1610 results about "Palletizer" patented technology

The invention provides a full-automatic stacking method and system.The method is completed on the basis of a stacking robot, physical parameter information of goods to be stacked is obtained, a single-layer stacking reference scheme is generated on the basis of the physical parameter information and stacking environment parameters, and a final stacking scheme is generated on the basis of the single-layer stacking reference scheme; based on the area where the goods are located and the target stacking area, an optimal operation path is planned for the stacking robot, and automatic stacking operation is executed according to the final stacking scheme; the optimal stacking scheme can be automatically generated according to the physical characteristics of different cargos, and the method is suitable for stacking operation of cargos of various specifications and has wide application prospects.

The invention discloses a path planning method for a palletizing robot based on a multi-path convolutional neural network, and relates to the technical field of convolutional neural networks, and the method comprises the steps: employing the three-source data of a quality inspection report image, a damaged video and a microscopic image, extracting features through a parallel convolutional neural network, generating a dynamic maximum curvature constraint value after the fusion, and obtaining the path planning of the palletizing robot. And self-adaptive path planning of material characteristics is realized. And nodes conforming to curvature constraint are screened based on a probability route map (PRM) to generate a track, and the vibration spectrum energy of the mechanical arm is monitored in real time. When vibration exceeds a dynamic safety threshold value, subsequent path constraint is tightened in real time through a curvature penalty factor, and the damage risk is reduced by 90%; a closed loop of material analysis, path generation, vibration feedback and parameter correction is established, and balance of safety and efficiency is achieved in a high-speed stacking scene.

The present invention relates to a computer-implemented method of for operating a palletizer, comprising: receiving image data, using at least one camera, of at least one item intended to be handled by the palletizer in a handling process; analyzing, using a machine-learning model, the received image data; determining, using the machine-learning model, that an obstacle may cause a malfunction of the handling process; and generating a control signal for instructing the palletizer to stop the handling process.

The unmanned material transportation system comprises an intelligent equipment cluster and a remote centralized dispatching system, and the intelligent equipment cluster is connected with the remote centralized dispatching system; the intelligent equipment cluster comprises horizontal transportation intelligent equipment used for same-layer transportation of materials, an intelligent construction elevator used for cross-layer transportation of the materials and a stacking robot used for sorting, taking and placing of the materials. The remote centralized control system comprises a front-end interface and a rear-end server, wherein the front-end interface is used for issuing tasks and monitoring material processes and equipment states, the rear-end server is used for task scheduling, task path planning, task conflict monitoring and management and transmitting collected information to the front-end interface for display, and the front-end interface is connected with the rear-end server. And the intelligent equipment cluster and the back-end server are in two-way communication through the real-time communication module. Material sorting and transporting can be automatically completed, manual operation on a construction site can be reduced, the equipment efficiency is improved, and the transporting cost is reduced.

The unstacker comprises a feeding assembly, a lifting assembly, a positioning assembly and a discharging assembly, the feeding assembly is composed of a plurality of feeding supports distributed side by side, the lifting assembly is fixedly installed on one side of the feeding assembly, a motor frame is fixedly installed on one side of the top of the lifting assembly, the positioning assembly is fixedly installed on the top of the lifting assembly, and the discharging assembly is fixedly installed on the motor frame. The discharging assembly is fixedly installed on one side of the top of the lifting assembly. Stacked bagged materials can be driven to achieve feeding through lifting and stable traction of the supporting plate, conveying of each layer of materials during unstacking is facilitated, movement in the horizontal direction is achieved through the positioning assembly, accurate positioning can be achieved when the bagged materials are grabbed, bagged material suction is achieved through a negative pressure suction mode of a suction cup, and the bagged materials can be conveniently conveyed. The bagged materials are grabbed through the feeding assembly, heavy materials are lifted through the rotatable suction cup, meanwhile, the grabbed bagged materials are conveyed through the discharging assembly, meanwhile, it can be ensured that the conveying direction of the bagged materials is adjusted, and continuous unstacking of the bagged materials can be achieved.

