Adsorption type whole-layer stacking production line

Abstract

The utility model discloses an adsorption type whole-layer stacking production line, relates to the technical field of stacking, and is used for solving the technical problems that a traditional stacking production line is poor in flexibility and low in stacking efficiency. Comprising a carton feeding roller line, two conveying and positioning units, a stack-shaped arrangement roller line, a tray disassembling machine, a tray conveying roller line and a whole-layer adsorption type truss mechanical arm, and each conveying and positioning unit comprises a module belt conveyor and a carton positioning machine matched with the module belt conveyor; limiting plates are arranged on the left side, the right side and the conveying tail end of the arranging stack-shaped roller line in the conveying direction correspondingly, a carton pushing mechanism is arranged on the arranging stack-shaped roller line, stacking is more orderly and good in effect when stacking is conducted through the scheme, the two carton positioning machines are matched with each other to arrange the stacking form of cartons at the same time, and the stacking efficiency is improved. And the pushing plate and the baffle plate are matched with the whole-layer stacking mode of plasticity and whole-layer conveying, so that the stacking efficiency is greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of palletizing, and in particular to an adsorption-type whole-layer palletizing production line. Background Technology

[0002] A palletizing production line is an automated palletizing device that can automatically palletize goods. The specific process involves a conveyor belt transporting the goods, while robots pick up and place the goods according to pre-set parameters to complete the palletizing.

[0003] However, the effectiveness and efficiency of traditional palletizing production lines need improvement, specifically in the following aspects: 1. Existing palletizing grippers directly pick up items and place them in designated positions according to a set program. However, the initial position of the items and the accuracy of the picking are uncertain factors, leading to deviations between the picking and placement effects and the preset settings. The resulting palletizing effect often fails to meet expectations, and the palletizing effect needs to be improved. 2. Palletizing efficiency is the key to palletizing production lines. Currently, most palletizing production lines rely on robotic arms to palletize items individually, transferring them one by one, which is inefficient and needs improvement.

[0004] Therefore, in view of the shortcomings of the above solutions in actual production and implementation, modifications and improvements have been made. At the same time, in the spirit and concept of seeking excellence, and with the assistance of professional knowledge and experience, and after much ingenuity and experimentation, an adsorption-type whole-layer palletizing production line is specially provided to solve the technical problems of poor palletizing effect and low palletizing efficiency of traditional palletizing production lines. Utility Model Content

[0005] The purpose of this invention is to provide an adsorption-type whole-layer palletizing production line to solve the technical problems of poor flexibility and low palletizing efficiency of traditional palletizing production lines.

[0006] The technical solution of this utility model is implemented as follows:

[0007] An adsorption-type full-layer palletizing production line includes a carton feeding roller conveyor, two conveyor positioning units, a stacking roller conveyor, a depalletizer, a pallet conveyor roller conveyor, and a full-layer adsorption-type gantry robot. The conveyor positioning units include modular belt conveyors and corresponding carton positioning machines. The tail end of the carton feeding roller conveyor engages with the head end of the first modular belt conveyor; this engagement means that the two ends are connected and close together to ensure a smooth transition during item transport. The tail end of the first modular belt conveyor engages with the head end of the second modular belt conveyor, and the tail end of the second modular belt conveyor engages with the head end of the stacking roller conveyor. The carton feeding roller conveyor, the modular belt conveyor, and the stacking roller conveyor are all on the same conveying line and in the same direction. The pallet conveyor roller line is used to receive and transport pallets from the depalletizer. The pallet conveyor roller line is perpendicular to the stacking roller line. The top of the full-layer suction gantry robot covers the middle of the entire stacking roller line and the pallet conveyor roller line, and its range of motion also covers part of the entire stacking roller line and the pallet conveyor roller line. The full-layer suction gantry robot is used to transfer the items on the stacking roller line to the pallets of the pallet conveyor roller frame. Limit plates are provided on the left and right sides of the stacking roller line along the conveying direction and at the end of the conveying. A box pushing mechanism is provided on the stacking roller line. The box pushing mechanism is used to push the boxes or items on the stacking roller line onto the side limit plates.

