing, and finally, the robotic arm 110 stacks it onto the stacking pallet 500.

[0081] The end of the robotic arm 110 is provided with a gripper assembly 140, which is openable and closable and used to grip the weighed material onto the pallet 500 for palletizing.

[0082] The gripper assembly 140 is located at the end flange of the robotic arm 110. It includes a drive source (typically a pneumatic or electric actuator), a linkage mechanism or rack and pinion mechanism, and two symmetrically arranged gripping arms.

[0083] When the drive source is activated, the two clamping arms are driven to move towards the center via a linkage or gear transmission. The inner ends of the clamping arms may be equipped with anti-slip rubber pads or corrugated textures to increase friction with the surface of the plastic granule bag and prevent slippage.

[0084] The drive source resets, the clamping arm opens outward, and the material is released.

[0085] After the weighing component 130 completes the weighing verification, the gripper assembly 140 grabs the material from the end of the conveyor line or the designated gripping position, moves it above the palletizing pallet 500, and performs the layered palletizing action.

[0086] The bottom of the mobile platform 100 is equipped with wheels 150 for easy movement of the mobile platform;

[0087] The side-pushing assembly 900 includes a pushing cylinder 910 and a pushing plate 920. The pushing cylinder 910 is fixedly mounted on the side bracket of the shaping conveyor line 121, and its output shaft is connected to the pushing plate 920. The pushing plate 920 can slide perpendicular to the conveying direction (i.e., laterally).

[0088] The side-pushing component 900 is typically positioned after the shaping component 120 and before the weighing component 130, or at the entrance of the shaping component 120, depending on the process flow design. In this embodiment, it is positioned after shaping and is used for lateral correction or spacing adjustment during material intermittent processes.

[0089] The shaping assembly 120 includes a shaping conveyor line 121 and two shaping plates 122 disposed on the shaping conveyor line 121. The two shaping plates 122 are disposed opposite each other on both sides of the shaping conveyor line 121, and the distance between the two shaping plates 122 gradually decreases along the conveying direction.

[0090] When irregular, bulging, or skewed bales enter the shaping conveyor line 121, they first pass through an entrance zone with a larger spacing. As the conveyor advances, the bales gradually enter an area with a gradually decreasing spacing. Two shaping plates 122 apply radial extrusion force to the bales from both sides.

[0091] This progressive compression forces the bale from a loose, irregular state into a compact, rectangular standard shape, while eliminating bulges and twists on the sides of the bale.

[0092] The sorted material bag is smoothly output from the outlet and enters the subsequent weighing station.

[0093] Modified plastic granule bales often suffer from bulging and deformation after packaging, and direct stacking can lead to skewed and unstable stacks. The shaping component 120 uses mechanical force to shape the bales into standard cubes, ensuring the flatness of the stack layers and the stability of the overall stack shape, preventing the risk of collapse.

[0094] The process of the technical solution of this application is described below: When the mobile platform 100, carrying the robotic arm 110, the shaping component 120 and the weighing component 130, moves to the target workstation on the mounting base 200, the side of the mobile platform 100 first contacts the inclined guide plate 330. The inclined structure of the guide plate 330 guides the mobile platform 100 to slide along the inclined surface and gradually adjust its position, thereby smoothly guiding the mobile platform 100 to the predetermined position. Subsequently, the first side of the mobile platform 100 is attached to the first limiting plate 311 and the second side is attached to the second limiting plate 312, completing the precise positioning and limiting of the mobile platform 100. At this time, the buffer component 320 undergoes elastic deformation to absorb the inertial impact kinetic energy generated during the process of the mobile platform 100 reaching its position.

[0095] Next, the telescopic rod of the drive component 730 extends, driving the movable clamping plate 720 to rotate around the hinge point, so that the movable clamping plate 720 engages with the first limiting part 300, rigidly clamping the moving platform 100 between the clamping component 700 and the first limiting part 300, eliminating displacement and shaking. Subsequently, the palletizing pallet 500 is placed on the moving platform 100, with the third side of the palletizing pallet 500 abutting against the third limiting plate 410 and the fourth side abutting against the fourth limiting plate 420, and the second limiting part 400 limiting and fixing the palletizing pallet 500; the position detection component 600 detects the position information of the palletizing pallet 500 to confirm that the pallet is accurately positioned.