The invention discloses a robot palletizer with an adjustable grabbing angle, and relates to the technical field of automatic equipment, the robot palletizer comprises a base and a mechanical arm fixedly mounted on the base, and a clamping mechanism is arranged at the tail end of the mechanical arm; the clamping mechanism comprises a V-shaped clamping frame, sliding channels are formed in the two sides of the clamping frame, sliding plates are arranged in the sliding channels in a sliding mode, first rotating channels are formed in the sliding plates, clamping plates are rotationally arranged in the first rotating channels, and the clamping plates and the sliding plates are crossed in an X shape; the inclination angle of the clamping plate is adjusted through the first control assembly. According to the robot palletizer with the adjustable grabbing angle, by arranging the clamping frame, the clamping plates, the reinforcing plates and other structures, the robot palletizer is suitable for cylindrical cargoes of various sizes, six linear contact positions can be always kept to clamp and lock the cargoes at most, the cargoes are distributed in a major arc shape, the grabbing stability is guaranteed, the robot palletizer can be conveniently pulled out, and the use efficiency of the robot palletizer is improved.

The invention discloses a stacking robot based on material transportation, and relates to the technical field of material stacking. The device comprises a mounting frame, a transverse plate is slidably connected to the inner side of the top of the mounting frame in a limiting mode, a hydraulic rod is fixedly mounted in the middle of the top of the mounting frame, the bottom end of the hydraulic rod is fixedly mounted to the center of the top end of the transverse plate, and first rotating shafts are rotatably connected to the interior of the transverse plate in a front-back symmetrical limiting mode; and gears are fixedly mounted on the peripheries of the middle parts of the front and rear rotating shafts. According to the stacking device, materials can be elastically clamped, the clamping force can be mastered more easily, the materials can be effectively clamped under the condition that the materials are not damaged, the materials clamped between the clamping plates can be horizontally moved up and down, the stacking stability and precision are improved, the clamping friction force between the stacking device and the materials can be adjusted according to the distribution of the weight of the materials, and the stacking efficiency is improved. Inclined movement of the materials due to uneven weight distribution is avoided, and normal proceeding of subsequent material clamping and stacking is facilitated.

A palletizing system includes one or more palletizers. A database is configured to maintain a stacking pattern library containing multiple stacking patterns for the palletizers. A computer is operatively connected to the database. The computer is configured to automatically select a stacking pattern for a selected one of the palletizers. In other words, the computer is configured to change the stacking pattern of one of the palletizers without changing the other palletizers. The database is configured to maintain unique palletizer identifiers used for identifying individual palletizers to promote expandability.

The invention relates to the technical field of magnesium ingot conveying, in particular to a discharging and conveying device and method for magnesium ingot conveying The discharging and conveying device comprises a rack, a continuous casting machine body and a conveying mechanism are vertically distributed on the rack, the continuous casting machine body is used for conveying produced magnesium ingots from left to right, and a limiting mechanism is arranged on the rack. A side scrap removing mechanism is arranged between the continuous casting machine body and the conveying mechanism, the magnesium ingot discharging angle, the optimal discharging position and the vertical sliding track can be accurately controlled, and the magnesium ingots are prevented from deviating in the conveying process; chippings and impurities on the surfaces of the magnesium ingots are brushed away, and the situation that normal conveying of the magnesium ingots is affected due to deviation of conveying of the magnesium ingots caused by blockage, blockage and clamping stagnation of chain seams of the conveying mechanism due to direct contact with the conveying mechanism after blanking is prevented; the arrangement action of a plurality of magnesium ingots required by stacking is preposed, and the situation that the magnesium ingots and a chain belt are scraped when the magnesium ingots are stacked at a processing point and wait for a stacking robot to grab the magnesium ingots is reduced.

