An automatic palletizing device

Abstract

The utility model belongs to automatic stacking structure technical field provides an automatic stacking device, include: box body conveying subassembly, is equipped with the box body receiving position and box body material taking position of adjacent setting along the box body conveying direction on box body conveying subassembly, tray conveying subassembly, tray conveying subassembly is adjacent with box body conveying subassembly Setting, full stack conveying subassembly, full stack conveying subassembly sets up in one side of tray conveying subassembly, stacking subassembly, stacking subassembly sets up in the area that is enclosed by box body conveying subassembly, tray conveying subassembly and full stack conveying subassembly or the side edge adjacent to this area. Compared with prior art, the utility model discloses a box body conveying subassembly, tray conveying subassembly, full stack conveying subassembly and stacking part, realize the automation operation from the whole process of box body receiving, tray supply, box body handling to stacking and stacking, effectively replace traditional manual handling and stacking operation, significantly reduce the labor intensity of worker, improve the stacking efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of automatic palletizing structure technology, and specifically relates to an automatic palletizing device. Background Technology

[0002] In modern industrial production, automated production lines have been widely used in the manufacturing and packaging of various products to improve production efficiency, reduce labor costs, and enhance product quality. After workpieces complete processing, assembly, and inspection, they typically require automatic box sealing, and the sealed boxes are then transported to designated areas for palletizing or transport preparation.

[0003] Currently, many steps in the subsequent operations after the workpiece is automatically sealed still rely on manual intervention. For example, in existing technologies, after the box is sealed, a pallet must be placed manually in a designated stacking area, and then the operator manually moves the box onto the pallet and stacks it according to certain rules. This operation method is not only labor-intensive but also has a certain impact on the operator's health, especially in continuous high-intensity work environments, which can easily lead to fatigue, thereby affecting work efficiency and safety.

[0004] Furthermore, with the application of fully automated production lines, the box sealing process has achieved a high degree of automation, with fast sealing speed and a compact pace. However, the box palletizing process still requires manual handling and stacking, making this a bottleneck process on the entire production line. To match the sealing speed, one or more operators are often needed specifically for handling and palletizing, which not only increases the investment of human resources but also directly increases the overall production cost of the workpiece.

[0005] Therefore, there is an urgent need for a device or system that can achieve automatic handling and palletizing to replace traditional manual operations, improve the automation level of the entire packaging and palletizing process, and thus meet the requirements of modern production lines for efficiency and cost control. Utility Model Content

[0006] The technical problem to be solved by this utility model is to provide an automatic palletizing device in light of the current state of the technology.

[0007] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: an automatic palletizing device is proposed, including: a box conveying component, wherein the box conveying component is provided with a box receiving position and a box picking position arranged adjacent to each other along the box conveying direction, the box receiving position is used to receive the box to be palletized, and the box picking position is used to position the box located thereon.

[0008] A pallet transport assembly is disposed adjacent to the box transport assembly and is used to transport pallets. The end of the transport trajectory of the pallet transport assembly is directed toward the material handling position of the box.

[0009] A full-pile transport assembly is disposed on one side of the pallet transport assembly and is used to transport the pallets that have been stacked. The transport direction of the full-pile transport assembly is parallel to the transport direction of the pallet transport assembly.

[0010] A palletizing assembly is disposed in or on the side of an area enclosed by a box transport assembly, a pallet transport assembly and a full-pile transport assembly, the palletizing assembly being used to place a pallet on the full-pile transport assembly and to stack multiple layers of boxes on the pallet.

[0011] In the aforementioned automated palletizing device, the box transport assembly includes:

[0012] The first support frame, wherein the box receiving position and the box material taking position are both set on the first support frame;

[0013] A first linear conveyor, which is mounted on the first support frame, is used to transport the box body;

[0014] A first sensor and a second sensor are sequentially arranged along the conveying direction of the box. The first sensor is set on the first support frame and located on the side of the box receiving position facing the box picking position, and is used to sense the box on the box receiving position. The second sensor is set on the side of the box picking position away from the box receiving position, and is used to sense the box on the box picking position.

[0015] The first limiting member is disposed on the first support frame and located between the box receiving position and the box picking position. The first limiting member is electrically connected to the first sensor and is used to provide a limit for the box at the box receiving position.

[0016] A first pusher is disposed on the first support frame and located on one side of the housing material handling position. The first pusher is electrically connected to the second sensor and is used to push the housing at the housing material handling position to a predetermined position.

