Automatic stacking system

Abstract

The utility model relates to the technical field of product packaging, and particularly discloses an automatic stacking system which comprises a first conveying line, a second conveying line, a stacking robot, a recognition assembly and a straddling assembly. The first conveying line is used for conveying products; the stacking robot is used for stacking products on the first conveying line; the straddle assembly is connected with the first conveying line and the second conveying line; the identification assembly is electrically connected with the straddle assembly; the recognition assembly is used for recognizing whether the products on the first conveying line are of a preset type or not, and if not, the straddle assembly is controlled to convey the products on the first conveying line to the second conveying line. According to the automatic stacking system provided by the scheme, in the product stacking process, the types of the products can be recognized through the recognition assembly, the products of different types are distributed to the second conveying line through the straddling assembly, and therefore two or more kinds of products can be stacked at the same time; and the problem that production needs to be interrupted during product mixing can be avoided.

Description

Technical Field

[0001] The present application relates to the technical field of product packaging, and in particular to an automatic palletizing system. Background Art

[0002] Palletizing refers to the process of stacking products neatly. In order to improve the efficiency of palletizing, palletizing robots are widely used in logistics, warehousing and production packaging. For example, in the food production process, palletizing robots are set up on the food production line to stack the boxed food boxes on the production line.

[0003] In order to ensure that the products stacked by the palletizing robot are the same product, there is generally only one product on the existing product stacking production line. When multiple products need to be stacked, they need to be stacked in batches, and when product mixing occurs, production needs to be stopped, affecting production efficiency. Utility Model Content

[0004] In view of this, the purpose of the present application is to provide an automatic palletizing system to solve the problem that the existing product stacking production line cannot handle the mixing of multiple products.

[0005] In order to achieve the above technical objectives, the present application provides an automatic palletizing system, comprising: a first conveyor line, a second conveyor line, a palletizing robot, an identification component and a straddle transport component;

[0006] The first conveying line is used to convey products;

[0007] The palletizing robot is used to stack the products on the first conveyor line;

[0008] The straddle transport assembly connects the first conveying line and the second conveying line;

[0009] The identification component is electrically connected to the straddle transport component;

[0010] The identification component is used to identify whether the product on the first conveyor line is of a preset type. If not, the cross-transport component is controlled to transport the product on the first conveyor line to the second conveyor line.

[0011] Further, the straddle transport assembly includes: a straddle transport bracket, a straddle transport delivery piece, a lifting drive and a controller;

[0012] The cross-transport bracket connects the first conveying line and the second conveying line;

[0013] The cross-transport conveyor can be lifted and lowered on the cross-transport bracket, and is used to transport products between the first conveyor line and the second conveyor line;

[0014] The lifting driver is arranged on the cross-transport bracket, and the output end of the lifting driver is connected to the cross-transport conveyor to drive the cross-transport conveyor to lift;

[0015] The controller is electrically connected to the identification component, the cross-transport shuttle, and the lifting drive.

[0016] Further, the cross-transport conveyor is a conveyor belt;

[0017] The cross-transport bracket is arranged below the first conveying line and the second conveying line;

[0018] When the cross-transport conveyor rises to extend beyond the first conveyor line and the second conveyor line, it is used to convey products between the first conveyor line and the second conveyor line.

[0019] Further, the first conveying line and the second conveying line are arranged in parallel;

[0020] The cross-transport bracket and the cross-transport conveyor both span the first conveying line and the second conveying line.

[0021] Further, the straddle transport assembly further comprises: a baffle and a second driver;

[0022] The baffle can be lifted and lowered on the straddle carrier to block the products on the first conveyor line;

[0023] The second driver is electrically connected to the controller, and an output end of the second driver is connected to the baffle to drive the baffle to rise and fall.

[0024] Furthermore, the identification component includes: a barcode scanner and a processor;

[0025] The processor is electrically connected to the barcode scanner and the straddle transport component;

[0026] The barcode scanner is used to identify whether the product on the first conveyor line is of a preset type.

[0027] Further, the identification component also includes: a full material sensor;

[0028] The full material sensor is electrically connected to the processor and is used to identify whether the number of products on the first conveyor line exceeds a preset number value;

[0029] The processor is further configured to control the straddle transport component to transport the products of the first conveyor line to the second conveyor line when the number of products on the first conveyor line exceeds a preset number value.

