Charging tray boxing equipment

Abstract

The utility model discloses charging tray boxing equipment which comprises a rack, and a charging tray bag conveying line, a carton roller conveying line, a charging tray bag transplanting and positioning mechanism, a boxing mechanical arm and a carton opening supporting mechanism are arranged on the rack. The material tray bag transplanting and positioning mechanism takes material tray bags from the material tray bag conveying line and places the material tray bags on the positioning platform for positioning, a plurality of material tray bags are stacked on the positioning platform each time, the carton roller conveying line conveys cartons to the position under the carton opening expanding mechanism, the cartons are positioned through a positioning air cylinder, the carton opening expanding mechanism expands carton openings, and the carton opening expanding mechanism expands the carton openings. The boxing mechanical arm takes the multiple material disc bags from the positioning platform at a time, carries the multiple material disc bags to the position over the paper box and loads the multiple material disc bags into the paper box at the same time. According to the tray packing and boxing device, the problem that manual operation space is not enough can be solved through the tray packing and boxing action, the normalization and uniformity of tray packing are improved, meanwhile, the quality control capacity of tray packing is improved, and the problem that tray packing is poor is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to tray packaging industry especially relates to a tray boxing equipment. BACKGROUND

[0002] At present, tray packaging still stays in the stage of manual packing, manual operation is prone to cause disorderly stacking, cause carton rupture and the like, and manual packing production efficiency is low, error-prone and causes unnecessary loss, nowadays many terminal customers require tray packaging standardization, based on this background, the present application aims at developing a professional tray full active packaging production line, which can standardize packaging process and flow, improve efficiency and packaging quality. SUMMARY

[0003] In order to overcome the shortcomings and deficiencies existing in the prior art, the utility model discloses a kind of tray boxing equipment.

[0004] The utility model discloses a kind of tray boxing equipment, including rack, the rack is equipped with tray package conveying line, carton cylinder conveying line, tray package transplanting positioning mechanism, boxing manipulator and carton mouth opening mechanism;

[0005] The tray package transplanting positioning mechanism takes tray package from the tray package conveying line, and is positioned on positioning platform, multiple tray packages are stacked on the positioning platform each time, the carton cylinder conveying line conveys carton to the just below of the carton mouth opening mechanism, and positions carton by positioning cylinder, the carton mouth opening mechanism opens carton mouth, the boxing manipulator takes multiple tray packages from the positioning platform one time and carries to the just above of carton, and multiple tray packages are simultaneously packed into carton.

[0006] As an improvement of the utility model discloses a kind of tray boxing equipment, the rack is also equipped with filler conveying line and filler carrying manipulator, when the number of tray package on the positioning platform is less than set number, the filler carrying manipulator takes filler from the discharge position of the filler conveying line, and carries filler to the positioning platform and is positioned with tray package. Filler is sponge or foam. The shape of filler is same with the shape and size of tray package.

[0007] As an improvement of the utility model discloses a kind of tray boxing equipment, the tray package transplanting positioning mechanism includes tray package transplanting manipulator and tray package positioning mechanism.

[0008] The tray package transplanting mechanical hand includes a transplanting horizontal movement servo module, the transplanting horizontal movement servo module controls the movement of a transplanting lifting control cylinder, the transplanting lifting control cylinder controls the lifting movement of a cylinder support, a transplanting rotation control cylinder is arranged on the cylinder support, the transplanting rotation control cylinder controls the rotation of a transplanting clamping cylinder, and the transplanting clamping cylinder controls two transplanting clamping plates to clamp the tray package.

[0009] The tray package positioning mechanism includes a rear positioning servo module arranged at the rear side of the positioning platform, side positioning mechanisms arranged at the left and right sides of the positioning platform and a positioning plate arranged at the front side of the positioning platform.

[0010] The rear positioning servo module can push the tray package on the positioning platform to the positioning plate, and the side positioning mechanisms on the left and right sides can push the tray package on the positioning platform to the middle part of the positioning platform.

[0011] As an improvement of the tray boxing equipment, the rear positioning servo module includes a positioning servo module, and the rear positioning servo module controls the movement of a rear positioning plate.

[0012] The side positioning mechanism includes a side positioning cylinder, and the side positioning cylinder controls the movement of a side positioning plate.