[0008] This solution is used in conjunction with a control system, which is responsible for the overall coordinated control of all components.

[0009] This solution utilizes the characteristics and effects of modular belt conveyors (hereinafter referred to as modular belts):

[0010] Low friction: The modular belt design reduces the friction between the carton and the belt surface, which helps reduce the resistance of the carton during transportation, lower energy consumption, and increase transportation speed; Flexible carton posture change: Due to the low friction, the carton can be more easily turned or rotated to adapt to different transportation needs; Modular design: The modular belt system adopts a modular design, which is easy to assemble and maintain, and can be quickly adjusted and expanded according to different production needs.

[0011] In a preferred embodiment, the carton positioning machine includes a steel structure support frame. Two parallel X-axis servo modules are arranged on the top of the steel structure support frame, and a Y-axis servo module is arranged between the two X-axis servo modules. A vision guidance camera and a Z-axis lifting component are arranged on the Y-axis servo module, and a rotating clamping positioning fixture is arranged at the bottom of the Z-axis lifting component.

[0012] X, Y, and Z-axis displacement servo modules are already quite mature on the market and can be used directly.

[0013] In a preferred embodiment, the rotary clamping positioning fixture includes a bottom frame, a servo rotary table is provided on the top of the bottom frame, the servo rotary table is equipped with a servo motor and a reduction motor, and a Z-axis connecting seat is provided on the top of the servo rotary table.

[0014] The bottom of the bottom frame is provided with two parallel first slide rails. Two fixed plates are slidably mounted on the first slide rails. The bottom sides of the fixed plates are respectively provided with first sliders that slidably cooperate with the two first slide rails. A row of clamping shafts is provided on the fixed plates. The two rows of clamping shafts on the two fixed plates are parallel. The bottom frame is provided with a first cylinder and a self-rotating gear with bearings. The first cylinder is arranged along the sliding direction of the fixed plates. The piston end of the first cylinder is connected to one of the fixed plates by a floating joint.

[0015] A cam follower is provided on each side of the bearing-loaded self-rotating gear, and a centering rack is connected to the inner side of each of the two fixed plates. The bearing-loaded self-rotating gear and the cam followers on both sides respectively cooperate with the two centering racks. Specifically, the cooperation here means that the centering rack meshes with the bearing-loaded self-rotating gear and the two cam followers respectively limit the two centering racks.

[0016] The process and principle behind this action:

[0017] The visual guidance camera first takes a picture of the cardboard box to capture its current position and posture information; the image data captured by the camera is transmitted to the control system.

[0018] The control system uses image processing algorithms to analyze the specific position and orientation of the cardboard box.

[0019] When the XYZ axes move above the carton, the control system instructs the X-axis servo module, Y-axis servo module, and Z-axis rack and pinion lifting assembly on the steel structure support frame to move in coordination. These components work together to precisely move the rotating clamping positioning fixture directly above the carton.

[0020] After the rotating clamping positioning fixture reaches the predetermined position, it performs its actions according to the preset stacking programming logic.

[0021] The rotary clamping positioning fixture precisely clamps the carton, ensuring stable holding and allowing it to move or rotate to its final destination.

[0022] Finally, according to the program design, the entire system, carrying the clamped carton, moves along a predetermined path to the next process point. If necessary, the clamp can also be rotated and adjusted in the clamped state to adapt to different placement requirements.

[0023] In a preferred embodiment, the box-pushing mechanism includes a box-pushing frame fixed to the bottom of the stacking roller line. The top of the box-pushing frame is provided with two parallel second slide rails. A box-pushing fixing plate is slidably disposed on the second slide rails. The bottom sides of the box-pushing fixing plate are respectively provided with second sliders that slide in cooperation with the two second slide rails. A row of box-pushing shafts is provided on the box-pushing fixing plate, and each box-pushing shaft extends upward from the roller gap of the stacking roller line.