The invention relates to a stacking path planning method, system and equipment based on multiple stackers and a medium, and relates to the technical field of workshop transportation, and the method comprises the steps that a dynamic risk hot area map is generated through the real-time personnel density, a two-dimensional map is updated in combination with the positions of idle stackers, and the shortest obstacle avoidance path is planned; and candidate stackers meeting a return electric quantity safety threshold value are screened based on a motion energy consumption model, the moving distance and time consumption of the candidate stackers are calculated, a weighted scoring model fusing the distance, time and path risk values is constructed, and the stacker with the optimal comprehensive score is selected to execute an emergency task. According to the method, the path planning of the stacker crane executing the emergency task and other stacker cranes can be optimized, and the continuity of executing multiple stacking tasks by the stacker cranes is improved.

The invention provides a visual positioning and grabbing force control method for a palletizing robot in the intelligent manufacturing industry, and relates to the technical field of intelligent manufacturing. The multispectral visual positioning module at least comprises a visible light imaging unit, a near-infrared imaging unit and a structured light imaging unit; s2, on the basis of the material three-dimensional information, fitting a material motion track through a motion trend prediction model, and calculating a target grabbing position in advance; through visible light + near infrared + structured light multispectral fusion, the problem of interference of dust and haze on visual positioning is solved, and the positioning error is reduced to be within 1mm in combination with an adaptive weight algorithm; and meanwhile, the grabbing position is calculated in advance through the motion trend prediction model, the dynamic positioning response speed is increased, compared with the prior art, the performance is higher, and the high-speed dynamic stacking requirement is met.

The invention relates to an automatic stacker crane, and belongs to the technical field of stackers, the automatic stacker crane comprises a frame body and a bearing plate, the frame body is provided with a driving assembly for driving the bearing plate to move, the bearing plate is provided with a rotating plate, the bottom of the bearing plate is provided with a dragging assembly for dragging the rotating plate to move, and the lower surface of the bearing plate is fixedly provided with a first motor; a first telescopic rod is fixedly arranged on an output shaft of the first motor, the end, away from the first motor, of the first telescopic rod is fixedly connected with the rotating plate, supporting plates are fixedly arranged on the two opposite sides of the upper surface of the rotating plate, first guide rails are fixedly arranged on the opposite sides of the two supporting plates, and the supporting plates are slidably connected with sliding rods in the first guide rails. A moving plate is connected to the side, facing the outside of the guide rail, of the sliding rod, a first moving assembly for driving the moving plate to move is arranged at the sliding rod, a clamping plate is connected to the side, deviating from the sliding rod, of the moving plate, and a second moving assembly for driving the clamping plate to move is arranged at the moving plate.

The invention relates to the technical field of packaging equipment, in particular to packaging equipment for an organic pigment production line, the packaging equipment comprises a base, a controller, a conveying track, a conveying mechanism, a discharging mechanism, a press sealing mechanism and a stacking mechanism, the controller is fixedly mounted on the front side of the base, the conveying track is fixedly mounted on the top of the base, and the conveying mechanism is fixedly mounted on the top of the base; and the conveying mechanism is arranged at the top of the conveying track. Transmission continuity and stability are guaranteed, local positioning precision is improved, the influence that a chain structure is prone to elongation and transmission stability is poor is overcome, automatic packaging is achieved, small packages can be separated, taking and using are convenient, an upper cover and a check ring are sealed, a sealing plug and a charging box are sealed, a two-layer sealing structure is adopted, the sealing performance is good, and the sealing effect is good. The check ring at the top of the feeding box is connected with the bottom of the feeding box above in an inserted mode, the bottom of the feeding box tightly presses the upper cover in an inner cavity of the check ring, the sealing performance is further improved, automatic stacking and placing are achieved, transportation is convenient, and the requirement for automatic production is met.

