CN110482239A - Palletizing system and palletizing method - Google Patents

Abstract

The application provides a palletizing system and a palletizing method. The palletizing system includes a first packaging conveyor line, a second packaging conveyor line, an empty pallet conveyor line, a finished product conveyor line, a first palletizing platform, and a second palletizing conveyor line. platform and a robot palletizer, the first palletizing platform and the second palletizing platform are set between the empty pallet conveying line and the finished product conveying line, and the empty pallet conveying line is provided with the first pallet buffer area and the second Pallet buffer area, the first finished product buffer area and the second finished product buffer area are set on the finished product conveying line, the first pallet buffer area is connected with the first palletizing platform and the first finished product buffer area by transmission, the second pallet buffer area It is connected with the second palletizing platform and the first finished product buffer area in transmission, and the robot palletizer is erected above the first pallet buffer area and/or the second pallet buffer area. The palletizing system has the advantages of high production efficiency, low cost and small footprint.

Description

Palletizing system and palletizing method

technical field

The application belongs to the technical field of automated production lines, and in particular relates to a palletizing system and a palletizing method.

Background technique

At present, the palletizing equipment for finished products in the domestic beer industry is still dominated by mechanical palletizers. A high-speed production line is usually equipped with one or two mechanical palletizers. Each palletizer requires an employee to be responsible for it. Robots perform palletizing of clamped cases, but the existing palletizing equipment, whether it uses a mechanical palletizer for palletizing operations or a robotic palletizer for palletizing operations, generally has the following shortcomings:

1. It is only suitable for single-line palletizing, and it is impossible to use one palletizer to carry out palletizing operations of more than two lines at the same time;

2. Since a production line needs to be equipped with at least one palletizer, the equipment investment cost is relatively large, and the entire palletizing production line occupies a large area.

Contents of the invention

In order to overcome the above-mentioned shortcomings of the prior art, the purpose of this application is to provide a palletizing system and a palletizing method, aiming at solving the problem of the high cost and large floor space of the existing palletizing production line, and the inability to use a palletizer to simultaneously Technical problems of palletizing operations with more than two lines.

The technical scheme that this application solves its technical problem adopts is:

A palletizing system, comprising a first packaging conveyor line and a second packaging conveyor line arranged side by side, an empty pallet conveyor line and a finished product conveyor line arranged side by side, a first palletizing platform and a second palletizing platform arranged side by side, And a robot palletizer, the first packaging conveyor line and the empty pallet conveyor line are set vertically, the first palletizing platform and the second palletizing platform are set between the empty pallet conveyor line and the finished product conveyor line, the empty pallet The conveying line is provided with a first pallet buffer area and a second pallet buffer area sequentially along the conveying direction, a first finished product buffer area and a second finished product buffer area are arranged on the finished product conveying line, the first pallet buffer area, the first The palletizing platform and the first finished product buffer area are arranged in sequence along the conveying direction of the first packaging conveying line, and the first pallet buffering area is isolated from the outlet end of the first packaging conveying line. The second pallet buffering area and the second palletizing platform , The second finished product buffer area is arranged in sequence along the conveying direction of the second packaging conveying line and the second pallet buffer area is isolated from the exit end of the second packaging conveying line, the first pallet buffer area is connected to the first palletizing platform, the second A finished product buffer area is connected by transmission, the second pallet buffer area is connected with the second palletizing platform and the first finished product buffer area, and the robot palletizer is installed on the first pallet buffer area and/or the second pallet buffer area over the sky.

Preferably, the aforementioned palletizing system further includes a first chain transmission mechanism, and in the conveying direction of the first packaging conveying line, the first pallet buffer area is simultaneously connected with the first palletizing platform and the first finished product through the first chain transmission mechanism. Buffer drive connections.

As a preference, the aforementioned palletizing system also includes a second chain transmission mechanism. In the conveying direction of the second packaging conveying line, the second pallet buffer area is simultaneously connected with the second palletizing platform and the second finished product through the second chain transmission mechanism. Buffer drive connections.

As preferably, the aforementioned palletizing system also includes a third packaging conveyor line, a third palletizing platform and a third chain transmission mechanism, the third packaging conveyor line is arranged side by side with the first packaging conveyor line and the second packaging conveyor line, and the third The palletizing platform is set side by side with the first palletizing platform and the second palletizing platform. There is also a third pallet buffer area on the empty pallet conveying line, and a third finished product buffering area on the finished product conveying line. The board buffer area is set between the first pallet buffer area and the third pallet buffer area, and the third pallet buffer area, the third palletizing platform, and the third finished product buffer area are arranged in sequence along the conveying direction of the third packaging conveying line And the third pallet buffer area is isolated from the exit end of the third packaging conveying line, the robot palletizer is erected above the second pallet buffer area, and in the conveying direction of the third packing conveying line, the third pallet buffer The area is simultaneously connected with the third palletizing platform and the third finished product buffer area through the third chain transmission mechanism.

Preferably, a wrapping machine is also provided on the finished product conveying line, and the second finished product buffer area, the first finished product buffer area, and the wrapping machine are arranged in sequence along the conveying direction of the finished product conveying line.

Preferably, a detacher is provided between the first pallet buffer area and the inlet end of the empty pallet conveying line, and the depalletizer is used to split the entire stack of pallets from the inlet end of the empty pallet conveying line into individual pieces empty pallets, wherein the entire stack of pallets is formed by stacking multiple empty pallets.

Preferably, the depaneling machine includes a box body and motors installed in the box and arranged in pairs, transmission mechanisms, cams, bearings, connecting sleeves, pull bars, cross bars, supporting roller seats, guide rails, connecting rods, swing arms, clamps, etc. The arm and the cylinder, the output shaft of the motor are connected to the cam through the transmission mechanism, the connecting sleeve is sleeved on the bearing, the bearing is fixedly connected to the flange of the cam along the axial direction, one end of the tie bar is fixedly connected to the connecting sleeve, and the other One end is fixedly connected to the cross bar; the support roller seat is arranged along the vertical direction and is respectively fixedly connected with one end of the cross bar, fixedly connected with the first end of the connecting rod and slidingly matched with the guide rail, the first end of the connecting rod and the swing arm The first end of the connecting rod is rotatably connected with the inner wall of the box along the horizontal direction, the second end of the connecting rod is movably connected with the inner wall of the box, the second end of the swing arm is fixedly connected with one end of the clamping arm, and the clamping arm The length direction of the holding arm is parallel to the conveying direction of the empty pallet conveying line. The cylinder is arranged on one side of the swing arm and the piston rod of the cylinder is movably connected to the swing arm. Direction setting, the wheel center position of the cam is higher than the position of the crossbar.