[0024] A second cylinder is provided at the bottom of the stacking roller line, and a cylinder push plate is provided at the bottom of the push box fixing plate. The piston end of the second cylinder is connected to the cylinder push plate by a floating joint.

[0025] In a preferred embodiment, two pallet positioning cylinders are provided on the pallet conveying roller line, which are respectively located on the left and right sides of the pallet conveying roller line, and positioning baffles are connected to the inner side of the pallet positioning cylinders.

[0026] In a preferred embodiment, the whole-floor suction truss robot includes a transfer frame, on which a second X-axis servo module and a fan are mounted. A second Z-axis servo module is mounted on the second X-axis servo module, and a whole-floor suction device is mounted at the bottom of the second Z-axis servo module. The fan is used to provide power to the whole-floor suction device.

[0027] The second X-axis servo module here includes a transverse slide rail, a transverse slide table, and a transverse servo motor. The transverse slide rail and the transverse slide table are slidably engaged. The second Z-axis servo module and the transverse servo motor are mounted on the transverse slide table. A rack is provided on the inner side of the bottom of the transverse slide rail, and the transverse servo motor is engaged with the rack for transmission.

[0028] The specific palletizing process is as follows: After the cartons arrive, they are first conveyed from the carton feeding roller line to the carton positioning machine. Two carton positioning machines are used to adjust the position and orientation of the cartons (that is, to position the carton orientation). Then, they are conveyed to the stacking roller line, where the stacks are arranged using baffles and a box pushing mechanism. At this time, the pallet conveying roller line conveys the pallets from the unpacking machine. The pallet positioning cylinder is used to position the pallets. The whole-layer suction gantry robot's whole-layer suction device picks up the arranged cartons and transfers them to the pallet, thus achieving whole-layer palletizing.

[0029] The arrangement of each layer of cardboard boxes in the stack is rotated 180° from the layer above, which helps to stabilize the stack, similar to laying bricks in a staggered pattern.

[0030] This stacking solution is compatible with all cartons of this pallet design, regardless of size. If a pallet needs to be changed, the corresponding equipment dimensions can be modified to achieve the same function, basically compatible with all carton stacking requirements (the number of cartons needs to be large, with at least one layer of stacking capability).

[0031] The beneficial effects of this utility model are:

[0032] Using this solution for palletizing, after initial positioning and orientation using a carton positioning machine, a secondary positioning is performed using baffles and a pusher mechanism. This results in neater palletizing and better palletizing effect. Two carton positioning machines work together to simultaneously shape the palletized cartons. The pusher and baffle work together to shape and convey the entire layer of the cartons, changing the traditional single-layer palletizing method and greatly improving palletizing efficiency. This solves the technical problems of poor palletizing effect and low palletizing efficiency in traditional palletizing production lines.

[0033] In addition, the production line design has excellent compatibility, which can adapt to pallets of different sizes and specifications to meet a wide range of carton palletizing needs; secondly, the entire palletizing process can be automated, reducing manual operation and lowering the incidence of workplace accidents. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present utility model;

[0036] Figure 2 This is a top view of an embodiment of the present utility model;

[0037] Figure 3 This is a schematic diagram of the palletizing process of this utility model;

[0038] Figure 4 This is a schematic diagram of the structure of the carton positioning machine of this utility model;

[0039] Figure 5 This is a schematic diagram of the structure of the rotary clamping and positioning fixture of this utility model. Figure 1 ;

[0040] Figure 6 This is a schematic diagram of the structure of the rotary clamping and positioning fixture of this utility model. Figure 2 ;

[0041] Figure 7This is a structural schematic diagram of the stacking roller line of this utility model;

[0042] Figure 8 This is a schematic diagram of the structure of the box-pushing mechanism of this utility model;

[0043] Figure 9 This is a schematic diagram of the structure of the pallet conveyor roller line of this utility model;

[0044] Figure 10 This is a schematic diagram of the structure of the whole-layer adsorption truss manipulator of this utility model. Figure 1 ;

[0045] Figure 11 for Figure 10 A magnified view of a portion of the image;

[0046] Figure 12 This is a schematic diagram of the structure of the whole-layer adsorption truss manipulator of this utility model. Figure 2 ;

[0047] Figure 13 This is a schematic diagram of the palletizing process of this utility model.