The utility model discloses an annular part truss stacking device. The annular part truss stacking device comprises a feeding mechanism, a clamping mechanism and a stacking mechanism, wherein the clamping mechanism is arranged on one side of the feeding mechanism and used for centrally positioning and clamping fed annular parts, and the stacking mechanism is used for transferring and stacking the positioned and clamped annular parts. The feeding mechanism comprises a supporting frame and a plurality of gravity rollers arranged on the supporting frame, and the annular pieces are fed in a sliding mode along a gravity roller way formed by the gravity rollers. The clamping mechanism comprises a mounting frame arranged below the supporting frame, and a first sliding plate and a second sliding plate which are arranged on the mounting frame in a sliding manner and are driven by a power mechanism to move oppositely, suspension frames are mounted on the first sliding plate and the second sliding plate, and clamping blocks located above the gravity rollers are mounted on the suspension frames; the stacking mechanism comprises a stacking table, a moving assembly arranged above the stacking table through a supporting rod and an annular clamping piece driven by the moving assembly to move. According to the annular piece stacking device, the stacking efficiency of annular pieces is improved.

The utility model provides a stacker crane and a production line, the stacker crane comprises a fixed frame, a movable frame, a bottom support and a swing assembly, a product stacking position and a product lifting position are arranged in the fixed frame, a forced pushing piece is arranged on the fixed frame, the movable frame and the fixed frame are in sliding fit in the vertical direction, the bottom support is rotatably connected with the movable frame, and the swing assembly is arranged on the bottom support. A product containing position is formed above the bottom supporting support, a bottom opening is formed below the product containing position, the bottom supporting support can rotate around the first rotating axis between the closing position for closing the bottom opening and the opening position for opening the bottom opening, and the swing assembly is rotationally connected with the movable frame. In the initial state, the swing assembly is in limiting fit with the bottom supporting support, and the bottom supporting support is kept at the closed position. When the movable frame moves upwards in the vertical direction relative to the fixed frame, the forced pushing piece applies acting force to the top of the swing assembly, the swing assembly is forced to rotate, the swing assembly applies acting force to the bottom supporting support, limiting between the swing assembly and the bottom supporting support is relieved, and the bottom supporting support rotates around the first rotating axis to the opening position. The stacker crane can achieve stacking of multiple layers of box bodies, and is simple in structure, low in cost and small in occupied space.

The invention relates to the field of food stacking devices, in particular to a carrying and stacking robot for food industrial processing. The device comprises a mechanical arm, a bearing frame, a guide ring, a limiting plate, a conveying roller mechanism and a switching mechanism. The mechanical arm is provided with a control end; the bearing frame is connected to the control end; the two guide rings are horizontally and symmetrically arranged on the bearing frame; the conveying roller mechanism comprises a plurality of groups of conveying roller assemblies which are distributed side by side along the trend of the outer contour of the guide ring, each conveying roller assembly comprises a roller group and two groups of moving assemblies which are symmetrically distributed relative to the roller group, each moving assembly comprises a moving frame for rotationally mounting the roller group and a roller assembly rolling on the guide ring, and the roller assemblies are rotationally arranged on the moving frames; the switching mechanisms are arranged on the two guide rings respectively, drive the movable frame to move and comprise three chain wheels which are rotationally arranged on the guide rings and distributed at the positions of the triangles respectively. A whole layer of goods can be carried and stacked at a time, and the stacking efficiency is high.

The invention relates to the technical field of packaging box carrying, in particular to a stacking manipulator for packaging box carrying, which comprises a mechanical arm and a mounting seat rotatably mounted on the mechanical arm, the bottom of the mounting seat is fixedly connected with a mounting plate, and the bottom of the mounting plate is symmetrically and slidably connected with supporting plates for supporting a packaging box. A pressing plate is slidably connected to the bottom of the mounting base. The mechanical arm is firstly controlled to enable the supporting plate to move to make contact with the bottom of the packaging box, then the air cylinder is started to drive the pressing plate to clamp the packaging box, then the mechanical arm is controlled to enable the supporting plate to drive the packaging box to move to the placing position, then the double-shaft motor is started to enable the supporting plate to be disengaged from the packaging box, and at the moment, the clamping plate and the packaging box are clamped; and then the clamping plates drive the packaging box to stably and slowly move downwards to be placed, so that the situation that the goods are impacted and damaged due to the shaking phenomenon caused by falling of the packaging box is prevented, and the safety of the goods is guaranteed.