As a preference, the aforementioned palletizing system also includes a fourth chain transmission mechanism and a manual scanning code conveying line arranged side by side with the empty pallet conveying line. An automatic code scanning area is also provided between the buffer area and the exit of the board removal machine, and the automatic code scanning area is connected to the manual code scanning area through the fourth chain transmission mechanism.

As a preference, the first packaging conveying line is also provided with a first alignment mechanism, the first alignment mechanism includes a first air cylinder, a first connecting rod, a first baffle plate and a first differential belt, and the first alignment mechanism of the first air cylinder The piston rod is rotatably connected to one end of the first connecting rod, the other end of the first connecting rod is fixedly connected to the first end of the first baffle, and the first end of the first baffle is rotatably connected to the edge of the first packaging conveying line Above, the first differential belt is wound on the drum of the first packaging conveying line and arranged between the inlet end of the first packaging conveying line and the first baffle plate.

A palletizing method applied in the aforementioned palletizing system, the method comprising:

Detect whether there is an empty pallet on the first palletizing platform and the second palletizing platform;

If there are empty pallets on both the first palletizing platform and the second palletizing platform, then according to the predetermined first priority strategy, the robot palletizer will be controlled to transport the finished product packaging on the packaging conveyor line with the highest priority to the first Palletizing is performed on the palletizing platform or the second palletizing platform, wherein the packaging conveyor line includes a first packaging conveyor line and a second packaging conveyor line;

If there are no empty pallets on the first palletizing platform and the second palletizing platform, then according to the predetermined second priority strategy, the empty pallet conveyor line will be controlled to transport the empty pallets placed on it to the one with the lower priority. On the high palletizing platform, and when the empty pallet reaches the palletizing platform with higher priority, the robot palletizer is controlled to move the finished package on the corresponding packaging conveyor line to the first palletizing platform or the second palletizing platform Stacking on the platform, wherein the palletizing platform includes a first palletizing platform and a second palletizing platform;

If there is an empty pallet on the first palletizing platform and there is no empty pallet on the second palletizing platform, the robot palletizer is controlled to transport the finished product packaging on the first packaging conveyor line to the first palletizing platform for code stacking, and control the empty pallet conveying line to transport the empty pallet placed on it to the second palletizing platform;

If there is no empty pallet on the first palletizing platform and there is an empty pallet on the second palletizing platform, then the robot palletizer is controlled to transport the finished product packaging on the second packaging conveyor line to the second palletizing platform for code stack, and control the empty pallet conveying line to transport the empty pallet placed on it to the first palletizing platform;

When the finished package on the first palletizing platform or the second palletizing platform is palletized to a predetermined quantity and becomes a finished product stack, the robot palletizer is controlled to change to another palletizing platform for palletizing, and the finished product stack is transported To the finished product conveyor line for delivery.

Compared with prior art, the beneficial effect of the present application is:

The palletizing system proposed in this application can transport finished packages of two different specifications through the first packaging conveying line and the second packaging conveying line, and at the same time, the empty pallets can be conveyed to the first packaging conveying line through the empty pallet conveying line. on the first palletizing platform corresponding to the line and on the second palletizing platform corresponding to the second packaging conveyor line, and then the finished packages on different packaging conveyor lines are transported to the corresponding palletizing platform by the robot palletizer After the palletizing is completed, the palletized finished product packaging can be delivered out of the warehouse through the finished product conveyor line, thus realizing the full automation of the palletizing operation. At the same time, the overall layout of the palletizing system is compact and ingenious. At least two packaging conveyor lines can be palletized at the same time with one robot palletizer, and empty pallets can be provided for at least two palletizing platforms with one empty pallet conveyor line, which not only improves production Efficiency, but also reduces the high input cost of equipment and reduces the floor area of the production line.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can also obtain other drawings based on these drawings on the premise of not paying creative work.

Fig. 1 is the top view of the overall structure of the palletizing system in an embodiment of the present application;

Fig. 2 is a top view of the overall structure of the palletizing system after removing the robot palletizer in an embodiment of the present application;

Fig. 3 is the enlarged schematic diagram of place A in Fig. 2;

Fig. 4 is the enlarged schematic diagram of place B in Fig. 2;

Fig. 5 is a schematic structural view of a single empty pallet in an embodiment of the present application;

Fig. 6 is a schematic diagram of the use state of the board dismantling machine in an embodiment of the present application;

Fig. 7 is a schematic diagram of an external top view of the board dismantling machine in an embodiment of the present application;

Fig. 8 is a front view of the internal structure of the board dismantling machine in an embodiment of the present application;

Fig. 9 is a structural sectional view along the C-C direction in Fig. 8;

FIG. 10 is a schematic structural diagram along the arrow D direction in FIG. 9 .

Detailed ways

In order to more clearly understand the above objects, features and advantages of the present application, the present application will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. A lot of specific details are set forth in the following description to facilitate a full understanding of the application, and the described implementations are only a part of the implementations of the application, but not all of the implementations. Based on the implementation manners in this application, all other implementation manners obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terminology used herein in the description of the application is only for the purpose of describing specific embodiments, and is not intended to limit the application.

Referring to Fig. 1, Fig. 2 and Fig. 5, the embodiment of the present application provides a palletizing system, including a first packaging conveying line 1 and a second packaging conveying line 2 arranged side by side, an empty pallet conveying line 5 arranged side by side and a finished product Conveyor line 8, the first stacking platform 71 and the second stacking platform 72 that are arranged side by side, and a robot stacker 6, the first packaging conveyor line 1 and the empty pallet conveyor line 5 are vertically arranged, the first palletizer The platform 71 and the second palletizing platform 72 are arranged between the empty pallet conveying line 5 and the finished product conveying line 8, and the empty pallet conveying line 5 is provided with a first pallet buffer area 51 and a second pallet buffer in sequence along the conveying direction. Area 52, a first finished product buffer area 81 and a second finished product buffer area 82 are arranged on the finished product conveying line 8, and the first pallet buffer area 51, the first palletizing platform 71, and the first finished product buffer area 81 are conveyed along the first package The conveying direction of the line 1 is arranged sequentially and the first pallet buffer area 51 is isolated from the outlet end of the first packaging conveying line 1, the second pallet buffer area 52, the second palletizing platform 72, and the second finished product buffer area 82 are along the The conveying direction of the second packaging conveying line 2 is arranged successively and the second pallet buffer area 52 is isolated from the outlet end of the second packaging conveying line 2, and the first pallet buffer area 51 is connected to the first palletizing platform 71 and the first finished product. The buffer area 81 is connected by transmission, the second pallet buffer area 52 is connected by transmission with the second palletizing platform 72 and the first finished product buffer area 81, and the robot palletizer 6 is erected on the first pallet buffer area 51 and/or the second stack Above the plate buffer area 52, for example, the robot palletizer 6 is erected above the second pallet buffer area 52. It should be noted here that since the robot palletizer 6 is erected on the second pallet buffer area 52 (such as the robot palletizer 6 is set up above the second pallet buffer area 52 by four-legged mounting brackets), so there is a certain gap between the robot palletizer 6 and the second pallet buffer area 52. Therefore, it will not affect the entry and exit of empty pallets 100 into and out of the second pallet buffer area 52 .