[0017] In the above-mentioned automatic palletizing device, the first limiting member includes a first cylinder erected on the first support frame and a first blocking block connected to the piston rod of the first cylinder. The first cylinder is used to drive the first blocking block to extend or retract into the first support frame.

[0018] The first pushing component includes a horizontally arranged second cylinder and a first pushing block connected to the piston rod of the second cylinder. The second cylinder is used to drive the first pushing block to push the box at the material picking position of the box.

[0019] In the aforementioned automated palletizing device, the pallet transport component includes:

[0020] The second support frame is equipped with adjacent pallet receiving positions and pallet picking positions;

[0021] The second linear conveyor is mounted on the second support frame and is used to transport the pallet from the pallet receiving position to the pallet picking position;

[0022] The third sensor is mounted on the second support frame and located on one side of the pallet receiving position, for sensing the pallet on the pallet receiving position;

[0023] The second limiting member is disposed on the second support frame and located between the pallet receiving position and the pallet picking position, and is used to limit the pallet on the pallet receiving position.

[0024] In the above-mentioned automatic palletizing device, the second limiting member includes: a support base; a third cylinder, which is disposed on the support base; and a second blocking block, which is rotatably disposed on the support base via a rotating shaft and connected to the piston rod of the third cylinder via a connecting rod. The third cylinder is used to drive the second blocking block to rotate around the rotating shaft.

[0025] The pallet receiving position has a first opening at one end away from the pallet picking position, and the first opening is used to allow the pallet to enter the pallet receiving position.

[0026] In the aforementioned automated palletizing device, the full-pile transport component includes:

[0027] The third support frame has adjacent stacking and transport positions;

[0028] The third linear conveyor is mounted on the third support frame and is used to transport the pallet with the boxes stacked on the palletizing position to the conveying position;

[0029] A fourth sensor and a fifth sensor are arranged adjacent to each other along the direction from the palletizing position to the transport position. The fourth sensor is located on the side of the palletizing position facing the transport position and is used to sense the pallet on the palletizing position. The fifth sensor is located on the side of the transport position away from the palletizing position and is used to sense the pallet on the transport position with the box placed on it.

[0030] The third limiting member is disposed on the third support frame and located between the stacking position and the transport position, and is used to limit the pallet placed on the stacking position;

[0031] The second pusher is disposed on the third support frame and located on one side of the palletizing position. The second pusher is electrically connected to the fourth sensor and is used to push the pallet on the palletizing position to a predetermined position.

[0032] In the aforementioned automatic palletizing device, the third limiting member includes a rotary cylinder and a third blocking block connected to the rotary cylinder.

[0033] The transport position is provided with a second opening at the end away from the stacking position. The second opening is used to allow the pallet with the box placed on the transport position to be removed from the third support frame.

[0034] The second pushing member includes a fourth cylinder arranged horizontally on the third support frame. The piston rod of the fourth cylinder is connected to a second pushing block. The fourth cylinder is used to drive the second pushing block to push the pallet on the stacking position.

[0035] In the aforementioned automated palletizing device, the palletizing assembly includes:

[0036] robotic arm;

[0037] A first connecting seat is driven to the robotic arm, which is used to move the first connecting seat between the box transport assembly, the pallet transport assembly and the full-stack transport assembly.

[0038] An adsorption element, which is disposed on the first connecting seat, is used to adsorb or release the box and the tray;

[0039] A displacement sensor is disposed at the end of the first connecting seat to detect the distance between the adsorption component and the box or tray.

[0040] In the aforementioned automatic palletizing device, the adsorption element includes two second connecting seats with adjustable spacing, and each second connecting seat is provided with a plurality of suction cups arranged at intervals.

[0041] In the aforementioned automatic palletizing device, the adsorption element further includes two fifth cylinders arranged in parallel on the first connecting seat. The two second connecting seats correspond one-to-one with the two fifth cylinders. The second connecting seats are connected to the piston rods of the fifth cylinders and are used to drive the two second connecting seats to move closer or further apart from each other.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] (1) By setting up box transport components, pallet transport components, full-stack transport components and palletizing components, the entire process from box receiving, pallet supply, box handling to pallet stacking is automated, effectively replacing traditional manual handling and palletizing operations, significantly reducing the labor intensity of workers and improving palletizing efficiency.

[0044] (2) The box conveying component realizes the reasonable layout of the box receiving position and the material picking position through the first support frame, and completes the continuous conveying of the box in conjunction with the first linear conveying component. The setting of the first sensor and the second sensor can monitor the position status of the box in real time to ensure the accuracy of subsequent pushing actions. The first limiting component and the first pushing component respectively realize the positioning and precise transfer functions of the box.