[0030] Further, it also includes a spiral conveyor line;

[0031] The discharge port of the spiral conveyor line is connected to the first conveyor line.

[0032] Furthermore, the palletizing robot comprises: a mechanical arm and a mechanical hand;

[0033] The manipulator comprises: a fixed plate, a horizontal plate, a vertical plate, a clamping claw, a third driver and a fourth driver;

[0034] The fixing plate is arranged on the mechanical arm;

[0035] The transverse plate is fixed to the fixed plate;

[0036] The vertical plate is movably disposed on the horizontal plate along a first direction;

[0037] The third driver is disposed on the horizontal plate, and an output end of the third driver is connected to the vertical plate to drive the vertical plate to move;

[0038] The clamping jaw is movably disposed on the vertical plate along a second direction;

[0039] The fourth driver is disposed on the vertical plate, and the output end of the fourth driver is connected to the clamping claw to drive the clamping claw to move;

[0040] The first direction is perpendicular to the second direction;

[0041] The fixing plate, the horizontal plate and the vertical plate form a clamping cavity for clamping products.

[0042] Further, it includes: a defective product station and two stacking stations;

[0043] The two stacking stations are arranged at intervals along the conveying direction of the first conveying line;

[0044] The palletizing robot is arranged between the two stacking stations;

[0045] The defective product station is arranged in front of the conveying direction of the second conveying line.

[0046] It can be seen from the above technical scheme that the present application provides an automatic palletizing system, including: a first conveyor line, a second conveyor line, a palletizing robot, an identification component and a straddle transport component; the first conveyor line is used to convey products; the palletizing robot is used to stack the products on the first conveyor line; the straddle transport component connects the first conveyor line and the second conveyor line; the identification component is electrically connected to the straddle transport component; the identification component is used to identify whether the product on the first conveyor line is of a preset type, and if not, controls the straddle transport component to transport the product of the first conveyor line to the second conveyor line.

[0047] The automatic palletizing system provided by this solution can identify the type of product through the identification component during the process of stacking products, and divert different types of products to the second conveyor line through the straddle transport component, so that two or more products can be palletized at the same time, and the problem of needing to interrupt production when products are mixed can be avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0049] Figure 1 A schematic diagram of the overall structure of an automatic palletizing system provided in an embodiment of the present application;

[0050] Figure 2 A top view of an automatic palletizing system provided in an embodiment of the present application;

[0051] Figure 3 A schematic diagram of a straddle transport component of an automatic palletizing system provided in an embodiment of the present application;

[0052] Figure 4 A schematic diagram of a manipulator of an automatic palletizing system provided in an embodiment of the present application;

[0053] Figure 5 Another schematic diagram of a manipulator of an automatic palletizing system provided in an embodiment of the present application;

[0054] In the figure:

[0055] 10. First conveyor line; 20. Second conveyor line; 30. Palletizing robot; 40. Identification component; 50. Straddle transport component; 60. Spiral conveyor line; 31. Robotic arm; 32. Robotic hand; 33. Horizontal plate; 34. Vertical plate; 35. Gripper; 36. Third drive; 37. Fourth drive; 38. Fixed plate; 41. Barcode scanner; 51. Straddle transport bracket; 52. Straddle transport delivery; 53. Lifting drive; 54. Baffle; 55. Second drive;

[0056] 100, stacking station; 200, defective product station. DETAILED DESCRIPTION

[0057] The technical solutions of the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the specification of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection requested by the present application.

[0058] In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0059] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a replaceable connection, or an integral connection, it can be a mechanical connection, it can be an electrical connection, it can be a direct connection, it can be indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0060] An automatic palletizing system provided in an embodiment of the present application can divert different products to different conveyor lines without interrupting operations or setting up multiple palletizing production lines when palletizing operations are required for multiple different products, thereby improving production efficiency and reducing the difficulty of production management.

[0061] See also Figure 1 and Figure 2 The automatic palletizing system provided in this embodiment includes: a first conveyor line 10, a second conveyor line 20, a palletizing robot 30, an identification component 40 and a straddle transport component 50.