In this embodiment, the first packaging conveying line 1 can be used to convey finished packages of one specification (such as cartons for glass bottles), and the second packaging conveying line 2 can be used to convey finished packages of another specification (such as cartons for pop cans), The robot palletizer 6 can be a KUKA four-axis robot whose model is KR180-2PA. Of course, other types of robots can also be used as the robot palletizer 6 in this embodiment. Specific limitations; specifically, the palletizing system works as follows:

The forklift transports the empty pallet 100 to the entrance of the empty pallet conveying line 5, and the empty pallet conveying line 5 transports the empty pallet 100 placed thereon to the first pallet buffer area 51 and the second pallet buffer respectively. Area 52, wherein, when the empty pallet 100 arrives at the first pallet buffer area 51, the empty pallet 100 is transferred from the first pallet buffer area 51 to the first palletizing platform 71, and when the empty pallet 100 arrives at the second After the pallet buffer area 52, the empty pallet 100 is transferred from the second pallet buffer area 52 to the second palletizing platform 72. At the same time, the finished packages of two different specifications from the production line pass through the first packaging conveyor line respectively. 1. The second packaging conveyor line 2 is transported to the gripping position of the robot gripper (that is, the position at one end of the first packaging conveyor line 1 and the second packaging conveyor line 2 close to the robot palletizer 6), for the robot palletizer 6 Carry out clamping and handling; when the first stacking platform 71 and the first packaging conveyor line 1 are all ready (that is, there is an empty pallet 100 on the first palletizing platform 71, the first packaging conveyor line 1 is close to the robot stacking There is a finished package at one end of the machine 6), or when the second palletizing platform 72 and the second packaging conveying line 2 are all ready (that is, there is an empty pallet 100 on the second palletizing platform 72, the second packaging Conveyor line 2 has finished product packaging near one end position of robot palletizer 6), then robot palletizer 6 can start to carry out stacking operation, for example, when just beginning, the first palletizing platform 71 and the first packaging conveying line 1 are all ready, but the second palletizing platform 72 and the second packaging conveying line 2 are still not ready, then at this time, the robot palletizer 6 can be controlled to first grab the finished product packaging on the first packaging conveying line 1 to the second Palletizing is performed on a palletizing platform 71, and as the palletizing operation progresses, the quantity of finished packages on the first packaging conveying line 1 will gradually decrease, while the quantity of finished packages on the first palletizing platform 71 will gradually increase, while The second palletizing platform 72 and the second packaging conveying line 2 are also about to be ready, and when the quantity of finished product packaging on the first palletizing platform 71 is palletized to a predetermined quantity and becomes finished product stacking, then the robot palletizer 6 can be controlled. Move the mechanical arm to the second packaging conveying line 2, and then begin to clamp the finished packaging on the second packaging conveying line 2 to the second palletizing platform 72 for palletizing, and at the same time, place the finished product on the first palletizing platform 71 The finished product stacks are transferred from the first palletizing platform 71 to the first finished product buffer area 81, and then transported out of the warehouse through the finished product conveyor line 8. At the same time, the empty pallet conveyor line 5 will place the empty pallets 100 on it After the first pallet buffer area 51 is added to the first stacking platform 71, as time progresses, finished product stacks are formed on the second stacking platform 72, and the first stacking platform 71 and the first packaging conveyor line 1 have all finished When ready, at this time, the robot palletizer 6 is controlled to move the mechanical arm to the first packaging conveying line 1, and then starts to clamp the finished product packaging on the first packaging conveying line 1 to the first palletizing platform 71 Palletizing, at the same time, the finished product stack on the second palletizing platform 72 is transferred from the second palletizing platform 72 to the second finished product buffer area 82, and then passes through the finished product conveying line 8 At the same time, the empty pallet conveying line 5 replenishes the empty pallet 100 placed on it to the second palletizing platform 72 through the second pallet buffer area 52, waiting for the next palletizing operation, Reciprocating in this way, the palletizing operation of more than two lines can be automatically completed by one robot palletizer 6; in addition, it is worth mentioning here that the robot palletizer 6 performs palletizing operations on the first palletizing platform 71 In the process, when the finished product stack has not been formed on the first palletizing platform 71, the second palletizing platform 72 and the second packaging conveying line 2 may be ready and the second packaging conveying line 2 is more than the first packaging conveying The finished product packaging quantity on line 1 is much more, then can control robot palletizer 6 to be replaced on the second palletizing platform 72 to carry out palletizing operation at this moment, likewise, robot palletizer 6 is on the second palletizing platform 72 During the palletizing operation on the second palletizing platform 72, the first palletizing platform 71 and the first packaging conveying line 1 may both be ready and the first packaging conveying line 1 must It is much more than the number of finished packages on the second packaging conveyor line 2, then the robot palletizer 6 can be controlled to be replaced on the first palletizing platform 71 for stacking operation, so, by different packaging conveyor lines The quantity of finished product packaging is monitored, and then according to the monitoring results, the robot palletizer 6 is controlled to perform palletizing operations alternately, which is conducive to further improving the production efficiency of the palletizing system.

In this embodiment, the palletizing system can transport finished packages of two different specifications through the first packaging conveying line 1 and the second packaging conveying line 2, and at the same time, the empty pallets 100 can be separated by the empty pallet conveying line 5. Transport to the first palletizing platform 71 corresponding to the first packaging conveying line 1 and the second palletizing platform 72 corresponding to the second packaging conveying line 2, and then the robot palletizer 6 will convey different packages The finished product packaging on the line is transported to the corresponding palletizing platform for palletizing. After the palletizing is completed, the palletized finished product packaging can be delivered out of the warehouse through the finished product conveyor line 8, thus realizing the full automation of the palletizing operation. At the same time, the overall layout of the palletizing system is compact and ingenious. A robot palletizer 6 can simultaneously perform palletizing operations on at least two packaging conveyor lines, and an empty pallet conveyor line 5 can be used for at least two packages respectively. The two palletizing platforms provide empty pallets 100, thus not only improving the production efficiency, but also reducing the high investment cost of the equipment and reducing the footprint of the production line.