[0045] (3) The pallet transport component carries the pallet through the second support frame and uses the second linear transport component to transport the pallet from the receiving position to the picking position, so as to realize the orderly supply of pallets; the third sensor is used to detect whether the pallet is in place, and provides a basis for judgment for subsequent palletizing operations; the second limiting component limits the pallet when it is not fully in place, to prevent malfunctions. Attached Figure Description

[0046] Figure 1 This is a plan view of an automatic palletizing device according to this utility model.

[0047] Figure 2 It is a 3D view of the container transport components in operation.

[0048] Figure 3 This is a 3D view of the structure of the container transport component.

[0049] Figure 4 This is a 3D view of the pallet transport components in operation.

[0050] Figure 5 This is a 3D view of the structure of the pallet transport component.

[0051] Figure 6 This is a three-dimensional view of the second limiting component.

[0052] Figure 7 It is a 3D view of the components being transported in a full stack.

[0053] Figure 8 This is a 3D view of the structure of the fully stacked transport component.

[0054] Figure 9 This is a 3D view of the palletizing assembly without the robotic arm.

[0055] In the diagram, 100 is the container transport assembly; 110 is the first support frame; 111 is the container receiving position; 112 is the container picking position; 120 is the first linear conveyor; 130 is the first sensor; 140 is the second sensor; 150 is the first limiting component; 151 is the first cylinder; 152 is the first blocking block; 160 is the first pushing component; 161 is the second cylinder; 162 is the first pushing block; 170 is the container transport direction; 200 is the pallet transport assembly; 210 is the second support frame; 211 is the pallet receiving position; 212 is the pallet picking position; 213 is the first opening; 220 is the second linear conveyor; 230 is the third sensor; 240 is the second limiting component; 241 is the support base; 242 is the third cylinder; 243 is the third cylinder. 250. Second blocking block; 300. Pallet transport direction; 310. Full-pile transport assembly; 311. Third support frame; 312. Palletizing position; 313. Transport position; 314. Second opening; 320. Third linear transport component; 330. Fourth sensor; 340. Fifth sensor; 350. Third limiting component; 351. Rotary cylinder; 352. Third blocking block; 360. Second pushing component; 361. Fourth cylinder; 362. Second pushing block; 370. Full-pile transport direction; 400. Palletizing assembly; 410. Robotic arm; 420. First connecting seat; 430. Adsorption component; 431. Second connecting seat; 432. Fifth cylinder; 433. Suction cup; 440. Displacement sensor; 500. Pallet; 600. Box. Detailed Implementation

[0056] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0057] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention 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 indication will also change accordingly.

[0058] like Figures 1 to 9 As shown, an automatic palletizing device of this utility model includes: a box conveying component 100, a pallet conveying component 200, a full-pile conveying component 300, and a palletizing component 400.

[0059] Specifically, the box conveying assembly 100 is provided with a box receiving position 111 and a box picking position 112 arranged adjacent to each other along the box conveying direction 170. The box receiving position 111 is used to receive the stacked boxes 600, and the box picking position 112 is used to position the boxes 600 located thereon. The pallet conveying assembly 200 is arranged adjacent to the box conveying assembly 100 and is used to transport pallets 500. The end of the conveying trajectory of the pallet conveying assembly 200 faces the box picking position 112. The full-stack conveying assembly 300 is used for transporting full-stack... The transport component 300 is disposed on one side of the pallet transport component 200 and is used to transport the pallets 500 that have been stacked. The transport direction of the full-stack transport component 300 is parallel to the transport direction of the pallet transport component 200. The palletizing component 400 is disposed in or on the side of the area enclosed by the box transport component 100, the pallet transport component 200 and the full-stack transport component 300. The palletizing component 400 is used to place the pallet 500 on the full-stack transport component 300 and stack multiple layers of boxes 600 on the pallet 500.

[0060] The box conveying assembly 100 is arranged adjacent to the automatic box sealing machine. The automatic box sealing machine transports the sealed box 600 to the box receiving position 111 on the box conveying assembly 100.

[0061] During operation, the box conveying component 100 and the pallet conveying component 200 transport the box 600 and pallet 500 to the palletizing component 400, respectively. Once the box 600 and pallet 500 are in place, the palletizing component 400 begins to individually pick up the pallet 500 from the pallet conveying component 200 and place it on the full-pile conveying component 300. Then, it picks up the pre-positioned box 600 from the box picking position 112 and places it on the pallet 500 on the full-pile conveying component 300 for palletizing. After a predetermined number of boxes 600 are stacked on the pallet 500, the full-pile conveying component 300 transports the entire pallet 500 to the designated position, thus automatically completing the palletizing process for the box 600.