[0062] The first conveyor line 10 is used to convey products. The palletizing robot 30 is used to stack the products on the first conveyor line 10. The straddle transport component 50 connects the first conveyor line 10 and the second conveyor line 20; the identification component 40 is electrically connected to the straddle transport component 50; the identification component 40 is used to identify whether the product on the first conveyor line 10 is of a preset type, and if not, the straddle transport component 50 is controlled to transport the product of the first conveyor line 10 to the second conveyor line 20.

[0063] As an implementation mode, the first conveyor line 10 and the second conveyor line 20 may be roller conveyor lines, which can convey cartons and are more suitable for carton packaging and palletizing lines.

[0064] As an implementation manner, the palletizing robot 30 may be a manipulator that can grab cartons on the first conveyor line 10 and stack them on the stacking station 100 .

[0065] As an implementation manner, the identification component 40 may be an infrared sensor, a visual sensor, etc., which can obtain the appearance information or size information of the product to determine the type of the product.

[0066] As an embodiment, the cross-transport component 50 can also be a robot; when the identification component 40 determines that a product does not belong to the target product of the first conveyor line 10, the cross-transport component 50 can obtain the position information of the product through the identification component 40, move to the position of the product and grab the product to the second conveyor line 20.

[0067] As an embodiment, the palletizing robot 30 can be arranged beside the first conveyor line 10, so that it can grab the products on the first conveyor line 10. Correspondingly, a second palletizing robot can also be arranged beside the second conveyor line 20, so that the second palletizing robot grabs and stacks the products on the second conveyor line 20. In another embodiment, the products on the second conveyor line 20 can be stacked manually.

[0068] In actual application, multiple products are often produced at the same time; for example, in the field of food production, the production line will produce different types of products at the same time or the same type of products may contain different flavors. The automatic palletizing system provided in this embodiment can keep the target type of products on the first conveyor line 10 for stacking by the palletizing robot, and transfer other types of products to the second conveyor line 20 through the cross-transport component 50 for stacking by the second palletizing robot or manually, so that different types of products can be automatically diverted after being transported to the first conveyor line 10, which can improve production efficiency and reduce management difficulty.

[0069] When there are two types of products, the first type of product can be transported on the first conveyor line 10 and stacked by the palletizing robot 30 ; after the second type of product is identified by the identification component 40 , it is transferred by the straddle transport component 50 to the second conveyor line 20 for stacking.

[0070] When there are three types of products, the first type of product can be transported on the first conveyor line 10 and stacked by the palletizing robot 30; if the number of the second and third types of products is small, they can be transferred to the second conveyor line 20 and manually distinguished. If the number of the second and third types of products is large, a third conveyor line can be set up, and the second type of product identified by the identification component 40 is transferred to the second conveyor line 20 by the straddle transport component 50, and the third product identified by the identification component 40 is transferred to the third conveyor line by the straddle transport component 50.

[0071] When the products include more than three types, conveyor lines corresponding to the number of products can be provided, and after being identified by the identification component 40 , they can be diverted to different conveyor lines by one or more cross-transport components 50 .

[0072] Therefore, the automatic palletizing system provided in this embodiment can automatically divert various types of products and achieve continuous automatic palletizing operations on various products.

[0073] In one embodiment provided in the present application, the identification component 40 includes: a barcode scanner 41 and a processor; the processor electrically connects the barcode scanner and the cross-transport component 50; the barcode scanner 41 is used to identify whether the product on the first conveyor line 10 is of a preset type.

[0074] Specifically, after the product is produced, a barcode corresponding to the product type will be attached to its outer packaging. The product type information can be obtained by scanning the product barcode with a barcode scanner 41 and then transmitted to the processor. The processor can serve as a control terminal of the system, and the processor determines whether the product is of a preset type.

[0075] In another embodiment, the identification component 40 may further include: a full material sensor; the full material sensor may be a camera, etc., so that the full material sensor can determine the number of products on the first conveyor line 10.

[0076] The full material sensor is electrically connected to the processor. When the full material sensor identifies that the number of products on the first conveyor line 10 exceeds the preset number value, it means that the speed at which the products enter the first conveyor line 10 is greater than the speed at which the palletizing robot 30 stacks them. When the number of products on the first conveyor line 10 exceeds the preset number value, the processor controls the straddle transport component 50 to transport the products of the first conveyor line 10 to the second conveyor line 20, so that the second conveyor line 20 can also serve as a temporary buffer for the products.