Referring to Fig. 1, Fig. 2, Fig. 3 and Fig. 5, in an optional embodiment, the aforementioned palletizing system further includes a first chain transmission mechanism 711 and a second chain transmission mechanism 721, wherein, in the first package conveying In the conveying direction of line 1, the first pallet buffer area 51 is simultaneously connected with the first palletizing platform 71 and the first finished product buffer area 81 through the first chain transmission mechanism 711; in the conveying direction of the second packaging conveying line 2 , the second pallet buffer area 52 is simultaneously connected with the second palletizing platform 72 and the second finished product buffer area 82 through the second chain transmission mechanism 721. For example, the first chain transmission mechanism 711 and the second chain transmission mechanism 721 adopt the same structure.

In this embodiment, when the empty pallet conveying line 5 transports the empty pallet 100 placed thereon to the first pallet buffer area 51, the empty pallet 100 can be transferred from the first pallet through the first chain transmission mechanism 711 The plate buffer area 51 is transported to the first palletizing platform 71, so that the finished product packaging on the first packaging conveying line 1 is stacked on the empty pallet 100 of the first palletizing platform 71 during the palletizing operation. In addition, when When the finished product stack is formed on the first palletizing platform 71, the finished product stack can be transported from the first palletizing platform 71 to the first finished product buffer area 81 by the first chain transmission mechanism 711 again. At the same time, if the first pallet An empty pallet 100 is placed on the buffer area 51, then in the process of transporting the finished product stack from the first stacking platform 71 to the first finished product buffer area 81, the empty pallet 100 on the first pallet buffer area 51 will be With the transmission of the first chain transmission mechanism 711, it is added to the first stacking platform 71, waiting for the next stacking operation; the application process of the second chain transmission mechanism 721 on the second stacking platform 72 is the same as that of the first chain transmission mechanism. The application process of the mechanism 711 on the first palletizing platform 71 is the same, and those skilled in the art can understand it, so it will not be described in detail; in addition, it should be noted that since the use of a chain transmission mechanism for product transportation has already been established in the technical field of the production line It is a very mature technology, so those skilled in the art can know the specific structural composition and specific working principle of the first chain transmission mechanism 711 and the second chain transmission mechanism 721, and will not repeat them here.

Referring to Fig. 1, Fig. 2 and Fig. 5, in an optional embodiment, the aforementioned palletizing system also includes a third packaging conveying line 3, a third palletizing platform 73 and a third chain transmission mechanism 731, the third packaging The conveying line 3 is arranged side by side with the first packing conveying line 1 and the second packing conveying line 2; the third palletizing platform 73 is arranged side by side with the first palletizing platform 71 and the second palletizing platform 72; Also be provided with the 3rd pallet buffer area 53, be also provided with the 3rd finished product buffer area 83 on the finished product conveying line 8, the second pallet buffer area 52 is located at the first pallet buffer area 51 and the 3rd pallet buffer area 53 Between, the third pallet buffer area 53, the third palletizing platform 73, and the third finished product buffer area 83 are arranged in sequence along the conveying direction of the third packaging conveying line 3, and the third pallet buffering area 53 and the third packing conveying line 3 are separated from each other, and the robot palletizer 6 is erected above the second pallet buffer area 52. In the conveying direction of the third packaging conveying line 3, the third pallet buffer area 53 passes through the third chain transmission mechanism 731 At the same time, it is connected with the third palletizing platform 73 and the third finished product buffer area 83 through transmission.

In this embodiment, the palletizing system only needs to use one robot palletizer 6 to carry out the palletizing operations of three production lines at the same time, which further improves the production efficiency and the utilization rate of equipment. The specific process of the stacking operation of the three production lines performed by the machine 6 at the same time is similar to the specific process of using a robotic palletizer 6 to simultaneously perform the stacking operations of the two production lines. The description of the palletizing operation of the two production lines performed by the robot palletizer 6 at the same time will not be repeated here.

With reference to Fig. 1, Fig. 2 and Fig. 5, in an optional embodiment, also be provided with wrapping machine 9 on the finished product conveying line 8, the 3rd finished product buffer area 83, the second finished product buffer area 82, the first finished product buffer area The zone 81 and the wrapping machine 9 are arranged in sequence along the conveying direction of the finished product conveying line 8 .

In this embodiment, the stacks of finished products placed on the third finished product buffer area 83, the second finished product buffer area 82 and the first finished product buffer area 81 can be transported to the wrapping machine 9 through the finished product conveying line 8 for wrapping out of the warehouse. Therefore, by setting a wrapping machine 9 near the exit of the finished product conveying line 8 to wrap the finished product stack, the stability of the finished product stack packaging can be ensured.

With reference to Fig. 1, Fig. 2 and Fig. 5, in an optional embodiment, between the first pallet buffer area 51 and the inlet end of the empty pallet conveying line 5, a detacher 50 is arranged, and the detacher 50 is used for The whole stack of pallets 10 from the inlet end of the empty pallet conveying line 5 is split into individual empty pallets 100 , wherein the whole stack of pallets 10 is formed by stacking a plurality of empty pallets 100 .

In this embodiment, the setting of the depaneling machine 50 enables the forklift to provide the empty pallet 100 for the empty pallet conveying line 5 by using the whole stack of pallets 10 for handling, so as to prevent the forklift from picking up a single empty pallet 100 back and forth. , thereby not only improving the handling efficiency of the forklift, but also improving the plate supply efficiency of the empty pallet conveying line 5; specifically, the forklift transports the entire stack of pallets 10 to the entrance of the empty pallet conveying line 5, when the entire stack When the pallet 10 is transported to the station where the depaneling machine 50 is located, the edge detaching machine gradually disassembles the entire stack of pallets 10 into empty pallets 100 piece by piece, so that the empty pallet conveying line 5 can remove the empty pallets 100 are transported piece by piece to the required stations (such as the first pallet buffer area 51, the first palletizing platform 71 and other stations).