[0062] In this embodiment, by setting up a box transport component 100, a pallet transport component 200, a full-stack transport component 300, and palletizing components, the entire process from receiving the box 600, supplying the pallet 500, transporting the box 600, to palletizing and stacking is automated. This device effectively replaces traditional manual handling and palletizing operations, significantly reducing the labor intensity of workers and improving palletizing efficiency. At the same time, since no additional personnel are needed for handling and palletizing the box 600, human resource input is reduced, thereby effectively controlling production costs. In addition, this device can seamlessly connect to the subsequent packaging stages of a fully automated production line, improving the matching degree between the overall automation level and production cycle, and meeting the palletizing requirements after high-speed box sealing.

[0063] It is worth mentioning that, referring to Figures 1 to 3 The box conveying assembly 100 includes: a first support frame 110, with a box receiving position 111 and a box picking position 112 both disposed on the first support frame 110; a first linear conveyor 120 disposed on the first support frame 110 for conveying the box 600; and a first sensor 130 and a second sensor 140 sequentially disposed along the box conveying direction 170. The first sensor 130 is disposed on the first support frame 110 and located on the side of the box receiving position 111 facing the box picking position 112, for sensing the box 600 on the box receiving position 111. The second sensor 140 is disposed on the side of the box picking position 112 away from the box receiving position 112. One side of the housing receiving position 111 is used to sense the housing 600 on the housing picking position 112; the first limiting member 150 is disposed on the first support frame 110 and located between the housing receiving position 111 and the housing picking position 112. The first limiting member 150 is electrically connected to the first sensor 130 and is used to provide a limit for the housing 600 on the housing receiving position 111; the first pushing member 160 is disposed on the first support frame 110 and located on one side of the housing picking position 112. The first pushing member 160 is electrically connected to the second sensor 140 and is used to push the housing 600 on the housing picking position 112 to a predetermined position.

[0064] After the box 600 is received at the box receiving position 111, the first linear conveyor 120 begins to transport the box 600 along the box conveying direction 170, moving the box 600 from the box receiving position 111 to the box picking position 112. When the second sensor 140 senses the box 600 at the box picking position 112, it triggers a sensing signal and causes the first pusher 160 to push the box 600 at the box picking position 112, ensuring that each box 600 transported to the box picking position 112 is in the same picking position, thereby facilitating the palletizing assembly 400 to grasp the box 600.

[0065] The box conveying assembly 100 receives boxes 600 transported from the automatic box sealing machine, and the entry of boxes 600 into the box receiving position 111 should be continuous. Therefore, while the second sensor 140 senses a box 600 at the box picking position 112, the first sensor 130 can also sense the next box 600 entering the box receiving position 111. When the first sensor 130 senses the box 600, it triggers a signal, causing the first limiting member 150 to limit and block the box 600 at the box receiving position 111. Only after the box 600 at the box picking position 112 is picked up by the full-pile conveying assembly 300 will the first limiting member 150 release the restriction on the box 600 at the box receiving position 111, allowing it to smoothly enter the box picking position 112, thereby realizing the continuous conveying operation of the box conveying assembly 100 on the boxes 600.

[0066] In this embodiment, the box conveying assembly 100 achieves a reasonable layout of the box receiving position 111 and the material picking position through the first support frame 110, and works in conjunction with the first linear conveying component 120 to complete the continuous conveying of the box 600. The setting of the first sensor 130 and the second sensor 140 can monitor the position status of the box 600 in real time to ensure the accuracy of subsequent pushing actions; the first limiting component 150 and the first pushing component 160 respectively realize the positioning and precise transfer functions of the box 600. The overall structural design is reasonable, the operation is stable and reliable, and the controllability and automation level of the box 600 conveying process are further improved.

[0067] Furthermore, the first limiting member 150 includes a first cylinder 151 erected on the first support frame 110, and a first blocking block 152 connected to the piston rod of the first cylinder 151. The first cylinder 151 is used to drive the first blocking block 152 to extend or retract into the first support frame 110. The first pushing member 160 includes a second cylinder 161 erected horizontally, and a first pushing block connected to the piston rod of the second cylinder 161. The second cylinder 161 is used to drive the first pushing block to push the box 600 on the box material taking position 112.