[0048] In the diagram, 1-Carton feeding roller conveyor; 2-Carton positioning machine; 3-Module belt conveyor; 4-Panel unpacking machine; 5-Stacking roller conveyor; 6-Layer adsorption truss robot; 7-Pattern conveying roller conveyor; 8-X-axis servo module; 9-Y-axis servo module; 10-Vision guidance camera; 11-Z-axis lifting assembly; 12-Rotary clamping and positioning fixture; 13-Steel structure support frame; 14-Bottom frame; 15-First slide rail; 16-Floating joint; 17-First cylinder; 18-Centering rack; 19-Cam follower; 20-Self-rotating gear with bearing; 21-First slider; 22-Fixed... 23-Fixing plate; 24-Z-axis connecting seat; 25-Servo rotary table; 26-Gear motor; 27-Servo motor; 28-Limit plate; 29-Pushing box mechanism; 30-Pushing box shaft; 31-Pushing box fixing plate; 32-Cylinder push plate; 33-Second slider; 34-Second slide rail; 35-Pushing box frame; 36-Second cylinder; 37-Tray positioning cylinder; 38-Transfer frame; 39-Second X-axis servo module; 40-Second Z-axis servo module; 41-Horizontal slide table; 42-Horizontal slide rail; 43-Fan; 44-Horizontal servo motor; 45-Rack; 46-Full-layer suction device. Detailed Implementation

[0049] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0050] 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 certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0051] 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 with "first" or "second" may explicitly or implicitly include at least one of those features.

[0052] In the description of the embodiments, unless otherwise expressly specified and limited, the terms "set," "connect," etc., should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or a connection through an intermediate medium, or it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0053] See Figures 1-12 An adsorption-type full-layer palletizing production line includes a carton feeding roller line 1, two conveyor positioning units, a stacking roller line 5, a depalletizer 4, a pallet conveyor roller line 7, and a full-layer adsorption-type gantry robot 6. The conveyor positioning units include modular belt conveyors 3 and carton positioning machines 2 that cooperate with them. The tail of the carton feeding roller line 1 cooperates with the head of the first modular belt conveyor 3, meaning they are connected end-to-end and close together to ensure smooth transition during item transport. The tail of the first modular belt conveyor 3 cooperates with the head of the second modular belt conveyor 3, and the tail of the second modular belt conveyor 3 cooperates with the head of the stacking roller line 5. The carton feeding roller line 1, the modular belt conveyor 3, and the stacking roller line 5 are on the same conveying line and their conveying directions are opposite. Similarly, the pallet conveyor roller line 7 is used to receive and convey pallets from the unpacking machine 4. The pallet conveyor roller line 7 is perpendicular to the stacking roller line 5. The top of the full-layer suction gantry robot 6 covers the middle of the entire stacking roller line 5 and the pallet conveyor roller line 7, and its range of motion also covers part of the entire stacking roller line 5 and the pallet conveyor roller line 7. The full-layer suction gantry robot 6 is used to transfer the items on the stacking roller line 5 to the pallets of the pallet conveyor roller frame. Limit plates 28 are provided on the left and right sides along the conveying direction and at the end of the conveying. A box pushing mechanism 29 is provided on the stacking roller line 5. The box pushing mechanism 29 is used to push the boxes or items on the stacking roller line 5 onto the side limit plates 28.

[0054] This solution is used in conjunction with a control system, which is responsible for the overall coordinated control of all components.