1 to 10, in an optional embodiment, the board removing machine 50 includes a box body 501 and a motor 504 installed in the box body 501 and arranged in pairs, a transmission mechanism, a cam 508, a bearing (not shown in the figure) marked), connecting sleeve 509, pull bar 510, cross bar 512, supporting roller seat 513, guide rail 514, connecting rod 515, swing arm 503, clamping arm 502 and cylinder 518, the output shaft of motor 504 passes through transmission mechanism and cam 508 transmission connection, the connecting sleeve 509 is set on the bearing, the bearing is fixedly connected with the flange part of the cam 508 in the axial direction, one end of the pull bar 510 is fixedly connected to the connecting sleeve 509, and the other end is fixedly connected to the cross bar 512 The support roller seat 513 is vertically arranged and fixedly connected with one end of the cross bar 512, fixedly connected with the first end of the connecting rod 515 and slidingly fitted with the guide rail 514, the first end of the connecting rod 515 is connected with the swing arm 503 The first end is rotatably connected and slidably connected with the inner wall of the box body 501 along the horizontal direction, the second end of the connecting rod 515 is rotatably connected with the inner wall of the box body 501, and the second end of the swing arm 503 is fixed to one end of the clamping arm 502 connected, and the length direction of the clamping arm 502 is parallel to the conveying direction of the empty pallet conveying line 5, the cylinder 518 is arranged on one side of the swing arm 503 and the piston rod of the cylinder 518 is movably connected to the swing arm 503, wherein the pull bar 510 is set along the vertical direction, guide rail 514 is set along the vertical direction, and the position of the wheel center of cam 508 is higher than the position of cross bar 512; Exemplarily, the transmission mechanism adopts a chain transmission mechanism, specifically including small sprocket 505, large sprocket 506, chain (not shown in the figure), bearing seat 507 and transmission shaft, bearing seat 507 is mounted on the top of box body 501, and large sprocket 506, bearing seat 507 and cam 508 are set in sequence along the axial direction of transmission shaft Set on the transmission shaft (not shown in the figure), the small sprocket 505 is sleeved on the output shaft of the motor 504 and is connected to the large sprocket 506 through a chain; The flange part is fixedly connected by means of a pin shaft and a nut. The shape of the connecting sleeve 509 is a cam shape. The pull bar 510 is in the form of a chain (such as a single row roller chain). fixedly connected with the flange part of the connecting sleeve 509, the other end of the tie bar 510 can be fixedly connected with the cross bar 512 through the flat head screw 511, and the support roller seat 513 is slidably matched with the guide rail 514 through the roller 5131 arranged at the bottom; example Specifically, the first end of the supporting roller seat 513 and the connecting rod 515 can be fixedly connected by connecting screws, and the inner wall of the box body 501 is provided with a first strip-shaped elongated hole 516, and the first end of the connecting rod 515 and the swing arm 503 The first end of the connecting rod 515 and the first end of the swing arm 503 can be rotatably connected and can slide left and right along the horizontal direction by means of bolts and nuts. Similarly, the inner wall of the box body 501 is also provided with a second strip-shaped slot 517, and the connecting rod 5 The second end of 15 can be installed on the first strip-shaped long hole 516 by means of bolts and nuts, so that the second end of the connecting rod 515 can rotate and slide left and right along the horizontal direction; for example, the clamping arm 502 There are multiple clamping parts 5021 that can be inserted into the side holes of the empty pallet 100; in addition, in specific applications, the motor 504 and the cylinder 518 are respectively electrically connected to the control system of the production line.

In this embodiment, the board removal principle of the board removal machine 50 is as follows:

At the beginning, the clamping arm 502 is in an open state and is at a certain height position. , control the extension of the piston rod of the cylinder 518, push the swing arm 503 to swing, and then drive the clamping arm 502 to close up and be clamped on the empty pallet 100 at the second position at the bottom in the whole stack of pallets 10; when the first stack When any station in the board buffer area 51, the second pallet buffer area 52, the third pallet buffer area 53, the first palletizing platform 71, and the second palletizing platform 72 lacks an empty pallet 100, the control motor 504 is Rotate, and then drive the cam 508 to rotate through the chain transmission mechanism, so that the flange portion of the cam 508 gradually rotates from the lowest point to the highest point, and because the connecting sleeve 509 is sleeved on the bearing and the bearing is axially aligned with the cam 508. The edge portion is fixedly connected, so during the rotation of the cam 508, the bearing will rotate with the rotation of the cam 508, but the connecting sleeve 509 will not rotate with the rotation of the cam 508 but from the Gradually the lowest point rises to the highest point and the flange portion of the connecting sleeve 509 is always downward, and the pull bar 510 will also rise with the rising of the connecting sleeve 509, and then pull the supporting roller seat 513 to move upward along the guide rail 514, When the support roller seat 513 moved upwards, one end of the connecting rod 515 was moved horizontally to the left along the first strip-shaped slot 516, while the other end of the connecting rod 515 moved horizontally to the right along the second strip-shaped slot 517 (equivalently As the connecting rod 515 swings upwards, the inclination angle with the horizontal line becomes larger), the swing arm 503 and the clamping arm 502 rise as the connecting rod 515 swings upwards, so that the second empty pallet 100 at the bottom is aligned with the first one at the bottom Empty pallets 100 are gradually separated to complete the detaching action. The separated first empty pallet 100 is transported to the required station through the empty pallet conveying line 5, and when the flange portion of the cam 508 rotates from the lowest point When reaching the highest point, the clamping arm 502 also rises to its highest critical position;

Subsequently, the control motor 504 is reversed to drive the cam 508 to rotate, so that the flange portion of the cam 508 gradually rotates from the highest point to the lowest point, and because the connecting sleeve 509 is sleeved on the bearing and the bearing is axially aligned with the cam 508 The flange portion is fixedly connected, so during the rotation of the cam 508, the bearing will rotate with the rotation of the cam 508, but the connecting sleeve 509 will not rotate with the rotation of the cam 508 but will rotate with the rotation of the cam 508 Gradually descend from the highest point to the lowest point and the flange portion of the connecting sleeve 509 is always downward, and the pull bar 510 will also fall along with the decline of the connecting sleeve 509, so that the supporting roller seat 513 will move along under the action of its own gravity. As the guide rail 514 moves down, when the supporting roller seat 513 moves down, one end of the pulling link 515 moves horizontally to the right along the first bar-shaped long hole 516, while the other end of the link 515 moves along the second bar-shaped long hole. The hole 517 moves horizontally to the left (equivalent to the downward swing of the connecting rod 515, and the inclination angle with the horizontal line becomes smaller), the swing arm 503 and the clamping arm 502 then descend with the downward swing of the connecting rod 515, thereby making the entire stack stack The plate 10 also gradually descends. When the flange portion of the cam 508 rotates from the highest point to the lowest point, the clamping arm 502 also descends to its lowest critical position. An empty pallet 100 is just in contact with the roller on the empty pallet conveying line 5. At this time, by controlling the piston rod of the cylinder 518 to shrink, the swing arm 503 is pulled to swing, and then the clamping arm 502 is driven to loosen the first piece at the bottom. Empty pallet 100, so that the first empty pallet 100 at the bottom of the current whole stack of pallets 10 is placed on the roller, waiting for the next board removal action.

In this embodiment, the structural design of the depaneling machine 50 is ingenious. By controlling the rising, falling, loosening and closing of the clamping arm 502, the depaneling machine 50 can gradually disassemble the whole stack of pallets 10 into pieces. The empty pallet 100 effectively improves the board feeding efficiency of the empty pallet conveying line 5 .