[0013] As an improvement of the tray boxing equipment, the boxing mechanical hand includes a boxing X-axis servo module, a boxing Y-axis servo module and a boxing Z-axis servo module, the boxing X-axis servo module controls the movement of the boxing Y-axis servo module, the boxing Y-axis servo module controls the movement of the boxing Z-axis servo module, the boxing Z-axis servo module controls the movement of a lifting support, and the bottom of the lifting support is provided with a boxing clamping and taking and placing mechanism.

[0014] As an improvement of the tray boxing equipment, the boxing clamping and taking and placing mechanism includes two side mounting plates, the outer sides of the two side mounting plates are each provided with a clamping control cylinder and a connecting rod assembly, the connecting rod assembly simultaneously connects two clamping plates, the clamping control cylinder controls the clamping of the two clamping plates by driving the connecting rod assembly, the two ends of the two side mounting plates are respectively provided with lifting cylinder mounting plates, the lifting cylinder mounting plates are provided with lifting cylinders, a plurality of the lifting cylinders jointly control the movement of a lifting platform, the lifting platform is provided with two pressing cylinders, the two pressing cylinders respectively control the movement of a sponge suction disc mounting plate, and the sponge suction disc mounting plate is provided with two sponge suction discs.

[0015] As an improvement of the tray packing equipment, the connecting rod assembly comprises a left connecting rod, a right connecting rod and a middle connecting rod, the middle part of the middle connecting rod is connected to the side mounting plate through a middle rotating shaft, one end of the middle connecting rod is movably connected to the left connecting rod through a left rotating shaft, the other end of the middle connecting rod is movably connected to the right connecting rod through a right rotating shaft;

[0016] The right rotating shaft is provided with a right shaft rod, one end of the right shaft rod is connected to the piston rod of the clamping control cylinder, and the side mounting plate is further provided with two long holes at intervals, the shaft rod of the left rotating shaft is arranged in one of the long holes, and the other end of the right shaft rod is arranged in the other long hole.

[0017] The clamping plate is provided with a connecting rod, the upper end of the connecting rod is provided with a sliding block plate, and the sliding block plate is connected to the side mounting plate through a sliding rail and a sliding block.

[0018] As an improvement of the tray packing equipment, the paper box supporting mechanism comprises a supporting frame, side supporting mechanisms and displacement control cylinders for controlling the movement of the side supporting mechanisms are arranged on the left and right side frames of the supporting frame, and the side supporting mechanisms are connected to the side frames of the supporting frame through sliding rails and sliding blocks.

[0019] The side supporting mechanism comprises a side servo motor mounting plate, a side supporting control servo motor and a first rotating shaft seat are arranged on the side servo motor mounting plate, a first rotating shaft is arranged on the first rotating shaft seat, a first supporting plate is arranged on the first rotating shaft, one end of the first rotating shaft is provided with a first driven synchronous wheel, a first driving synchronous wheel is arranged on the output shaft of the side supporting control servo motor, and the first driving synchronous wheel and the first driven synchronous wheel are connected through a first synchronous belt.

[0020] As an improvement of the tray packing equipment, a front supporting mechanism and a movement control cylinder for controlling the sliding movement of the front supporting mechanism are arranged on the front side frame of the supporting frame, a rear supporting mechanism is arranged on the rear side frame of the supporting frame, the front supporting mechanism is slidably connected to the side frame of the supporting frame through a displacement sliding plate, linear sliding rails are arranged on the left and right side frames of the supporting frame, and the displacement sliding plate is slidably connected to the linear sliding rails through sliding blocks.

[0021] The front supporting mechanism comprises a servo motor mounting plate, a supporting control servo motor is arranged on the servo motor mounting plate, a second rotating shaft seat is arranged on the displacement sliding plate, a second rotating shaft is arranged on the second rotating shaft seat, a second supporting plate is arranged on the second rotating shaft, a second driven synchronous wheel is arranged on one end of the second rotating shaft, a second driving synchronous wheel is arranged on an output shaft of the supporting control servo motor, and the second driving synchronous wheel and the second driven synchronous wheel are connected through a second synchronous belt.