[0055] The features and effects of this solution using modular belt conveyor 3 (hereinafter referred to as modular belt):

[0056] Low friction: The modular belt design reduces the friction between the carton and the belt surface, which helps reduce the resistance of the carton during transportation, lower energy consumption, and increase transportation speed; Flexible carton posture change: Due to the low friction, the carton can be more easily turned or rotated to adapt to different transportation needs; Modular design: The modular belt system adopts a modular design, which is easy to assemble and maintain, and can be quickly adjusted and expanded according to different production needs.

[0057] The carton positioning machine 2 includes a steel structure support frame 13. Two parallel X-axis servo modules 8 are arranged on the top of the steel structure support frame 13. A Y-axis servo module 9 is arranged between the two X-axis servo modules 8. A vision guidance camera 10 and a Z-axis lifting assembly 11 are arranged on the Y-axis servo module 9. A rotating clamping positioning fixture 12 is arranged at the bottom of the Z-axis lifting assembly 11.

[0058] X, Y, and Z-axis displacement servo modules are already quite mature on the market and can be used directly.

[0059] The rotary clamping positioning fixture 12 includes a bottom frame 14, a servo rotary table 25 is provided on the top of the bottom frame 14, the servo rotary table 25 is equipped with a servo motor 27 and a reduction motor 26, and a Z-axis connecting seat 24 is provided on the top of the servo rotary table 25.

[0060] The bottom of the bottom frame 14 is provided with two parallel first slide rails 15. Two fixed plates 22 are slidably mounted on the first slide rails 15. The bottom sides of the fixed plates 22 are respectively provided with first sliders 21 that slide with the two first slide rails. A row of clamping shafts 23 is provided on the fixed plates 22. The two rows of clamping shafts 23 on the two fixed plates 22 are parallel. The bottom frame 14 is provided with a first cylinder 17 and a self-rotating gear 20 with bearings. The first cylinder 17 is arranged along the sliding direction of the fixed plates 22. The piston end of the first cylinder 17 is connected to one of the fixed plates 22 by a floating joint 16.

[0061] A cam follower 19 is provided on each side of the bearing-loaded self-rotating gear 20. A centering rack 4518 is connected to the inner side of each of the two fixed plates 22. The bearing-loaded self-rotating gear 20 and the cam followers 19 on both sides respectively cooperate with the two centering racks 4518. Specifically, the cooperation here means that the centering racks 4518 mesh with the bearing-loaded self-rotating gear 20 and the two cam followers 19 respectively limit the two centering racks 4518.

[0062] The process and principle behind this action:

[0063] The visual guidance camera 10 first takes a picture of the cardboard box to capture its current position and posture information; the image data captured by the camera is transmitted to the control system.

[0064] The control system uses image processing algorithms to analyze the specific position and orientation of the cardboard box.

[0065] When the XYZ axes move above the carton, the control system instructs the X-axis servo module 8, Y-axis servo module 9, and Z-axis rack and pinion 45 lifting assembly on the steel structure support frame 13 to move in coordination. These components work together to precisely move the rotating clamping positioning fixture 12 directly above the carton.

[0066] After the rotating clamping positioning fixture 12 reaches the predetermined position, it performs its actions according to the preset stacking programming logic.

[0067] The rotating clamping and positioning fixture 12 precisely clamps the carton, ensuring stable holding, and moves or rotates it to its final destination.

[0068] Finally, according to the program design, the entire system, carrying the clamped carton, moves along a predetermined path to the next process point. If necessary, the clamp can also be rotated and adjusted in the clamped state to adapt to different placement requirements.

[0069] The box-pushing mechanism 29 includes a box-pushing frame 35 fixed to the bottom of the stacking roller line 5. The top of the box-pushing frame 35 is provided with two parallel second slide rails 34. A box-pushing fixing plate 31 is slidably arranged on the second slide rails 34. The bottom sides of the box-pushing fixing plate 31 are respectively provided with second sliders 33 that slide with the two second slide rails. A row of box-pushing shafts 30 is provided on the box-pushing fixing plate 31. Each box-pushing shaft 30 passes upward through the roller gap of the stacking roller line 5.