Referring to Fig. 1, Fig. 2 and Fig. 5, in an optional embodiment, the aforementioned palletizing system further includes a fourth chain transmission mechanism 574 and a manual code-scanning conveying line 4 arranged side by side with the empty pallet conveying line 5, The entrance end of the manual code scanning conveying line 4 is provided with a manual code scanning area 41, and an automatic code scanning area 57 is also provided between the first pallet buffer area 51 and the exit of the unpacking machine 50, and the automatic code scanning area 57 passes through the The four-chain transmission mechanism 574 is in transmission connection with the manual code scanning area 41. It should be pointed out here that the fourth chain transmission mechanism 574 is similar to the above-mentioned first, second and third chain transmission mechanisms 731, and it is mainly driven by a driving motor. Transmission components such as sprocket wheels drive the chain to rotate. Since the use of a chain transmission mechanism to transport products is a very mature technology in the production line technology field, the specific structural composition and specific working principle of the fourth chain transmission mechanism 574, Those skilled in the art can know, so it will not be repeated here.

In this embodiment, in the beer industry, since the finished product stacks will eventually enter the three-dimensional warehouse, and each finished product stack needs to be automatically transported to the corresponding warehouse in the three-dimensional warehouse by the machine, so the four empty pallets 100 Generally, a barcode 101 is pasted on the side as the identity mark of the empty pallet 100, so that when the finished product stack enters the three-dimensional warehouse, the machine can transport it to the corresponding warehouse through the barcode 101 on the empty pallet 100; specifically , when the empty pallet 100 is conveyed to the automatic code scanning area 57, the barcode 101 on the empty pallet 100 can be automatically scanned by an automatic code scanning machine arranged on the automatic code scanning area 57 (such as in the automatic code scanning area 57 An automatic code scanning machine is set on the side edge of the empty pallet 100 to scan the barcode 101 on the side of the empty pallet 100), if the automatic code scanning is successful, the empty pallet 100 can be continued It is transported forward to the desired station, and if the code scanning fails, the empty pallet 100 is moved to the manual code scanning area 41 through the fourth chain transmission mechanism 574, and the bar code on it is checked by the employee's hand-held code scanning machine. 101 performs supplementary code scanning. After the supplementary scanning is successful, the driving motor in the fourth chain transmission mechanism 574 is controlled to reverse, so that the empty pallet 100 after manual code scanning is successfully returned to the empty pallet conveyor line 5 automatically. Continue to convey forward; in this embodiment, after the empty pallet 100 is used for a long time, the barcode 101 set on it may have problems such as missing, debris coverage, etc. At this time, the automatic code scanning machine often cannot scan the code successfully , and in the prior art, when the empty pallet 100 fails to automatically scan the code, employees are often required to manually remove the empty pallet 100, so the labor intensity of the staff is high, and in this embodiment, by adding a manual code scanning conveyor line 4, And through the fourth chain transmission mechanism 574, the automatic code scanning area 57 on the empty pallet conveying line 5 is connected with the manual code scanning area 41 on the manual scanning code conveying line 4, so that after the automatic code scanning of the empty pallet 100 fails , can be automatically transferred to the manual code scanning area 41 through the fourth chain transmission mechanism 574 for manual re-scanning, and after manual re-scanning is successful, it can automatically return to the empty pallet conveyor line 5 and continue to be transported forward, thus effectively solving the current problem. In the prior art, when the automatic code scanning of the empty pallet 100 fails, it is necessary to manually remove the empty pallet 100, which greatly reduces the labor intensity of the employees.

Referring to Fig. 1, Fig. 2, Fig. 4 and Fig. 5, in an optional embodiment, a first arrangement mechanism 11 is also provided on the first packaging conveying line 1, and the first arrangement mechanism 11 includes a first air cylinder 110 , the first connecting rod 112, the first baffle plate 113 and the first differential belt 115, the first piston rod 111 of the first cylinder 110 is rotationally connected with one end of the first connecting rod 112, and the other end of the first connecting rod 112 is connected with The first end of the first baffle 113 is fixedly connected, and the first end of the first baffle 113 is rotatably connected to the edge of the first packaging conveying line 1. Meanwhile, the second end of the first baffle 113 is also provided with The pulley 114 and the first differential belt 115 are wound on the drum of the first packaging conveying line 1 and arranged between the entrance end of the first packaging conveying line 1 and the first baffle 113 .

In this embodiment, specifically, each finished package (such as glass bottle carton) from the product line enters from the inlet end of the first packaging conveying line 1, and when the finished package arrives at the area where the first differential belt 115 is located , because the transmission speed of the part of the belt near the inlet end of the first differential belt 115 is relatively slow, and the transmission speed of the part of the belt close to the first baffle plate 113 is relatively fast, so the front and rear two finished products can be separated by the first differential belt 115 The spacing between the packages, and when the finished package "walking" in the front meets the first baffle 113 in the horizontal state, under the blocking effect of the first baffle 113, the finished package has enough space to realize 90 ° turn and enter on the robot gripper grabbing position (for example, the finished package comes in horizontally, then after turning, it will enter into the robot gripper grabbing position with a vertical posture), wherein, the first baffle plate 113 The pulley 114 can guide the finished package to better realize turning; and when the quantity of finished package entering from the position of the first baffle plate 113 reaches a predetermined number, the first piston rod 111 of the first air cylinder 110 is controlled to shrink, thereby driving the first The baffle plate 113 is retracted by rotating along the conveying direction, so that the finished product package coming in from behind maintains its original posture and enters the gripping position of the gripper of the robot. Then the first piston rod 111 of the first cylinder 110 is controlled to elongate, and then the first baffle plate 113 is driven to rotate and extend in the opposite direction of the conveying direction, so that the finished package that comes in from behind realizes a 90° turn and enters the gripper of the robot Position, so reciprocating, so that the follow-up robot palletizer 6 clamps the finished package on the first packaging conveying line 1 to the first palletizing platform 71 at different clamping angles for palletizing, that is, "horizontal- Stack the finished packages on the empty pallet 100 in a vertical-horizontal or "vertical-horizontal-vertical" manner, so that compared with the stacking method of repeating stacking at a single angle, by stacking the finished packages on the empty pallet at staggered angles in turn On the pallet 100, the reliability of the palletizing operation can be improved, and the collapse of the stacked finished packages on the empty pallet 100 can be avoided during the process of palletizing the finished packages.

Referring to Fig. 1, Fig. 2 and Fig. 5, in an optional embodiment, a second arrangement mechanism 21 is also provided on the second packaging conveying line 2, and a third arrangement mechanism 21 is also provided on the third packaging conveying line 3. Mechanism 31, wherein, the arrangement, structure composition and function of the second alignment mechanism 21 and the third alignment mechanism 31 are basically the same as those of the first alignment mechanism 11, so it will not be repeated here.