[0022] As an improvement of the tray packing equipment, the filler carrying manipulator comprises an X-axis servo module and a Y-axis servo module, the X-axis servo module controls movement of the Y-axis servo module, the Y-axis servo module controls movement of a lifting control sliding table cylinder, and the lifting control sliding table cylinder controls lifting movement of a clamping jaw cylinder.

[0023] The tray packing action of the utility model can avoid the problem of insufficient operation space, and when the trays are packed, a plurality of trays are clamped by the packing manipulator after the number of the positioning platform is set, and then the plurality of trays are packed into the carton together, the packing has a pressing function, the clamping plate for clamping the trays can be easily pulled out of the carton, and the problem of insufficient packing space can be effectively solved. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a perspective view of the utility model;

[0025] Figure 2 is a perspective view of the tray packing and transplanting positioning mechanism of the utility model;

[0026] Figure 3 is a perspective view of the filler carrying manipulator of the utility model;

[0027] Figure 4 is a perspective view of the packing manipulator of the utility model;

[0028] Figure 5 is a perspective view of the packing clamping and taking and placing mechanism of the utility model;

[0029] Figure 6 is a perspective view of the carton supporting mechanism of the utility model;

[0030] The reference signs are:

[0031] 1, rack;

[0032] 2, tray packing conveying line;

[0033] 3. A carton cylinder conveying line;

[0034] 4. A tray package transplanting positioning mechanism;

[0035] 5. A boxing manipulator; 51, a boxing X-axis servo module, 52, a boxing Y-axis servo module, 53, a boxing Z-axis servo module, 54, a lifting support;

[0036] 6. A carton supporting mechanism; 61, a supporting frame, 62, a side supporting mechanism, 63, a displacement control cylinder, 64, a sliding table cylinder, 65, a sliding table cylinder mounting plate, 66, a front supporting mechanism, 67, a movement control cylinder, 68, a rear supporting mechanism, 69, a displacement sliding plate, 60, a linear sliding rail, 621, a side servo motor mounting plate, 622, a side supporting control servo motor, 623, a first rotating shaft seat, 624, a first rotating shaft, 625, a first supporting plate, 626, a first driven synchronous wheel, 627, a first driving synchronous wheel, 628, a first synchronous belt, 661, a servo motor mounting plate, 662, a supporting control servo motor, 663, a second rotating shaft seat, 664, a second rotating shaft, 665, a second supporting plate, 666, a second driven synchronous wheel, 667, a second driving synchronous wheel, 668, a second synchronous belt;

[0037] 7. A positioning platform;

[0038] 8. A positioning cylinder;

[0039] 9. A filler conveying line;

[0040] 10. A filler carrying manipulator; 101, an X-axis servo module, 102, a Y-axis servo module, 103, a lifting control sliding table cylinder, 104, a gripper cylinder, 105, a clamping plate;

[0041] 11. A tray package transplanting manipulator; 111, a transplanting horizontal movement servo module, 112, a transplanting lifting control cylinder, 113, a cylinder support, 114, a transplanting rotation control cylinder, 115, a transplanting clamping cylinder, 116, a transplanting clamping plate;

[0042] 12. A tray package positioning mechanism; 121, a rear positioning servo module, 122, a side positioning mechanism, 123, a positioning plate, 1211, a positioning servo module, 1212, a rear positioning plate, 1221, a side positioning cylinder, 1222, a side positioning plate;

[0043] 13. Packing clamping and handling mechanism; 131. Side mounting plate; 132. Clamping control cylinder; 133. Linkage assembly; 134. Clamping plate; 135. Lifting cylinder mounting plate; 136. Lifting cylinder; 137. Lifting platform; 138. Pressing cylinder; 139. Sponge suction cup mounting plate; 130. Sponge suction cup; 1331. Left connecting rod; 1332. Right connecting rod; 1333. Middle connecting rod; 1301. Long hole; 1302. Middle connecting plate; 1341. Connecting rod; 1342. Sliding plate. Detailed Implementation

[0044] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0045] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0046] Furthermore, the use of terms such as "first" and "second" in this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0047] like Figures 1-6 As shown, a material tray packing equipment includes a frame 1, on which a material tray conveyor line 2, a carton roller conveyor line 3, a material tray transfer and positioning mechanism 4, a packing robot 5, and a carton opening mechanism 6 are provided.