The invention provides an automatic material grabbing device based on tobacco material frame limiting cooperation of a stacking robot, and relates to the technical field of stacking robots, the automatic material grabbing device comprises a mechanical arm and further comprises a supporting assembly, the supporting assembly comprises a mounting column fixedly connected to the mechanical arm, and the bottom end of the mounting column is fixedly connected with a foundation bottom plate; transverse supporting rods are slidably connected to the two sides of the bottom end of the foundation bottom plate, first sliding blocks are slidably connected into the transverse supporting rods, and extension arms are fixedly connected to the outer sides of the first sliding blocks. By means of the design, the transverse distance and the longitudinal distance of the material grabbing device can be accurately adjusted according to the size of materials, the device can adapt to the grabbing requirements of materials such as cigarette boxes and cigarette material frames of different specifications, and the defect that tools need to be manually replaced due to the fact that the distance of existing equipment cannot be flexibly adjusted is overcome. The problem that the continuous production efficiency is low due to frequent shutdown and tool replacement is solved, and continuous grabbing operation of multi-form materials is achieved.

The invention relates to the technical field of carton packaging finished product conveying and stacking, in particular to carton packaging finished product conveying and stacking equipment which comprises a material taking mechanism, a limiting mechanism and a stacking mechanism. Through cooperation of the material taking mechanism and the limiting mechanism, fixed-point material taking can be conducted on carton packaging finished products conveyed on the conveying frame, and the multiple carton packaging finished products subjected to fixed-point material taking can be sequentially stacked and placed from bottom to top only by repeating a single moving track; through cooperation of the material taking mechanism and the stacking mechanism, two stacks of carton packaged finished products which are adjacent front and back can be tightly attached and stacked together, the placing distance between the two stacks of carton packaged finished products which are adjacent left and right can be reduced as much as possible, and therefore the shaking space between each stack of carton packaged finished products is greatly reduced.

The utility model belongs to the field of paper tube stacking, and discloses a paper tube stacking machine for paper product processing, which comprises a conveying mechanism for supporting and conveying paper tubes, and further comprises a pushing mechanism mounted at one end of the conveying mechanism and used for pushing the paper tubes to roll down, a stacking mechanism used for preventing paper tubes from falling off and conveying stacked paper tubes is installed on the front face of the pushing mechanism, and a bundling mechanism used for bundling the stacked paper tubes is installed at one end of the stacking mechanism. The pushing mechanism comprises a supporting frame, a back plate is installed on the supporting frame, and a hydraulic push rod is installed on the back plate. According to the paper tube stacking machine for paper product processing, manual paper tube bundling and stacking are replaced by automatic paper tube bundling and stacking, and paper tube bundling convenience is improved; the paper tubes can be quickly stacked and stacked in order in the stacking bin by releasing and accumulating the paper tubes to sequentially roll down from the inclined plane; and the paper tubes are prevented from sliding out in the conveying process through the arrangement of stopping the paper tubes from moving left and right.

The present invention discloses an automatic palletizing and conveying device for producing gift boxes, and relates to the technical field of automatic palletizing, conveying and packaging equipment for gift boxes. A first conveyor belt is used to convey a single gift box, and a palletizing bin is provided at one end of the first conveyor belt, and a second conveyor belt is provided at one end of the palletizing bin, and the second conveyor belt is used to convey the palletized gift boxes. The palletizing bin palletizes the gift boxes through a palletizing mechanism, and a pushing mechanism pushes the palletized gift boxes onto the second conveyor belt. The present invention can realize the automatic palletizing operation of the gift boxes by providing a palletizing mechanism; by providing a pushing mechanism, the gift boxes can be automatically palletized neatly when the bottom opening is opened, and then the palletized gift boxes are moved from the palletizing bin to the second conveyor belt, so as to realize the automatic palletizing and conveying operation of the gift boxes, which can greatly save labor and improve production efficiency.