[0068] In this embodiment, the first limiting member 150 employs a first cylinder 151 and a first blocking block 152 driven by the first cylinder 151, which can flexibly control the limiting state as needed to prevent the box 600 from entering the material picking position prematurely and ensure accurate positioning. The first pushing member 160 employs a second cylinder 161 and a first pushing block driven by the second cylinder 161, achieving rapid and stable pushing of the box 600, enabling the box 600 to accurately reach the predetermined position. Pneumatic components have fast response speed and high control precision, facilitating linkage with sensor signals and improving the system's automation level and execution reliability.

[0069] Reference Figure 1 , Figures 4 to 6 The pallet transport assembly 200 includes: a second support frame 210, on which are provided adjacent pallet receiving positions 211 and pallet picking positions 212; a second linear transport member 220, which is disposed on the second support frame 210, for transporting pallets 500 from pallet receiving positions 211 to pallet picking positions 212; a third sensor 230, which is disposed on the second support frame 210 and located on one side of the pallet receiving positions 211, for sensing the pallet 500 on the pallet receiving positions 211; and a second limiting member 240, which is disposed on the second support frame 210 and located between the pallet receiving positions 211 and the pallet picking positions 212, for providing a limit for the pallet 500 on the pallet receiving positions 211.

[0070] Similarly, the pallet receiving position 211 is used to receive the pallet 500 transported by the external automated handling mechanism. After the pallet 500 is placed in the pallet receiving position 211, the second linear conveyor 220 transports it to the pallet picking position 212 along the pallet transport direction 250. After the third sensor 230 detects that the pallet 500 has been transported from the pallet receiving position 211 to the pallet picking position 212, if it senses that a new pallet 500 is entering the pallet receiving position 211, it will trigger a sensing signal and cause the second limiting member 240 to limit and block the new pallet 500 on the pallet receiving position 211. Only after the pallet 500 on the pallet picking position 212 is removed by the pallet stacking assembly 400 will the second limiting member 240 release the restriction on the pallet 500 on the pallet receiving position 211, allowing it to continue to be transported forward under the action of the second linear conveyor 220 and enter the pallet picking position 212.

[0071] In this embodiment, the pallet transport assembly 200 carries the pallet 500 via the second support frame 210 and uses the second linear conveyor 220 to transport the pallet 500 from the receiving position to the picking position, achieving orderly supply of the pallet 500. The third sensor 230 is used to detect whether the pallet 500 is in place, providing a basis for judgment in subsequent palletizing operations. The second limiting member 240 limits the pallet 500 when it is not fully in place, preventing malfunctions. The overall structure is compact and logically clear, ensuring the stability and synchronization of the pallet 500 transportation process, providing a good foundation for the efficient operation of the palletizing assembly.

[0072] Furthermore, the second limiting member 240 includes: a support base 241; a third cylinder 242, which is disposed on the support base 241; a second blocking block 243, which is rotatably disposed on the support base 241 via a rotating shaft and connected to the piston rod of the third cylinder 242 via a connecting rod, the third cylinder 242 being used to drive the second blocking block 243 to rotate around the rotating shaft; a first opening 213 is provided at one end of the pallet receiving position 211 away from the pallet picking position 212, the first opening 213 being used to allow the pallet 500 to enter the pallet receiving position 211.

[0073] The second limiting component 240 employs a third cylinder 242 and a linkage mechanism driven by the third cylinder 242, which drives the second blocking block 243 to rotate around a pivot, thereby achieving flexible limiting and release of the pallet 500. This structure is responsive and stable in operation, suitable for limiting the pallet 500 of different specifications. In this embodiment, the pallet 500 is transported to the pallet receiving position 211 by the NGA trolley. The pallet receiving position 211 is provided with a first opening 213, which facilitates the smooth entry of the NGA trolley and the pallets 500 stacked on it into the pallet receiving position 211, avoiding jamming or misalignment, thereby improving the smoothness and reliability of pallet 500 feeding.

[0074] Reference Figure 1 , Figures 7 to 8 The full-pile transport assembly 300 includes: a third support frame 310, on which are arranged adjacent stacking positions 311 and transport positions 312; a third linear transport component 320, which is disposed on the third support frame 310 and is used to transport the pallet 500 with the box 600 stacked on the stacking position 311 to the transport position 312; and a fourth sensor 330 and a fifth sensor 340 arranged adjacent to each other along the direction from the stacking position 311 to the transport position 312. The fourth sensor 330 is disposed on the side of the stacking position 311 facing the transport position 312 and is used to sense the pallet 500 on the stacking position 311. 340 is positioned on the side of the transport position 312 away from the palletizing position 311, and is used to sense the pallet 500 on which the box 600 is stacked on the transport position 312; the third limiting member 350 is positioned on the third support frame 310 and located between the palletizing position 311 and the transport position 312, and is used to limit the pallet 500 placed on the palletizing position 311; the second pushing member 360 is positioned on the third support frame 310 and located on one side of the palletizing position 311, and the second pushing member 360 is electrically connected to the fourth sensor 330, and is used to push the pallet 500 on the palletizing position 311 to a predetermined position.