[0048] The tray package transplanting positioning mechanism 4 takes the tray package from the tray package conveying line 2 and places it on the positioning platform 7 for positioning, four tray packages are stacked on the positioning platform 7 at a time, the carton cylinder conveying line 3 conveys the carton to the position directly below the carton supporting mechanism 6, and the carton is positioned by the positioning cylinder 8, the carton supporting mechanism 6 supports the carton opening, and the boxing mechanical arm 5 takes four tray packages from the positioning platform 7 at a time and carries them to the position directly above the carton and simultaneously loads the four tray packages into the carton.

[0049] Preferably, the rack 1 is also provided with a filler conveying line 9 and a filler carrying mechanical arm 10, when the number of tray packages on the positioning platform 7 is less than four, the filler carrying mechanical arm 10 takes the filler from the filler discharging position of the filler conveying line 9 and carries it to the positioning platform 7 together with the tray package. The filler is sponge or foam. The shape and size of the filler are the same as those of the tray package.

[0050] Preferably, the tray package transplanting positioning mechanism 4 includes a tray package transplanting mechanical arm 11 and a tray package positioning mechanism 12.

[0051] The tray package transplanting mechanical arm 11 includes a transplanting horizontal movement servo module 111, the transplanting horizontal movement servo module 111 controls the movement of a transplanting lifting control cylinder 112, the transplanting lifting control cylinder 112 controls the lifting movement of a cylinder support 113, the cylinder support 113 is provided with a transplanting rotation control cylinder 114, the transplanting rotation control cylinder 114 controls the rotation of a transplanting clamping cylinder 115, and the transplanting clamping cylinder 115 controls the clamping of two transplanting clamping plates 116 on the tray package; the transplanting horizontal movement servo module 111 can control the transplanting clamping cylinder 115 to take and place the tray package back and forth between the tray package conveying line 2 and the tray package positioning mechanism 12.

[0052] The tray package positioning mechanism 12 includes a rear positioning servo module 121 arranged at the rear side of the positioning platform 7, side positioning mechanisms 122 arranged at the left and right sides of the positioning platform 7, and a positioning plate 123 arranged at the front side of the positioning platform 7.

[0053] The rear positioning servo module 121 can push the tray package on the positioning platform 7 to approach the positioning plate 123, and the side positioning mechanisms 122 on both sides can push the tray package on the positioning platform 7 to the middle part of the positioning platform 7.

[0054] Preferably, the rear positioning servo module 121 includes a positioning servo module 1211, and the rear positioning servo module 1211 controls the movement of a rear positioning plate 1212.

[0055] The side positioning mechanism 122 includes a side positioning cylinder 1221, and the side positioning cylinder 1221 controls the movement of a side positioning plate 1222.

[0056] Preferably, the cartoning manipulator 5 comprises a cartoning X-axis servo module 51, a cartoning Y-axis servo module 52 and a cartoning Z-axis servo module 53, the cartoning X-axis servo module 51 controls the movement of the cartoning Y-axis servo module 52, the cartoning Y-axis servo module 52 controls the movement of the cartoning Z-axis servo module 53, and the cartoning Z-axis servo module 53 controls the movement of a lifting support 54, and the bottom of the lifting support 54 is provided with a cartoning clamping and taking mechanism 13.

[0057] Preferably, the cartoning clamping and taking mechanism 13 comprises two side mounting plates 131, the outer sides of the two side mounting plates 131 are respectively provided with a clamping control cylinder 132 and a connecting rod assembly 133, the connecting rod assembly 133 is connected to two clamping plates 134 at the same time, the clamping control cylinder 132 controls the clamping of the two clamping plates 134 by driving the connecting rod assembly 133, the two ends of the two side mounting plates 131 are respectively provided with a lifting cylinder mounting plate 135, the lifting cylinder mounting plate 135 is provided with a lifting cylinder 136, a plurality of lifting cylinders 136 jointly control the movement of a lifting platform 137, the lifting platform 137 is provided with two material pressing cylinders 138, the two material pressing cylinders 138 respectively control the movement of a sponge suction disc mounting plate 139, and the sponge suction disc mounting plate 139 is provided with two sponge suction discs 130.