The automatic sorting and warehousing device comprises a conveying mechanism, a sorting mechanism, a stacking container, a stacking mechanism, a warehousing mechanism, a PLC and an upper computer, the conveying mechanism comprises a conveying belt, a gravity sensor is arranged below the conveying belt, the gravity sensor is connected with the PLC, the sorting mechanism comprises a sorting mechanical arm, and the sorting mechanical arm is connected with the upper computer. The sorting mechanical arm is located above the conveying belt, the sorting mechanical arm is connected with the PLC and controlled by the PLC, a photoelectric sensor and a camera client are arranged on the sorting mechanical arm, the stacking container is located between the sorting mechanical arm and the stacking mechanical arm, the stacking mechanism comprises a stacking mechanical arm, and the storage mechanism comprises a goods shelf. According to the corn cob sorting device, rapid and accurate sorting and storage of corn cobs can be achieved, compared with a traditional manual sorting mode, a large number of corn cobs can be processed within a short time, the labor cost is effectively reduced, and meanwhile sorting errors caused by human factors are reduced.

The invention discloses stacking and film winding equipment and a control method thereof.The stacking and film winding equipment comprises a tray conveying assembly used for inputting empty trays and outputting solid trays; the tray distributing assembly is used for receiving and storing the empty trays on the tray conveying assembly; the stacking robot is used for carrying out material stacking on the empty trays; the film winding robot is used for carrying out film winding and packaging on the solid trays; the first stacking assembly is used for conveying the empty trays from the tray distributing assembly to the stacking robot; and the second stacking assembly is used for conveying the solid trays packaged by the film winding robot to the tray conveying assembly to be output. Empty trays are conveyed to the stacking robot from the tray distributing assembly through the first stacking assembly, then solid trays packaged by the film winding robot are conveyed to the tray conveying assembly through the second stacking assembly to be output, in this way, stacking and film winding of the logistics warehouse management system can be integrally completed, and the overall operation efficiency is improved.

The invention discloses an automatic steel cylinder stacking line, and particularly relates to the technical field of material stacking equipment, the automatic steel cylinder stacking line comprises a first conveying line, a second conveying line, a stacking device and a partition plate placing area, the stacking device comprises a stacking robot and a stacking clamp, and a bottom supporting assembly is arranged on the stacking clamp. Through the arrangement of the bottom supporting assembly, in the process that the supporting frame moves in the direction close to or away from the fixed plate, a guide rod can drive a guide wheel to move in four areas of a guide groove in sequence, and when the output end of a second driving piece is completely retracted, a bottom supporting piece can move to the bottom of a box body to support the bottom of the box body; when the output end of the second driving piece completely extends out, the bottom supporting piece is higher than the box body, the bottom supporting piece is prevented from making contact with a tray in the box body placing process, and therefore a large amount of distance needed during overturning can be saved in a translation mode, and potential safety hazards caused by the fact that the box body slides from a high position are avoided.

The emulsion explosive stacker crane with the detection function comprises a sliding base and a clamp mechanism, the clamp mechanism comprises a mounting base and a clamping arm assembly, and the clamping arm assembly comprises a sliding plate, a clamping plate and a pose detection part. The sliding plate is connected to the mounting base through the clamping driving part, and the clamping driving part drives the sliding plate to slide in the X-Z plane; the two clamping plates are symmetrically arranged, the two clamping plates are connected to the sliding plate through side position adjusting driving parts, and the side position adjusting driving parts drive the clamping plates to slide in the Y-axis direction; the pose detection parts are connected to the sliding plate, each clamping plate is correspondingly provided with one group of pose detection parts, and the pose detection parts are used for detecting the height of the corresponding position of the upper end face of the clamped material and feeding back the height of the position as a displacement stroke; and the height of one side, corresponding to the two side positions, of the clamped material is adjusted to a proper position by driving the sliding plate to slide. The stacking stability can be improved, and meanwhile the stacking operation efficiency can be improved.