[0096] During palletizing, the movable part of the side-pushing component 900 moves to push the material on the incoming material conveyor line 800 onto the shaping component 120. The shaping component 120 shapes the material, and the shaped material enters the weighing component 130 for weighing. The robotic arm 110 grabs the weighed material from the weighing component 130 and stacks it onto the palletizing pallet 500. After the operation is completed, the telescopic rod of the drive component 730 moves in the opposite direction, driving the movable clamp 720 to rotate in the opposite direction to release the clamp on the moving platform 100, and the moving platform 100 moves to the next workstation.

[0097] The palletizing equipment of this application can solve the following technical problems:

[0098] This solves the problem that traditional fixed palletizing workstations cannot be moved, have poor workstation adaptability, and are difficult to match the production needs of modified plastic production lines that require frequent workstation changes.

[0099] This addresses the issue of long preparation times and low production efficiency caused by the robot's relative position to the pallet shifting after switching workstations in conventional mobile palletizing workstations, necessitating repositioning and secondary calibration.

[0100] 1. Improve workstation changeover efficiency and save production time:

[0101] This invention integrates collaborative robots, conveyor lines, and specialized grippers into a single mobile platform. It also adds a limiting structure to lock the relative position of the pallet and the equipment body. After the equipment moves to a different workstation, there is no need for manual repositioning and calibration, saving debugging and preparation time. This makes it suitable for low-capacity, high-frequency line changeover production conditions and effectively improves the overall operating cycle of the production line.

[0102] 2. High equipment integration and strong adaptability to automation:

[0103] The equipment integrates a shaping conveyor line, a weighing conveyor line, a collaborative robot, and a specially designed palletizing gripper. It can complete the entire process of shaping, weighing, gripping, and palletizing plastic granule packages in one integrated manner without the need for additional auxiliary equipment. It is highly compatible with the automated production process of modified plastic granules and improves the overall automation level of the production line.

[0104] 3. Strong structural stability and controllable operational precision:

[0105] By setting up a dedicated limiting plate inside the mobile platform, the platform body and the palletizing pallet are doubly limited and fixed, ensuring that the relative position of the pallet and the collaborative robot remains constant from a structural perspective. This ensures the consistency of palletizing accuracy in different workstations, and significantly improves the stability and versatility of the equipment.

[0106] 4. Adaptable to specific industry production scenarios, with a wider range of applications:

[0107] Breaking through the limitations of traditional palletizing equipment, which is only suitable for fixed-station, high-volume production, this equipment is specifically adapted to the production mode of modified plastics with multiple categories, small batches, and high-frequency station changes. It fills the application gap of existing palletizing equipment in specific industry scenarios, and has higher equipment adaptability and practical value.

[0108] 1. Integrated mobile palletizing workstation: The collaborative robot, material bag shaping and conveying line, palletizing and weighing conveying line, and special gripper are highly integrated into the same mobile platform to form a mobile collaborative palletizing workstation that can be moved as a whole, realizing flexible relocation of the equipment and adapting to the needs of multi-station switching operations.

[0109] 2. A dedicated limiting plate structure is added inside the mobile platform to limit and fix the external palletizing pallet, locking the relative installation position of the palletizing pallet and the collaborative robot. This allows the equipment to switch between any workstation without the need for secondary positioning and calibration, completely eliminating the time spent on site transfer and debugging.

[0110] 3. Dedicated integrated operation system for plastic granule bags: Based on the material characteristics of modified plastic granule bags, it integrates shaping, weighing and precise palletizing operation modules, and is equipped with dedicated palletizing grippers to meet the requirements of regular palletizing of granule bags, so as to realize automated and precise palletizing operation of subdivided materials.

[0111] like Figure 1 As shown, the shaping component 120, weighing component 130, robot base, and handrail are fastened to the mobile platform 100 with screws. The robotic arm 110 is mounted on the robot base, and its end is equipped with a gripper component 140 for grasping and transferring material packages. The incoming material conveyor line 800 and the side-push component 900 are arranged within the factory according to the actual factory outlet, with the side-push device driven by a cylinder. Combined with... Figure 1 and Figure 2Based on the location of the incoming material conveyor line 800, the first limiting plate 311 and the second limiting plate 312, the sensing grating 160, and the mounting base 710 of the mobile platform are installed and fixed on the ground using expansion bolts in a reasonable location nearby. In order to reduce the impact of the mobile platform when switching work stations, buffer components 320 are arranged inside the first limiting plate 311 and the second limiting plate 312 of the mobile platform. The corresponding drive components 730 (cylinders) are fastened to the mounting base 710 with screws. Both sides are equipped with buffer components. After the workstation moves to the target work station, the platform is locked to eliminate displacement and shaking.