[0077] In one embodiment provided in this application, please refer to Figure 3The cross-transport component 50 includes: a cross-transport bracket 51, a cross-transport delivery piece 52, a lifting driver 53 and a controller; the cross-transport bracket 51 is connected to the first conveyor line 10 and the second conveyor line 20; the cross-transport delivery piece 52 can be lifted and lowered on the cross-transport bracket 51, and is used to transport the product between the first conveyor line 10 and the second conveyor line 20; the lifting driver 53 is set on the cross-transport bracket 51, and the output end of the lifting driver 53 is connected to the cross-transport delivery piece 52, which is used to drive the cross-transport delivery piece 52 to rise and fall; the controller is electrically connected to the identification component, the cross-transport delivery piece 52 and the lifting driver 53.

[0078] In this embodiment, the straddle transport bracket 51 serves as a supporting structure for the straddle transport member 52. In one embodiment, the straddle transport member 52 may be, for example, a manipulator, and may slide along the straddle transport bracket 51. The lifting drive 53 may drive the straddle transport member 52 to rise and fall, so as to drive the straddle transport member 52 to approach or move away from the first conveyor line 10 and the second conveyor line 20. After the straddle transport member 52 approaches the first conveyor line 10, the straddle transport member 52 may grab the material to be straddled on the first conveyor line 10 and transport it to the second conveyor line 20; after the straddle transport member 52 moves away from the first conveyor line 10, it may avoid the material on the first conveyor line 10, so that the material that does not need to be straddled may pass through the straddle transport component 50 and move to a position for the palletizing robot 30 to grab.

[0079] In a more specific embodiment, the cross-transport member 52 is a conveyor belt. The cross-transport bracket 51 is disposed below the first conveyor line 10 and the second conveyor line 20; when the cross-transport member 52 rises to extend out of the first conveyor line 10 and the second conveyor line 20, it is used to transport products between the first conveyor line 10 and the second conveyor line 20.

[0080] In this embodiment, the cross-transport conveyor 52 may include two pieces, and are arranged on both sides of the roller on the first conveyor line 10 as a roller conveyor line. When the lifting drive 53 drives the cross-transport conveyor 52 to descend below the first conveyor line 10 and the second conveyor line 20, the cross-transport conveyor 52 can avoid the products on the first conveyor line 10 and the second conveyor line 20. When the cross-transport conveyor 52 rises above the first conveyor line 10 and the second conveyor line 20, it can lift the products on the first conveyor line 10 and the second conveyor line 20 and transport the products between the first conveyor line 10 and the second conveyor line 20.

[0081] Furthermore, the first conveyor line 10 and the second conveyor line 20 are arranged side by side and in parallel, which facilitates the arrangement of the cross-transport bracket 51 and the cross-transport conveyor 52. The cross-transport bracket 51 and the cross-transport conveyor 52 both cross the first conveyor line 10 and the second conveyor line 20.

[0082] In one embodiment, the cross-transport component 50 also includes: a baffle 54 and a second driver 55; the baffle 54 can be raised and lowered on the cross-transport bracket 51 to block the products on the first conveyor line 10; the second driver 55 is electrically connected to the controller, and the output end of the second driver 55 is connected to the baffle 54 to drive the baffle 54 to rise and fall.

[0083] After the identification component 40 identifies that the product on the first conveyor line 10 does not belong to the preset type, the second driver 55 drives the baffle 54 to rise and block the product. The baffle 54 is arranged beside the cross-transport conveyor 52, so that the product blocked by the baffle 54 can contact the cross-transport conveyor 52, and then the cross-transport conveyor 52 rises to drive the product away from the first conveyor line 10, and then transfers the product to the second conveyor line 20.

[0084] In other embodiments, a spiral conveyor line 60 is further included; the discharge port of the spiral conveyor line 60 is connected to the first conveyor line 10 .