[0075] During operation, the palletizing assembly 400 transports the pallet 500 from the pallet pick-up position 212 of the pallet transport assembly 200 to the palletizing position 311. At this time, the fourth sensor 330 senses the presence of the pallet 500 at the palletizing position 311 and triggers a sensing signal, causing the second pusher 360 to push the pallet 500 on the palletizing position 311 to a predetermined position, ensuring that the pallet 500 placed on the palletizing position 311 is always in the same position. After the pallet 500 is positioned, the third limiter 350 provides a limit to the pallet 500 on the palletizing position 311 to prevent it from shaking during the palletizing process. Subsequently, the palletizing assembly 400 begins to place the boxes 600 picked up from the box pick-up position 112 of the box transport assembly 100 onto the pallet 500 in a predetermined orientation. When the number of boxes 600 on the stacking position 311 reaches the predetermined quantity, the third limiting member 350 releases the limiting on the pallet 500, and at the same time the third linear conveying member 320 transports the pallet 500 with the boxes 600 stacked along the full-stack conveying direction 370 from the stacking position 311 to the conveying position 312.

[0076] At this point, the palletizing component 400 picks up a new pallet 500 from the pallet picking position 212 of the pallet conveying component 200 and places it on the palletizing position 311, repeating the above process until all boxes 600 in the same batch have been palletized. Once the fifth sensor 340 detects the presence of a pallet 500 on the conveying position 312, it triggers a sensing signal to stop the third linear conveyor 320. After the pallet 500 with boxes 600 stacked on the conveying position 312 is transported away by other automated conveying mechanisms, the system will repeat the above actions to continue the next round of palletizing operations.

[0077] The full-pallet transport component 300 uses a third support frame 310 to divide the functions of the palletizing position 311 and the transport position 312. A third linear transport component 320 transports the palletized pallet 500 from the palletizing position 311 to the transport position 312. A fourth sensor 330 and a fifth sensor 340 work together to monitor the position of the pallet 500 in real time. A third limiting component 350 prevents the pallet 500 from shifting during palletizing, ensuring palletizing quality. A second pushing component 360 pushes the pallet 500 to the designated position for easy connection with subsequent transfer equipment. The overall structural design is scientific and reasonable, ensuring the orderly output of the pallet 500 after palletizing.

[0078] Furthermore, the third limiting member 350 includes a rotary cylinder 351 and a third blocking block 352 connected to the rotary cylinder 351; the end of the transport position 312 away from the stacking position 311 is provided with a second opening 313, which is used to allow the pallet 500 with the box 600 stacked on the transport position 312 to disengage from the third support frame 310; the second pushing member 360 includes a fourth cylinder 361 arranged horizontally on the third support frame 310, the piston rod of the fourth cylinder 361 is connected to the second pushing block 362, and the fourth cylinder 361 is used to drive the second pushing block 362 to push the pallet 500 on the stacking position 311.

[0079] The third limiting component 350 adopts a rotary cylinder 351 and a third blocking block 352 driven by the rotary cylinder 351. It can switch the limiting state according to the command and has good adaptability and control flexibility. In this embodiment, the pallet 500 with the box 600 stacked is also taken away from the transport position 312 by the NGA trolley. The second opening 313 provided on the transport position 312 makes it easy for the NGA trolley to take away the pallet 500 after stacking, thus improving the efficiency of logistics flow. The second pushing component 360 is composed of a fourth cylinder 361 and a second pushing block 362. It has uniform pushing force and stable operation, ensuring that the pallet 500 is pushed into place, reducing manual intervention and improving the degree of automation.

[0080] Reference Figure 1 and Figure 9The palletizing assembly 400 includes: a robotic arm 410; a first connecting seat 420, which is drivenly connected to the robotic arm 410, the robotic arm 410 being used to move the first connecting seat 420 between the box conveying assembly 100, the pallet conveying assembly 200, and the full-pile conveying assembly 300; an adsorption element 430, which is disposed on the first connecting seat 420, for adsorbing or releasing the box 600 and the pallet 500; and a displacement sensor 440, which is disposed at the end of the first connecting seat 420 for detecting the distance between the adsorption element 430 and the box 600 or the pallet 500.