The present invention discloses a palletizing robot and a palletizing method for wall cloth processing, and relates to the field of manipulators. In the present invention, when a clamping plate clamps and grabs an article, an auxiliary support claw can be supported on the bottom surface of the article to provide auxiliary support for the article, thereby improving the stability of the palletizing robot when grabbing and conveying the article and preventing the article from falling during the grabbing and conveying process; the auxiliary support claw is initially folded and installed on the outer side surface of the lower part of the clamping plate by a lifting and rotating assembly, and will not hinder the clamping of the article by the clamping plate, so that when the clamping plate grabs the article, there is no need to leave a suspended position at the bottom of the article, thereby making the clamping process of the article more convenient and improving the applicability of the palletizing robot; and when the article is grabbed and conveyed to the stacking position, the auxiliary support claw can be driven by the lifting and rotating assembly to reset and fold on the outer side surface of the lower end of the clamping plate in advance, thereby reducing the space occupied by the auxiliary support claw, which is conducive to densely stacking the articles.

The invention belongs to the technical field of coal mine airtight wall building, and particularly relates to a movable type airtight wall building double-arm operation platform. Comprising a crawler walking mechanism, and a double-operation-arm stacking unit, a brick arranging area, a brick pre-arranging mechanical arm and a brick feeding area are sequentially arranged on the crawler walking mechanism from front to back; the brick pre-arranging mechanical arm is used for moving bulk bricks in the brick feeding area into the brick arranging area and arranging the bulk bricks into brick units according to the width of a wall body; the double-operation-arm stacking unit comprises a left stacking mechanical arm and a right stacking mechanical arm which act independently, the two stacking mechanical arms grab the brick units from the left row of brick units and the right row of brick units correspondingly to conduct wall building, and the two stacking mechanical arms cooperate to conduct wall building within the set length range. By means of the work division operation mode of brick pre-arrangement and overall stacking, the wall building efficiency can be greatly improved; the two stacking mechanical arms open left and right to conduct wall building operation, and the wall building efficiency is doubled compared with a traditional single-mechanical-arm mode.

The invention discloses an automatic steel grating welding and grinding system which comprises a positioning and material taking device, a carrying device, a welding device, a coping device and a stacking device, the carrying device comprises a carrying robot and a carrying clamping jaw connected to the carrying robot, and the carrying robot conveys the positioned steel grating to the welding device through the carrying clamping jaw; the welding device can be used for welding the steel grating, the welding device can also be used for automatically welding and grinding the welded steel grating on the moving cutter grinding device from the welding device, the stacking device comprises a stacking robot and a stacking clamping jaw installed on the stacking robot, and the stacking device takes down the steel grating ground by the grinding device for stacking. Manual operation is not needed in the whole process, consistency and stability of the welding quality are guaranteed through the welding device, meanwhile, the steel grating is further ground through the grinding device, the workpiece quality is greatly improved, the production efficiency is greatly improved, and the labor amount of workers is greatly reduced.

The present invention relates to the technical field of palletizers, and more specifically, to a buffer structure for a palletizer for special-shaped plates, including a mounting sleeve, wherein the outer wall of the mounting sleeve is provided with a plurality of bearings, a rotating ring is fixedly installed at the rotating end of each bearing, and a groove is provided on the surface of the opposite side of each two rotating rings. In the present invention, after the special-shaped plate moves to the top of the pallet, the staff starts the motor so that the output shaft drives the second screw to rotate, so that the lifting plate drives the pressing plate to descend, and then the staff controls the mounting sleeve to descend, and the connecting plate moves with the limiting rod, so that the special-shaped plate fits with the pallet or other special-shaped plates on the pallet. When the connecting plate moves, the top block can push the pressing plate, the second spring is compressed, and the suction cup no longer adsorbs the special-shaped plate, so that the special-shaped plate is stacked on the pallet or the upper end of other special-shaped plates. During the palletizing process, the special-shaped plate fits with the pallet or other special-shaped plates to prevent damage to the special-shaped plate.