[0070] A second cylinder 36 is provided at the bottom of the stacking roller line 5, and a cylinder pusher plate 32 is provided at the bottom of the pusher box fixing plate 31. The piston end of the second cylinder 36 is connected to the cylinder pusher plate 32 by a floating joint 16.

[0071] Two pallet positioning cylinders 37 are installed on the pallet conveyor roller line 7, which are arranged opposite each other. The two pallet positioning cylinders 37 are respectively located on the left and right sides of the pallet conveyor roller line 7, and positioning baffles are connected to the inner side of the pallet positioning cylinders 37.

[0072] The full-floor suction truss robot 6 includes a transfer frame 38, on which a second X-axis servo module 39 and a fan 43 are mounted. A second Z-axis servo module 40 is mounted on the second X-axis servo module 39, and a full-floor suction device 46 is mounted at the bottom of the second Z-axis servo module 40. The fan 43 is used to provide power to the full-floor suction device 46.

[0073] The second X-axis servo module 39 here includes a transverse slide rail 42, a transverse slide table 41, and a transverse servo motor 44. The transverse slide rail 42 and the transverse slide table 41 are slidably engaged. The second Z-axis servo module 40 and the transverse servo motor 44 are mounted on the transverse slide table 41. A rack 45 is provided on the inner side of the bottom of the transverse slide rail 42. The transverse servo motor 44 and the rack 45 are engaged in a transmission relationship.

[0074] How does a full-layer suction cup work?

[0075] The blower 43 generates negative pressure, forming a low-pressure zone between the suction cup and the surface of the object being suctioned. The negative pressure in the vacuum chamber causes the suction cup to adhere tightly to the surface of the object, thus achieving the transfer.

[0076] The full-layer suction cup 46 can absorb multiple cartons at once, enabling fast and accurate handling. It is suitable for cartons of different sizes and weights, and can meet various packaging and storage needs.

[0077] The specific palletizing process is as follows: After the cartons arrive, they are first conveyed from the carton feeding roller line 1 to the carton positioning machine 2. Two carton positioning machines 2 are used to adjust the position and orientation of the cartons (i.e., to position the carton orientation). Then, they are conveyed to the stacking roller line 5, where baffles and a pusher mechanism 29 are used to arrange the stack shape. At this time, the pallet conveying roller line 7 conveys the pallets from the unpacking machine 4. The pallet positioning cylinder 37 positions the pallets. The full-layer suction device 46 of the full-layer suction gantry robot 6 picks up the stacked cartons in a full-layer manner and transfers them to the pallet, achieving full-layer palletizing. Refer to the process flow. Figure 13 .

[0078] The arrangement of each layer of cardboard boxes in the stack is rotated 180° from the layer above, which helps to stabilize the stack, similar to laying bricks in a staggered pattern.

[0079] This stacking solution is compatible with all cartons of this pallet design, regardless of size. If a pallet needs to be changed, the corresponding equipment dimensions can be modified to achieve the same function, basically compatible with all carton stacking requirements (the number of cartons needs to be large, with at least one layer of stacking capability).

[0080] The beneficial effects of this utility model are:

[0081] Using this solution for palletizing, after initial positioning and orientation using a carton positioning machine, a secondary positioning is performed using baffles and a pusher mechanism. This results in neater palletizing and better palletizing effect. Two carton positioning machines work together to simultaneously shape the palletized cartons. The pusher and baffle work together to shape and convey the entire layer of the cartons, changing the traditional single-layer palletizing method and greatly improving palletizing efficiency. This solves the technical problems of poor palletizing effect and low palletizing efficiency in traditional palletizing production lines.

[0082] In addition, the production line design has excellent compatibility, which can adapt to pallets of different sizes and specifications to meet a wide range of carton palletizing needs; secondly, the entire palletizing process can be automated, reducing manual operation and lowering the incidence of workplace accidents.

[0083] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope claimed by this utility model.