[0112] like Figure 2 As shown, the third limiting plate 410 and the fourth limiting plate 420 are fastened with screws at the corner of the notch inside the mobile platform 100. The placement and transfer of the pallet 500 are referenced to these limiting plates, and photoelectric detection switches are installed on the limiting plates.

[0113] like Figure 1 As shown, the entire machine is integrated on a single mobile platform 100 with wheels 150 (fuma wheels). It can freely switch production line workstations along the factory ground track or trackless, and the entire machine moves synchronously with the platform.

[0114] Along the material bag conveying direction, a shaping conveyor line is set up on the left side of the platform to eliminate bulging and skewing problems, and to ensure gripping stability and stack flatness. After being shaped, the plastic granule material bags arrive at the weighing conveyor line for weighing and verification. The end of the conveyor line connects to the working area of ​​the collaborative robot. The collaborative robot is mounted in the middle of the platform. The end of the robot is equipped with a pneumatic combination gripper adapted to bagged granular materials, which can clamp the plastic material bags and stack them according to the production rhythm.

[0115] The pallet placement station has built-in double limit plates, which abut against the sides of the pallet and the platform reference block respectively, fixing the relative coordinates of the pallet, collaborative robot, and conveyor line. The platform is equipped with sensor light grids on the outside and integrates Foma wheel support feet and clamping cylinders at the bottom to eliminate displacement and shaking.

[0116] Workflow: The material package is weighed, shaped and transported to the gripping position. The collaborative robot grips the material package and completes the layered palletizing. When the whole machine is transferred to another station, it is only necessary to unlock the support legs to move the platform. Because the limit plate locks the relative position of the pallet, the robot does not need to recalibrate the origin. After it is in place, the support legs are locked and the palletizing operation can be started directly, completely saving the time of fixed-point debugging.

[0117] In this application, the mobile platform 100 can be pushed or pulled by human power, or it can be equipped with an AGV automatic navigation module to adapt to long-distance automatic transfer between multiple workshops.

[0118] The third limiting plate 410 and the fourth limiting plate 420 in the second limiting part 400 are fixed or adjustable and are compatible with various sizes of pallets.

[0119] Specifically, inside the mobile platform 100 (i.e., the pallet placement area), a mounting base or slide rail assembly for supporting the limiting plates is fixedly installed. The base has a strip-shaped through hole or an oblong hole for fixing the adjustment mechanism. The third limiting plate 410 and the fourth limiting plate 420 correspond to two adjacent sides of the palletizing pallet 500 (e.g., the left side and the rear side, forming an L-shaped limiting angle). An adjusting slider or connecting seat is connected to the bottom of each limiting plate.

[0120] Displacement sensors (such as photoelectric switches or linear encoders) are installed on the moving paths of the third limit plate 410 and the fourth limit plate 420 to detect the current position of the limit plates in real time. The control system stores the position parameters of the limit plates for different pallet sizes, and automatically drives the limit plates to move to the corresponding positions when a change in pallet type is detected.

[0121] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0122] This application provides a palletizing device, including:

[0123] The mobile platform 100 is movably mounted on the mounting base 200. The mobile platform 100 is equipped with a robotic arm 110, a shaping component 120 and a weighing component 130. The shaping component 120 is used to shape the material and the weighing component 130 is used to weigh the material.

[0124] A first limiting part 300 is disposed on the mounting base 200, and at least a portion of the first limiting part 300 is in contact with the mobile platform 100 to limit the mobile platform 100.

[0125] The second limiting part 400 is disposed on the mobile platform 100;

[0126] The pallet 500 is at least partially abutted against the second limiting part 400 to limit the pallet 500. The robotic arm 110 stacks the material weighed by the weighing component 130 onto the pallet 500.

[0127] The palletizing equipment provided in this application includes a mobile platform 100, a first limiting part 300, and a second limiting part 400. This embodiment utilizes a multi-limiting mechanism to reduce positional deviation during movement. The mobile platform 100 is movably mounted on the mounting base 200 and carries the robotic arm 110, the shaping component 120, and the weighing component 130. When the mobile platform 100 moves to the target workstation on the mounting base 200, the first limiting part 300 mounted on the mounting base 200 engages with the mobile platform 100, thereby precisely positioning and limiting the position of the mobile platform 100 on the mounting base 200.