[0085] The spiral conveyor line 60 is used to convey materials to the first conveyor line 10. The spiral conveyor line 60 can increase the buffer volume of products, so it can also serve as a temporary storage of materials. At the same time, in the actual production process, the production workshop and the packaging workshop are often set up separately; through the spiral conveyor line 60, the packaging workshop can be set up on the lower floor of the production workshop, for example, the second floor is used to produce multiple types of products at the same time, and then the various types of products are conveyed to the first conveyor line 10 on the first floor through the spiral conveyor line 60, and then the identification component 40 on the first conveyor line 10 cooperates with the cross-transport component 50 to perform product identification and automatic diversion.

[0086] In one embodiment, see Figure 4 and Figure 5 The palletizing robot 30 includes a robot arm 31 and a robot hand 32. The robot arm 31 can drive the robot hand 32 to move in multiple axes, thereby moving the robot hand 32 to any position in the coverage space for grabbing.

[0087] The manipulator 32 includes: a fixed plate 38, a horizontal plate 33, a vertical plate 34, a clamp 35, a third driver 36 and a fourth driver 37; the fixed plate 38 is arranged on the manipulator 31; the horizontal plate 33 is fixed on the fixed plate 38; the vertical plate 34 is movably arranged on the horizontal plate 33 along a first direction; the third driver 36 is arranged on the horizontal plate 33, and the output end of the third driver 36 is connected to the vertical plate 34, which is used to drive the vertical plate 34 to move; the clamp 35 is movably arranged on the vertical plate 34 along a second direction; the fourth driver 37 is arranged on the vertical plate 34, and the output end of the fourth driver 37 is connected to the clamp 35, which is used to drive the clamp 35 to move; the first direction is perpendicular to the second direction; the fixed plate 38, the horizontal plate 33 and the vertical plate 34 surround a clamping cavity for clamping the product.

[0088] Specifically, the first direction can be Figure 4 The positive and negative directions of the x-axis; the second direction can be Figure 4 The positive and negative directions of the y-axis. The horizontal plate 33 can be arranged perpendicularly to the fixed plate 38; the vertical plate 34 can be arranged perpendicularly to the horizontal plate 33. The vertical plate 34 can be arranged at one end of the horizontal plate 33 away from the fixed plate 38; the clamp 35 is arranged at one end of the vertical plate 34 away from the horizontal plate 33. Through the movable vertical plate 34 and the clamp 35, the manipulator 32 can adapt to cartons of various sizes, and the carton can be firmly grasped by dragging the carton with the hook-shaped clamp 35.

[0089] In another embodiment, the automatic palletizing system may include: a defective product station 200 and two stacking stations 100; the two stacking stations 100 are arranged at intervals along the conveying direction of the first conveyor line 10; the palletizing robot 30 is arranged between the two stacking stations 100; the defective product station 200 is arranged in front of the conveying direction of the second conveyor line 20.

[0090] That is, the palletizing robot 30 can stack the products on the first conveyor line 10 onto two stacking stations 100; a fork plate can be placed on the stacking station 100, and after the stacking is completed, the products are transported to the wrapping station by a forklift or other transportation tool for the wrapping process.

[0091] At the same time, the identification component 40 can also have a defective product identification function, for example, by using a visual recognition device such as a camera to determine whether the appearance of the product is damaged, or by using a weight sensor to determine whether the weight of the product meets the requirements, etc. to determine whether the product is a defective product. If so, it is transferred to the second conveyor line 20 through the cross-transport combination 50, and then transported to the defective product station 200 by the second conveyor line 20 for placement.

[0092] The above are only preferred embodiments of the present application and are not intended to limit the present utility model. Although the present application has been described in detail with reference to the examples, those skilled in the art can still modify the technical solutions recorded in the aforementioned examples or make equivalent substitutions for some of the technical features therein. However, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An automatic palletizing system, characterized in that: include: A first conveyor line (10), a second conveyor line (20), a palletizing robot (30), an identification component (40), and a straddle transport component (50); The first conveying line (10) is used to convey products; The palletizing robot (30) is used to stack products on the first conveyor line (10); The straddle transport assembly (50) connects the first conveying line (10) and the second conveying line (20); The identification component (40) is electrically connected to the cross-transport component (50); The identification component (40) is used to identify whether the product on the first conveyor line (10) is of a preset type, and if not, to control the straddle transport component (50) to transport the product on the first conveyor line (10) to the second conveyor line (20).