[0081] During operation, the robotic arm 410 moves the first connecting seat 420 towards the housing retrieval position 112 or the pallet retrieval position 212, bringing the adsorption component 430 close to the housing 600 or the pallet 500. When the displacement sensor 440 contacts the housing 600 or the pallet 500, a signal is triggered, causing the robotic arm 410 to stop moving the first connecting seat 420. At this point, the adsorption component 430 is firmly adsorbed onto the housing 600 or the pallet 500. Subsequently, the robotic arm 410 moves the first connecting seat 420 to transport the housing 600 or the pallet 500 to the palletizing position 311.

[0082] The palletizing assembly 400 employs a robotic arm 410 in conjunction with a first connecting seat 420, an adsorption component 430, and a displacement sensor 440 to achieve intelligent gripping and precise positioning of the box 600 and pallet 500. The robotic arm 410 can move freely among multiple components, enabling multi-point operation and offering strong applicability; the adsorption component 430 grips objects through adsorption, avoiding the risk of damage from contact; the displacement sensor 440 detects the distance between the adsorption component 430 and the target object in real time, effectively improving gripping accuracy and operational safety. The overall structure is highly intelligent and adaptable to various palletizing scenarios.

[0083] Furthermore, the adsorption component 430 includes two second connecting seats 431 with adjustable spacing, and each second connecting seat 431 is provided with a plurality of suction cups 433 arranged at intervals.

[0084] After the air source is connected, the suction cup 433 enables the adsorption component 430 to adsorb the tray 500 or the box 600. The two second connecting seats 431 allow the adsorption component 430 to adjust the distance between the two suction cups 433 according to the different sizes of the tray 500 or the box 600, thereby gripping the tray 500 or the box 600 more stably.

[0085] Furthermore, the adsorption component 430 also includes two fifth cylinders 432 arranged in parallel on the first connecting seat 420. The two second connecting seats 431 correspond one-to-one with the two fifth cylinders 432. The second connecting seats 431 are connected to the piston rod of the fifth cylinder 432 and are used to drive the two second connecting seats 431 to move closer or further apart from each other.

[0086] By setting the fifth cylinder 432 to drive the second connecting seat 431, the distance between the two adsorption components 430 can be adjusted, so that the entire adsorption component 430 can automatically adjust the clamping range according to the actual box 600 or tray 500 width. It can adapt to various specifications of products without replacing parts, which improves the flexibility and versatility of the system and further enhances the automation level and application adaptability of this device.

[0087] Preferably, the first linear conveyor 120, the second linear conveyor 220, and the third linear conveyor 320 all adopt a roller conveyor structure. This roller conveyor consists of multiple parallel rollers connected by chains or synchronous belts, powered by a drive motor, to achieve smooth and continuous conveying of materials such as boxes 600 and pallets 500. The roller conveyor can be designed as a powered or unpowered roller conveyor according to actual needs, and has advantages such as compact structure, stable operation, high load-bearing capacity, and convenient maintenance, making it suitable for material handling in various industrial automated production lines.

[0088] It should be noted that in this invention, the use of terms such as "first," "second," and "a" 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 that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. The terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly specified. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0089] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0090] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. An automatic palletizing device, characterized in that, include: A box conveying assembly is provided with a box receiving position and a box picking position arranged adjacent to each other along the box conveying direction. The box receiving position is used to receive the boxes to be stacked, and the box picking position is used to position the boxes located thereon. A pallet transport assembly is disposed adjacent to the box transport assembly and is used to transport pallets. The end of the transport trajectory of the pallet transport assembly is directed toward the material handling position of the box. A full-pile transport assembly is disposed on one side of the pallet transport assembly and is used to transport the pallets that have been stacked. The transport direction of the full-pile transport assembly is parallel to the transport direction of the pallet transport assembly. A palletizing assembly is disposed in or on the side of an area enclosed by a box transport assembly, a pallet transport assembly and a full-pile transport assembly, the palletizing assembly being used to place a pallet on the full-pile transport assembly and to stack multiple layers of boxes on the pallet.