[0128] Subsequently, the pallet 500 is placed on the mobile platform 100, and the pallet 500 is abutted against the second limiting part 400 provided on the mobile platform 100, thereby limiting the position of the pallet 500 relative to the mobile platform 100. Through the positioning of the mobile platform 100 by the first limiting part 300 and the positioning of the pallet 500 by the second limiting part 400, the relative positional relationship between the robotic arm 110, the pallet 500, and the mounting base 200 remains fixed as the mobile platform 100 moves to different positions on the mounting base 200. This fixed relative positional relationship avoids the relative positional shift between the robot and the pallet caused by the reset error of the mobile platform 100, thus eliminating the need for recalibration after each workstation change, significantly shortening the work preparation time and improving the production efficiency of the palletizing operation.

[0129] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0130] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0131] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0132] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A palletizing device, characterized in that, include: A mobile platform (100) is movably mounted on a mounting base (200). The mobile platform (100) is equipped with a robotic arm (110), a shaping component (120), and a weighing component (130). The shaping component (120) is used to shape the material, and the weighing component (130) is used to weigh the material. A first limiting part (300) is disposed on the mounting base (200), and at least a portion of the first limiting part (300) is in contact with the mobile platform (100) to limit the mobile platform (100); A second limiting part (400) is provided on the mobile platform (100); A palletizing pallet (500) is provided, at least a portion of which is attached to the second limiting part (400) to limit the palletizing pallet (500), and the robotic arm (110) stacks the material weighed by the weighing component (130) onto the palletizing pallet (500).

2. The palletizing equipment according to claim 1, characterized in that, The first limiting part (300) includes: A limiting plate (310) is disposed on the mounting base (200), and at least a portion of the side of the mobile platform (100) is in contact with the limiting plate (310) to limit the movement of the mobile platform (100).

3. The palletizing equipment according to claim 2, characterized in that, The limiting plate (310) includes: A first limiting plate (311) and a second limiting plate (312) are respectively disposed on the mounting base surface (200), and the first limiting plate (311) and the second limiting plate (312) are disposed at an angle. The first side of the mobile platform (100) is attached to the first limiting plate (311), and the second side of the mobile platform (100) is attached to the second limiting plate (312).

4. The palletizing equipment according to claim 3, characterized in that, The first limiting plate (311) and the second limiting plate (312) are respectively provided with buffer components (320), the buffer components (320) can be elastically set, and the first side and / or the second side of the moving platform (100) are in contact with the buffer components (320).

5. The palletizing equipment according to claim 2, characterized in that, The first limiting part (300) further includes: A guide plate (330) is disposed at the end of the limiting plate (310). The guide plate (330) is inclined relative to the limiting plate (310) in a direction away from the moving platform (100) so as to guide the moving platform (100) during the movement of the moving platform (100).

6. The palletizing equipment according to claim 1, characterized in that, The second limiting part (400) includes: The third limiting plate (410) and the fourth limiting plate (420) are arranged at an angle to each other. The third side of the palletizing pallet (500) is in contact with the third limiting plate (410), and the fourth side of the palletizing pallet (500) is in contact with the fourth limiting plate (420).

7. The palletizing equipment according to claim 1, characterized in that, The palletizing equipment also includes: A position detection component (600) is disposed on the second limiting part (400) for detecting the position information of the palletizing pallet (500).

8. The palletizing equipment according to claim 1, characterized in that, The palletizing equipment also includes: A clamping assembly (700) is disposed on the mounting base (200) and opposite to the first limiting portion (300). At least a portion of the clamping assembly (700) is movably disposed to clamp the mobile platform (100) between the clamping assembly (700) and the first limiting portion (300).

9. The palletizing equipment according to claim 8, characterized in that, The clamping assembly (700) includes: Mounting bracket (710); The movable clamp (720) is hinged to the mounting base (710); The drive component (730) includes a telescopic rod connected to the movable clamping plate (720). The telescopic rod drives the movable clamping plate (720) to rotate, thereby clamping or releasing the mobile platform (100).

10. The palletizing equipment according to claim 1, characterized in that, The palletizing equipment also includes: The material conveyor line (800) is disposed on the mounting base (200) for conveying the material, and the shaping component (120) is connected to the material conveyor line (800); A side-pushing assembly (900) is disposed above the incoming material conveyor line (800), at least a portion of which is movably disposed to push the material on the incoming material conveyor line (800) onto the shaping assembly (120).

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