2. The automatic palletizing system according to claim 1, characterized in that: The straddle transport assembly (50) comprises: a straddle transport bracket (51), a straddle transport conveyor (52), a lifting drive (53) and a controller; The cross-transport bracket (51) connects the first conveying line (10) and the second conveying line (20); The cross-transport conveyor (52) is movably disposed on the cross-transport bracket (51) and is used to transport products between the first conveyor line (10) and the second conveyor line (20); The lifting driver (53) is arranged on the cross-transport bracket (51), and the output end of the lifting driver (53) is connected to the cross-transport delivery member (52) for driving the cross-transport delivery member (52) to rise and fall; The controller is electrically connected to the identification component, the cross-transport shuttle (52) and the lifting drive (53).

3. The automatic palletizing system according to claim 2, characterized in that: The cross-transport conveyor (52) is a conveyor belt; The straddle transport bracket (51) is arranged below the first conveying line (10) and the second conveying line (20); When the cross-transport conveyor (52) rises to extend beyond the first conveyor line (10) and the second conveyor line (20), it is used to convey products between the first conveyor line (10) and the second conveyor line (20).

4. The automatic palletizing system according to claim 3, characterized in that: The first conveying line (10) and the second conveying line (20) are arranged in parallel; The cross-transport bracket (51) and the cross-transport conveyor (52) both span the first conveying line (10) and the second conveying line (20).

5. The automatic palletizing system according to any one of claims 2 to 4, characterized in that: The straddle transport assembly (50) further comprises: a baffle (54) and a second driver (55); The baffle (54) is movably disposed on the straddle carrier (51) and is used to block products on the first conveyor line (10); The second driver (55) is electrically connected to the controller, and an output end of the second driver (55) is connected to the baffle (54) for driving the baffle (54) to move up and down.

6. The automatic palletizing system according to claim 1, characterized in that: The identification component (40) comprises: a barcode scanner (41) and a processor; The processor is electrically connected to the barcode scanner and the cross-transport component (50); The barcode scanner (41) is used to identify whether the product on the first conveyor line (10) is of a preset type.

7. The automatic palletizing system according to claim 6, characterized in that: The identification component (40) further includes: a full material sensor; The full material sensor is electrically connected to the processor and is used to identify whether the quantity of products on the first conveying line (10) exceeds a preset quantity value; The processor is further configured to control the straddle transport component (50) to transport the products on the first conveyor line (10) to the second conveyor line (20) when the number of products on the first conveyor line (10) exceeds a preset number value.

8. The automatic palletizing system according to claim 1, characterized in that: Also includes a spiral conveyor line (60); The discharge port of the spiral conveyor line (60) is connected to the first conveyor line (10).

9. The automatic palletizing system according to claim 1, characterized in that: The palletizing robot (30) comprises: a mechanical arm (31) and a mechanical hand (32); The manipulator (32) comprises: a fixed plate (38), a horizontal plate (33), a vertical plate (34), a clamping claw (35), a third driver (36) and a fourth driver (37); The fixing plate (38) is arranged on the mechanical arm (31); The transverse plate (33) is fixed on the fixed plate (38); The vertical plate (34) is movably arranged on the horizontal plate (33) along a first direction; The third driver (36) is arranged on the transverse plate (33), and the output end of the third driver (36) is connected to the vertical plate (34) for driving the vertical plate (34) to move; The clamping claw (35) is movably disposed on the vertical plate (34) along a second direction; The fourth driver (37) is arranged on the vertical plate (34), and the output end of the fourth driver (37) is connected to the clamping claw (35) to drive the clamping claw (35) to move; The first direction is perpendicular to the second direction; The fixed plate (38), the horizontal plate (33) and the vertical plate (34) form a clamping cavity for clamping the product.

10. The automatic palletizing system according to claim 1, characterized in that: include: A defective product station (200) and two stacking stations (100); The two stacking stations (100) are arranged at intervals along the conveying direction of the first conveying line (10); The palletizing robot (30) is arranged between the two stacking stations (100); The defective product station (200) is arranged in front of the conveying direction of the second conveying line (20).

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