Claims

1. An adsorptive whole layer palletizing line, characterized by, The paper box feeding drum line, two conveying positioning machine groups, the arrangement stack drum line, the tray conveying drum line and the whole layer adsorption type truss manipulator, the conveying positioning machine group includes a module belt conveyor and a paper box positioning machine matched with the module belt conveyor, the tail of the paper box feeding drum line is matched with the head of the first module belt conveyor, the tail of the first module belt conveyor is matched with the head of the second module belt conveyor, the tail of the second module belt conveyor is matched with the head of the arrangement stack drum line, the paper box feeding drum line, the module belt conveyor and the arrangement stack drum line are in the same straight line and have the same transmission direction, the tray conveying drum line is used for receiving and conveying the tray from the tray conveying drum line, the tray conveying drum line is perpendicular to the arrangement stack drum line, the top of the whole layer adsorption type truss manipulator covers the middle position of the arrangement stack drum line and the tray conveying drum line, the arrangement stack drum line is provided with a limiting plate on the left and right sides along the conveying direction and at the conveying end, and the arrangement stack drum line is provided with a box pushing mechanism.

2. The production line for adsorbing and stacking a whole layer according to claim 1, characterized in that, The paper box positioning machine comprises a steel structure support frame, the top of the steel structure support frame is provided with two parallel X-axis servo modules, a Y-axis servo module is arranged between the two X-axis servo modules, a visual guiding camera and a Z-axis lifting assembly are arranged on the Y-axis servo module, and the bottom of the Z-axis lifting assembly is provided with a rotary clamping positioning clamp.

3. The production line for adsorbing and stacking a whole layer according to claim 2, characterized in that, The rotary clamping positioning clamp comprises a bottom frame, a servo rotary table is arranged at the top of the bottom frame, the servo rotary table is provided with a servo motor and a speed reducer, and a Z-axis connecting seat is arranged at the top of the servo rotary table. The bottom of the bottom frame is provided with two parallel first sliding rails, two fixed plates are slidably arranged on the first sliding rails, a row of clamping shafts is arranged on the fixed plates, the two rows of clamping shafts on the two fixed plates are parallel, a first air cylinder and a self-rotating gear with a bearing are arranged on the bottom frame, the first air cylinder is arranged along the sliding direction of the fixed plate, and the piston end of the first air cylinder is connected with one of the fixed plates. Cam followers are arranged on the two sides of the self-rotating gear with a bearing, one centering rack is connected to the inner side of each fixed plate, and the self-rotating gear with a bearing and the cam followers on the two sides are matched with the two centering racks respectively.

4. The production line for adsorbing and stacking a whole layer according to claim 1, characterized in that, The box pushing mechanism comprises a box pushing frame fixed at the bottom of the arrangement stack drum line, two parallel second sliding rails are arranged at the top of the box pushing frame, a box pushing fixed plate is slidably arranged on the second sliding rails, a row of box pushing shafts is arranged on the box pushing fixed plate, and each box pushing shaft penetrates upward from the drum gap of the arrangement stack drum line. A second air cylinder is arranged at the bottom of the arrangement stack drum line, an air cylinder pushing plate is arranged at the bottom of the box pushing fixed plate, and the piston end of the second air cylinder is connected with the air cylinder pushing plate.

5. The production line for adsorbing and stacking a whole layer according to claim 1, wherein, Two oppositely arranged tray positioning air cylinders are arranged on the tray conveying drum line, the two tray positioning air cylinders are arranged on the left and right sides of the tray conveying drum line respectively, and a positioning baffle is connected to the inner side of each tray positioning air cylinder.

6. The production line for adsorbing and stacking a whole layer according to claim 1, wherein, The whole layer adsorption type truss mechanical arm comprises a transfer frame, a second X-axis servo module and a fan are arranged on the transfer frame, a second Z-axis servo module is arranged on the second X-axis servo module, and a whole layer suction tool is arranged at the bottom of the second Z-axis servo module, and the fan is used for providing power for the whole layer suction tool.

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