2. The automatic palletizing device as described in claim 1, characterized in that, The container transport assembly includes: The first support frame, wherein the box receiving position and the box material taking position are both set on the first support frame; A first linear conveyor, which is mounted on the first support frame, is used to transport the box body; A first sensor and a second sensor are sequentially arranged along the conveying direction of the box. The first sensor is set on the first support frame and located on the side of the box receiving position facing the box picking position, and is used to sense the box on the box receiving position. The second sensor is set on the side of the box picking position away from the box receiving position, and is used to sense the box on the box picking position. The first limiting member is disposed on the first support frame and located between the box receiving position and the box picking position. The first limiting member is electrically connected to the first sensor and is used to provide a limit for the box at the box receiving position. A first pusher is disposed on the first support frame and located on one side of the housing material handling position. The first pusher is electrically connected to the second sensor and is used to push the housing at the housing material handling position to a predetermined position.

3. An automatic palletizing device as described in claim 2, characterized in that, The first limiting member includes a first cylinder erected on the first support frame and a first blocking block connected to the piston rod of the first cylinder. The first cylinder is used to drive the first blocking block to extend or retract into the first support frame. The first pushing component includes a horizontally arranged second cylinder and a first pushing block connected to the piston rod of the second cylinder. The second cylinder is used to drive the first pushing block to push the box at the material picking position of the box.

4. An automatic palletizing device as described in claim 1, characterized in that, The pallet transport assembly includes: The second support frame is equipped with adjacent pallet receiving positions and pallet picking positions; The second linear conveyor is mounted on the second support frame and is used to transport the pallet from the pallet receiving position to the pallet picking position; The third sensor is mounted on the second support frame and located on one side of the pallet receiving position, for sensing the pallet on the pallet receiving position; The second limiting member is disposed on the second support frame and located between the pallet receiving position and the pallet picking position, and is used to limit the pallet on the pallet receiving position.

5. An automatic palletizing device as described in claim 4, characterized in that, The second limiting member includes: a support base; a third cylinder, which is disposed on the support base; and a second blocking block, which is rotatably disposed on the support base via a rotating shaft and connected to the piston rod of the third cylinder via a connecting rod. The third cylinder is used to drive the second blocking block to rotate around the rotating shaft. The pallet receiving position has a first opening at one end away from the pallet picking position, and the first opening is used to allow the pallet to enter the pallet receiving position.

6. An automatic palletizing device as described in claim 1, characterized in that, The full-stack transport assembly includes: The third support frame has adjacent stacking and transport positions; The third linear conveyor is mounted on the third support frame and is used to transport the pallet with the boxes stacked on the palletizing position to the conveying position; A fourth sensor and a fifth sensor are arranged adjacent to each other along the direction from the palletizing position to the transport position. The fourth sensor is located on the side of the palletizing position facing the transport position and is used to sense the pallet on the palletizing position. The fifth sensor is located on the side of the transport position away from the palletizing position and is used to sense the pallet on the transport position with the box placed on it. The third limiting member is disposed on the third support frame and located between the stacking position and the transport position, and is used to limit the pallet placed on the stacking position; The second pusher is disposed on the third support frame and located on one side of the palletizing position. The second pusher is electrically connected to the fourth sensor and is used to push the pallet on the palletizing position to a predetermined position.

7. An automatic palletizing device as described in claim 6, characterized in that, The third limiting member includes a rotary cylinder and a third blocking block connected to the rotary cylinder; The transport position is provided with a second opening at the end away from the stacking position. The second opening is used to allow the pallet with the box placed on the transport position to be removed from the third support frame. The second pushing member includes a fourth cylinder arranged horizontally on the third support frame. The piston rod of the fourth cylinder is connected to a second pushing block. The fourth cylinder is used to drive the second pushing block to push the pallet on the stacking position.

8. An automatic palletizing device as described in claim 1, characterized in that, The palletizing assembly includes: robotic arm; A first connecting seat is driven to the robotic arm, which is used to move the first connecting seat between the box transport assembly, the pallet transport assembly and the full-stack transport assembly. An adsorption element, which is disposed on the first connecting seat, is used to adsorb or release the box and the tray; A displacement sensor is disposed at the end of the first connecting seat to detect the distance between the adsorption component and the box or tray.

9. An automatic palletizing device as described in claim 8, characterized in that, The adsorption component includes two second connecting seats with adjustable spacing, and each second connecting seat is provided with a plurality of suction cups arranged at intervals.

10. An automatic palletizing device as described in claim 9, characterized in that, The adsorption component also includes two fifth cylinders arranged in parallel on the first connecting seat. The two second connecting seats correspond one-to-one with the two fifth cylinders. The second connecting seats are connected to the piston rods of the fifth cylinders and are used to drive the two second connecting seats to move closer or further apart from each other.

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