[0058] Preferably, the connecting rod assembly 133 comprises a left connecting rod 1331, a right connecting rod 1332 and a middle connecting rod 1333, the middle part of the middle connecting rod 1333 is connected to the side mounting plate 131 through a middle rotating shaft, one end of the middle connecting rod 1333 is movably connected to the left connecting rod 1331 through a left rotating shaft, and the other end of the middle connecting rod 1333 is movably connected to the right connecting rod 1332 through a right rotating shaft.

[0059] The right rotating shaft is provided with a right shaft rod, one end of the right shaft rod is connected to the piston rod of the clamping control cylinder 132, and the side mounting plate 131 is further provided with two long holes 1301, the shaft rod of the left rotating shaft is arranged in one of the long holes 1301 and connected to one of the clamping plates, and the other end of the right shaft rod is arranged in the other long hole 1301 and connected to the other clamping plate.

[0060] The clamping plate 134 is provided with a connecting rod 1341, and the upper end of the connecting rod 1341 is provided with a sliding block plate 1342, which is connected to the side mounting plate 131 through a sliding rail and a sliding block.

[0061] Preferably, the cartoning clamping and taking mechanism 13 comprises two side mounting plates 131, the outer sides of the two side mounting plates 131 are respectively provided with a clamping control cylinder 132 and a connecting rod assembly 133, the connecting rod assembly 133 is connected to two clamping plates 134 at the same time, the clamping control cylinder 132 controls the clamping of the two clamping plates 134 by driving the connecting rod assembly 133, the two ends of the two side mounting plates 131 are respectively provided with a lifting cylinder mounting plate 135, the lifting cylinder mounting plate 135 is provided with a lifting cylinder 136, a plurality of lifting cylinders 136 jointly control the movement of a lifting platform 137, the lifting platform 137 is provided with two material pressing cylinders 138, the two material pressing cylinders 138 respectively control the movement of a sponge suction disc mounting plate 139, and the sponge suction disc mounting plate 139 is provided with two sponge suction discs 130.

[0062] The side supporting mechanism 62 comprises a side servo motor mounting plate 621, a side supporting control servo motor 622 and a first rotating shaft seat 623 are arranged on the side servo motor mounting plate 621, a first rotating shaft 624 is arranged on the first rotating shaft seat 623, a first supporting plate 625 is arranged on the first rotating shaft 624, a first driven synchronous wheel 626 is arranged on one end of the first rotating shaft 624, a first driving synchronous wheel 627 is arranged on an output shaft of the side supporting control servo motor 622, and the first driving synchronous wheel 627 is connected with the first driven synchronous wheel 626 through a first synchronous belt 628.

[0063] Preferably, a front supporting mechanism 66 and a movement control cylinder 67 for controlling sliding of the front supporting mechanism are arranged on the front side frame of the supporting frame 61, a rear supporting mechanism 68 is arranged on the rear side frame of the supporting frame 61, the front supporting mechanism 66 is slidably connected to the frame of the supporting frame 61 through a displacement sliding plate 69, linear sliding rails 60 are arranged on the left and right frames of the supporting frame 61, and the displacement sliding plate 69 is slidably connected to the linear sliding rails 60 through sliding blocks; the rear supporting mechanism 68 has the same structure as the two side supporting mechanisms 62.

[0064] The front supporting mechanism 66 comprises a servo motor mounting plate 661, a supporting control servo motor 662 is arranged on the servo motor mounting plate 661, a second rotating shaft seat 663 is arranged on the displacement sliding plate 69, a second rotating shaft 664 is arranged on the second rotating shaft seat 663, a second supporting plate 665 is arranged on the second rotating shaft 664, a second driven synchronous wheel 666 is arranged on one end of the second rotating shaft 664, a second driving synchronous wheel 667 is arranged on an output shaft of the supporting control servo motor 662, and the second driving synchronous wheel 667 is connected with the second driven synchronous wheel 666 through a second synchronous belt 668.

[0065] Preferably, the filling material carrying manipulator 10 comprises an X-axis servo module 101 and a Y-axis servo module 102, the X-axis servo module 101 controls movement of the Y-axis servo module 102, the Y-axis servo module 102 controls movement of a lifting control sliding table cylinder 103, the lifting control sliding table cylinder 103 controls lifting movement of a clamping jaw cylinder 104, and the clamping jaw cylinder 104 controls clamping of the filling material by two clamping plates 105. The filling material carrying manipulator 10 takes the filling material from a discharging position of the filling material conveying line 9 and can carry the filling material to the positioning platform 7 to be positioned together with the tray package. When the boxing manipulator 5 takes the material, the filling material and the tray package are clamped and taken together.

[0066] The boxing process of the utility model is as follows: the tray package with the bubble bag is flowed into the boxing machine through the tray package conveying line 2, the tray package is transplanted to the position of the positioning platform 7 through the tray package transplanting mechanical hand 11 according to the requirement of MES production instruction, four tray packages are a box, when there are less than four tray packages, the filler carrying mechanical hand 10 is used to grab the filler to supplement, after the secondary positioning of four tray packages, the four groups of sponge suction cups on the boxing mechanical hand 5 are used to grab to the boxing opening, the finished box paper box is flowed into the equipment through the paper box cylinder conveying line 3, after the positioning of the paper box through the clamping pneumatic cylinder, four tray packages are simultaneously boxed, after the boxing mechanical hand 5 is lowered to a certain height, the clamping control pneumatic cylinder 132 is released, after the release, it is pressed downwards, after being in place, the suction cup supports the tray package, the clamping plate is pulled out, finally the boxing mechanical hand 5 returns to the initial position, the paper box is flowed out after being boxed, and is subjected to sealing and bundling in the sealing machine.

[0067] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and structures of the utility model, and the scope of the utility model is defined by the appended claims and their equivalent scope.

Claims

1. A tray boxing apparatus comprising a frame, characterised in that, The rack is provided with a tray package conveying line, a carton drum conveying line, a tray package transplanting positioning mechanism, a carton loading manipulator and a carton opening mechanism. The tray package transplanting positioning mechanism takes tray packages from the tray package conveying line and places them on a positioning platform for positioning, a plurality of tray packages are stacked on the positioning platform at a time, the carton drum conveying line conveys cartons to the position right below the carton opening mechanism and positions the cartons by positioning air cylinders, the carton opening mechanism opens the carton mouth, and the carton loading manipulator takes a plurality of tray packages from the positioning platform at a time and carries them to the position right above the carton and loads the plurality of tray packages into the carton at the same time.

2. The palletizing apparatus of claim 1, wherein The rack is also provided with a filler conveying line and a filler carrying manipulator, when the number of tray packages on the positioning platform is less than a set number, the filler carrying manipulator takes fillers from the filler discharging position of the filler conveying line and carries them to the positioning platform together with the tray packages.

3. The palletizing apparatus of claim 1, wherein The tray package transplanting positioning mechanism includes a tray package transplanting manipulator and a tray package positioning mechanism. The tray package transplanting manipulator includes a transplanting horizontal movement servo module, the transplanting horizontal movement servo module controls the movement of a transplanting lifting control air cylinder, the transplanting lifting control air cylinder controls the lifting movement of a cylinder support, the cylinder support is provided with a transplanting rotation control air cylinder, the transplanting rotation control air cylinder controls the rotation of a transplanting clamping air cylinder, and the transplanting clamping air cylinder controls the clamping of two transplanting clamping plates on tray packages; the transplanting horizontal movement servo module can control the transplanting clamping air cylinder to take and place tray packages back and forth between the tray package conveying line and the tray package positioning mechanism. The tray package positioning mechanism includes a rear positioning servo module arranged at the rear side of the positioning platform, side positioning mechanisms arranged at the left and right sides of the positioning platform and a positioning plate arranged at the front side of the positioning platform. The rear positioning servo module can push the tray packages on the positioning platform to move closer to the positioning plate, and the side positioning mechanisms on both sides can push the tray packages on the positioning platform to the middle part of the positioning platform.

4. The palletizing apparatus of claim 3, wherein The rear positioning servo module includes a positioning servo module, which controls the movement of a rear positioning plate. The side positioning mechanism includes a side positioning air cylinder, which controls the movement of a side positioning plate.

5. The palletizing apparatus of claim 1, wherein The carton loading manipulator includes a carton loading X-axis servo module, a carton loading Y-axis servo module and a carton loading Z-axis servo module, the carton loading X-axis servo module controls the movement of the carton loading Y-axis servo module, the carton loading Y-axis servo module controls the movement of the carton loading Z-axis servo module, the carton loading Z-axis servo module controls the movement of a lifting support, and the bottom of the lifting support is provided with a carton loading clamping taking and placing mechanism.

6. The palletizing apparatus of claim 5, wherein, The boxing clamping pick-and-place mechanism comprises two side mounting plates, the outer side of each of the two side mounting plates is provided with a clamping control cylinder and a connecting rod assembly, the connecting rod assembly is connected to two clamping plates, the clamping control cylinder controls the clamping of the two clamping plates by driving the connecting rod assembly, the two ends of each of the two side mounting plates are provided with a lifting cylinder mounting plate, the lifting cylinder mounting plate is provided with a lifting cylinder, a plurality of lifting cylinders jointly control the movement of a lifting platform, the lifting platform is provided with two pressing cylinders, the two pressing cylinders respectively control the movement of a sponge suction disc mounting plate, and the sponge suction disc mounting plate is provided with two sponge suction discs.

7. The palletizing apparatus of claim 6, wherein The connecting rod assembly comprises a left connecting rod, a right connecting rod and an intermediate connecting rod, the intermediate connecting rod is connected to the side mounting plate through an intermediate rotating shaft at the middle part, one end of the intermediate connecting rod is movably connected to the left connecting rod through a left rotating shaft, and the other end of the intermediate connecting rod is movably connected to the right connecting rod through a right rotating shaft. The right rotating shaft is provided with a right shaft rod, one end of the right shaft rod is connected to the piston rod of the clamping control cylinder, and the side mounting plate is further provided with two long holes at intervals, the shaft rod of the left rotating shaft is arranged in one of the long holes, and the other end of the right shaft rod is arranged in the other long hole. The clamping plate is provided with a connecting rod, the upper end of the connecting rod is provided with a sliding block plate, and the sliding block plate is connected to the side mounting plate through a sliding rail and a sliding block.

8. The palletizing apparatus of claim 1, wherein, The carton supporting mechanism comprises a supporting frame, side supporting mechanisms and displacement control cylinders for controlling the movement of the side supporting mechanisms are arranged on the left and right side frames of the supporting frame, and the side supporting mechanisms are connected to the side frames of the supporting frame through sliding rails and sliding blocks; sliding table cylinders are arranged at four corners of the supporting frame, the sliding table cylinders are arranged on sliding table cylinder mounting plates, and the sliding table cylinder mounting plates are mounted on the rack; The side supporting mechanism comprises a side servo motor mounting plate, a side supporting control servo motor and a first rotating shaft seat are arranged on the side servo motor mounting plate, a first rotating shaft is arranged on the first rotating shaft seat, a first supporting plate is arranged on the first rotating shaft, a first driven synchronous wheel is arranged at one end of the first rotating shaft, a first driving synchronous wheel is arranged on the output shaft of the side supporting control servo motor, and the first driving synchronous wheel and the first driven synchronous wheel are connected through a first synchronous belt.

9. The palletizing apparatus of claim 8, wherein, A front supporting mechanism and a movement control cylinder for controlling the sliding movement of the front supporting mechanism are arranged on the front side frame of the supporting frame, a rear supporting mechanism is arranged on the rear side frame of the supporting frame, the front supporting mechanism is slidably connected to the side frame of the supporting frame through a displacement sliding plate, and linear sliding rails are arranged on the left and right side frames of the supporting frame, and the displacement sliding plate is slidably connected to the linear sliding rails through a sliding block. The front supporting mechanism comprises a servo motor mounting plate, a supporting control servo motor is arranged on the servo motor mounting plate, a second rotating shaft seat is arranged on the displacement sliding plate, a second rotating shaft is arranged on the second rotating shaft seat, a second supporting plate is arranged on the second rotating shaft, a second driven synchronous wheel is arranged on one end of the second rotating shaft, a second driving synchronous wheel is arranged on an output shaft of the supporting control servo motor, and the second driving synchronous wheel and the second driven synchronous wheel are connected through a second synchronous belt.

10. The palletizing apparatus of claim 2, wherein, The filling conveying manipulator comprises an X-axis servo module and a Y-axis servo module, the X-axis servo module controls movement of the Y-axis servo module, the Y-axis servo module controls movement of a lifting control sliding table cylinder, and the lifting control sliding table cylinder controls lifting movement of a clamping jaw cylinder.

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