Referring to Figures 1 to 10, the embodiment of the present application also provides a palletizing method, which is applied to the palletizing system in any of the above embodiments, and the method includes:

S1, detecting whether there is an empty pallet 100 on the first palletizing platform 71 and the second palletizing platform 72;

S2, if there are empty pallets 100 on both the first palletizing platform 71 and the second palletizing platform 72, then according to the predetermined first priority strategy, control the robot palletizer 6 to place the pallets on the packaging conveying line with the highest priority The finished package is transported to the first palletizing platform 71 or the second palletizing platform 72 for palletizing, wherein the packaging conveyor line includes the first packaging conveyor line 1 and the second packaging conveyor line 2;

If there is no empty pallet 100 on the first palletizing platform 71 and the second palletizing platform 72, then according to the predetermined second priority strategy, the empty pallet 100 that the empty pallet conveying line 5 will be placed on is controlled. Transport to the palletizing platform with higher priority, and when the empty pallet 100 arrives at the palletizing platform with higher priority, control the robot palletizer 6 to transport the finished product packaging on the corresponding packaging conveyor line to the first palletizing Stacking is performed on the platform 71 or the second stacking platform 72, wherein the stacking platform includes the first stacking platform 71 and the second stacking platform 72;

If there is an empty pallet 100 on the first palletizing platform 71 and there is no empty pallet 100 on the second palletizing platform 72, then the robot palletizer 6 is controlled to transport the finished product packaging on the first packaging conveyor line 1 to the first palletizing platform 72. Palletizing is performed on the palletizing platform 71, and the empty pallet conveying line 5 is controlled to transport the empty pallet 100 placed thereon to the second palletizing platform 72;

If there is no empty pallet 100 on the first palletizing platform 71 and there is an empty pallet 100 on the second palletizing platform 72, then the robot palletizer 6 is controlled to transport the finished product packaging on the second packaging conveying line 2 to the second palletizing platform 72. Palletize on the palletizing platform 72, and control the empty pallet conveying line 5 to transport the empty pallet 100 placed thereon to the first palletizing platform 71;

S3, when the finished packages on the first palletizing platform 71 or the second palletizing platform 72 are palletized to a predetermined quantity and become finished products, the robot palletizer 6 is controlled to be replaced on another palletizing platform for palletizing, And the finished product stack is transported to the finished product conveyor line 8 for outbound.

In the above S1, in some specific embodiments, photoelectric sensors can be installed on the first palletizing platform 71 and the second palletizing platform 72 to detect whether the first palletizing platform 71 and the second palletizing platform 72 There is an empty pallet 100 , of course, it can also be implemented by using other types of sensors or combinations of sensors, as long as the usage requirements can be met, and there is no specific limitation on this.

In the above S2, in some specific embodiments, the predetermined first priority strategy can be preset by the user in the production line control system, such as when the first palletizing platform 71, When there are empty pallets 100 on the second palletizing platform 72, the priority of the first packaging conveyor line 1 is higher than that of the second packaging conveyor line 2 (that is, the first packaging conveyor line 1 is preferentially selected for palletizing operation) ; In some other specific embodiments, the predetermined first priority strategy can also be determined according to the storage quantity of finished packages on the packaging conveying line, for example, it can be passed on the first packaging conveying line 1 and the second packaging conveying line 2 is provided with counting sensors and other methods to monitor the storage quantity of finished product packages on the first packaging conveyor line 1 and the second packaging conveyor line 2, and then when there is empty space on the first palletizing platform 71 and the second palletizing platform 72 When there are 100 pallets, the packaging conveying line with more storage quantity is preferentially selected for palletizing operations. If it is detected that the storage quantity of finished product packaging on the first packaging conveying line 1 is more than that on the second packaging conveying line 2 (or more certain quantity value), then the first packaging conveying line 1 can be preferentially selected for palletizing operation; and the predetermined second priority strategy can adopt the same strategy as the first priority strategy, which will not be repeated here, but in practice When applied, these two priority strategies can be used flexibly according to actual production needs.

In the above S3, whether the finished packages on the first palletizing platform 71 or the second palletizing platform 72 have been palletized to a predetermined quantity can be determined according to the number of times the robot palletizer 6 performs palletizing back and forth. When the number of times the stacker 6 stacks back and forth reaches a predetermined number of times, it can be determined accordingly that the finished packages on the first stacking platform 71 or the second stacking platform 72 have been stacked to a predetermined number, wherein, for different stacking The corresponding predetermined number of stacking platforms can be the same or different, and can be flexibly set according to the actual production situation in practical applications.

Referring to Figures 1 and 2, more specifically, the empty pallet conveying line 5 is sequentially provided with an entrance area 54, an unloading area 55, a transition area 56, an automatic code scanning area 57, and a first stack buffer area 51 along the conveying direction. , the second pallet buffer area 52 and the third pallet buffer area 53, a manual code scanning area 41 and an actual code scanning area 42 are provided on the manual code scanning conveying line 4, wherein the unpacking machine 50 is arranged in the unpacking area 55 Above, the rollers on the transition area 56, the automatic code scanning area 57, the first stack buffer area 51, the second pallet buffer area 52 and the third pallet buffer area 53 can pass through one or Multiple independent motors realize the rolling along the conveying direction. Referring to Figures 1 to 8, in some more specific embodiments, the specific working process of the palletizing system is as follows:

On the one hand, the forklift transports the entire stack of pallets 10 to the entrance area 54 one by one. One or more independent driving motors drive the rollers on the entrance area 54 to roll forward, and then transport the entire stack of pallets 10 to the depaneling area 55. When the position sensor arranged on the depaneling area 55 detects the When the position of the clamping arm 502 of the detaching machine 50 has been reached, the roller on the entrance area 54 is controlled to stop rolling, and at the same time, the action of the detaching machine 50 is controlled to clamp the clamping arm 502 in the whole stack of pallets 10 at the bottom On the empty pallet 100 of the second position; when the photoelectric sensor that is arranged on the front corresponding station detects the first pallet buffer area 51, the second pallet buffer area 52, the third pallet buffer area 53, the first pallet buffer area When any one of the palletizing platform 71 and the second palletizing platform 72 lacks an empty pallet 100, control the clamping arm 502 of the unpacking machine 50 to lift upwards, so that the second empty pallet 100 at the bottom is the same as the first one at the bottom. Empty pallet 100 separates gradually, and when clamping arm 502 lifts upwards to its highest critical position, control one or more independent motors that are arranged on the bottom of stripping area 55 to drive the rollers on stripping area 55 to roll forward, and then The first empty pallet 100 after separation is transported to the transition area 56, and when the position sensor arranged on the transition area 56 detects that the first empty pallet 100 has completely arrived at the transition area 56, then the control is set in the transition area. One or more independent driving motors at the bottom of the 56 drive the rollers on it to roll forward, and simultaneously control the rollers on the stripping area 55 to stop rolling and control the clamping arm 502 of the stripping machine 50 to move downward, when the clamping arm 502 When descending to its lowest critical position (at this time, the empty pallet 100 clamped by the clamping arm 502 is just in contact with the roller on the unpacking area 55), the clamping arm 502 releases the currently clamped empty pallet. plate 100 and clamped on the empty pallet 100 in the second position at the bottom of the current full stack of pallets 10, so that the empty pallet 100 in the first position at the bottom of the current full stack of pallets 10 is placed on the roller , waiting for the next board removal; and when the position sensor arranged on the automatic code scanning area 57 detects that the original first empty pallet 100 has reached the automatic code scanning area 57, the rollers arranged on it are controlled to stop Roll, and control the automatic code scanning machine arranged on the automatic code scanning area 57 to scan the empty pallet 100, if the code scanning is successful, then control the roller on the automatic code scanning area 57 to roll forward, so that the empty pallet 100 The pallet 100 is transported to the required station; and if the code scanning fails, the drive motor in the fourth chain transmission mechanism 574 is controlled to rotate forward, so that the empty pallet 100 is transferred from the automatic code scanning area 57 to the manual Scanning code area 41, it should be pointed out here that, for safety reasons, there will be barriers and other facilities between the manual code scanning area 41 and the actual code scanning area 42 for isolation, so when it is set in the manual code scanning area The position sensor on the 41 detects that the empty pallet 100 arrives at the manual code scanning area 4 At 1 o'clock, control the fourth chain transmission mechanism 574 to stop the transmission, and then control one or more independent driving motors arranged at the bottom of the manual code scanning conveyor line 4 to rotate forward, so as to transport the empty pallet 100 from the manual code scanning area 41 to the The actual code scanning area 42, when the position sensor arranged on the actual code scanning area 42 detects that the empty pallet 100 reaches the actual code scanning area 42, the employee can hold the bar code 101 on the empty pallet 100 with a hand-held code scanning machine. Carry out supplementary code scanning, after the supplementary scanning is successful, the code scanning machine will send the signal of successful supplementary scanning to the production line control system, and then control the reverse rotation of one or more independent drive motors arranged at the bottom of the manual code scanning conveyor line 4, so as to The empty pallet 100 returns to the manual code scanning area 41 from the actual code scanning area 42, and when the empty pallet 100 after successful supplementary scanning reaches the manual code scanning area 41, the roller on the manual code scanning conveying line 4 is controlled to stop rolling, and then Then control the drive motor in the fourth chain transmission mechanism 574 to reverse, so that the empty pallet 100 is returned to the automatic code scanning area 57 from the manual code scanning area 41, and when the empty pallet 100 after the successful scan arrives at the automatic code scanning area 57, then control the fourth chain transmission mechanism 574 to stop the transmission, and then control the roller on the automatic code scanning area 57 to roll forward, so that the empty pallet 100 is transported to the required station, so, through the above-mentioned process, so that each piece of empty pallet 100 can be transported to the required station in an orderly manner through the empty pallet conveying line 5. It should be noted here that when the empty pallet 100 is returned to the automatic When scanning the code area 57, since the production line control system has received the signal of successful re-scanning before, the automatic code-scanning machine set on the automatic code-scanning area 57 will no longer scan the empty pallet 100 after the successful re-scanning. Scan code;

On the other hand, the finished packages of three different specifications from the production line are transported to the gripping position of the robot gripper through the first packaging conveying line 1, the second packaging conveying line 2, and the third packaging conveying line 3 respectively (that is, the first packaging conveying line Line 1, the second packaging conveyor line 2, and the third packaging conveyor line 3 are located at one end of the robot palletizer 6, where a baffle is provided to prevent the finished package from continuing to be conveyed forward), for robot palletizing machine 6 for clamping and handling; assuming that at the beginning, the robot palletizer 6 performs stacking operations on the first palletizing platform 71, when it is arranged on the first, second, and third packaging conveyor lines 3 According to the analysis of each monitoring result of the counting sensor, the number of finished product packages on the second packaging conveyor line 2 is currently the largest, and it is higher than the finished product packages on the packaging conveyor line currently performing palletizing operations (the first packaging conveyor line 1 at this time). The number of packages exceeds a certain amount, and at the same time, the excess quantity reaches the predetermined quantity value (that is, the difference between the storage capacity of finished product packaging between the packaging conveyor line with the largest number of finished product packages and the packaging conveyor line currently performing palletizing operations reaches Predetermined value), then under the premise that there is an empty pallet 100 on the second palletizing platform 72 at present, the robot arm of the robot palletizer 6 is controlled to rotate to the robot gripper clamping position on the second packaging conveying line 2, and According to the telescopic state of the first piston rod 111 in the second arrangement mechanism 21 (the corresponding state signal will be sent to the robot palletizer 6 or the production line control system when the cylinder telescopic first piston rod 111), the robot palletizer 6. The clamp rotates to a predetermined angle that is suitable for the placement of the finished product package, and then the finished product package on the gripping position of the robot clamp is clamped to the second palletizing platform 72 for palletizing operation. In this way, through the counting sensor The storage quantity of finished packages on each packaging conveyor line is monitored in real time, and each monitoring result is analyzed, and the robot palletizer 6 can be controlled to perform palletizing operations on more than one line at the same time; assuming that the palletizing operation is performed on the robot palletizer 6 In the process, the first palletizing platform 71 takes the lead in forming the finished product stack, then the robot palletizer 6 is controlled to change to the production line with the highest priority among the other two production lines for palletizing operation, and the first chain transmission mechanism 711 is controlled to carry out the stacking operation. Drive to transfer the finished product stack on the first palletizing platform 71 from the first palletizing platform 71 to the first finished product buffer area 81, and then transport the finished product stack to the station where the wrapping machine 9 is located through the finished product conveying line 8 Carry out film wrapping and out of the warehouse, wherein, in the process of transporting the finished product stack from the first palletizing platform 71 to the first finished product buffer area 81, if there is an empty pallet 100 stored on the first pallet buffer area 51, the second The empty pallet 100 on a pallet buffer area 51 will be added to the first stacking platform 71 along with the transmission of the first chain transmission mechanism 711, waiting for the next stacking operation, and if the first pallet buffer area If there is no empty pallet 100 stored on the 51, then the single empty pallet 100 is taken out by the unpacking machine 50, and the empty pallet 100 is transported to the first pallet buffer area 51 by the empty pallet conveying line 5, When passing the buffer set in the first pallet When the position sensor on the area 51 detects that the empty pallet 100 arrives at the first pallet buffer area 51, the first pallet buffer area is controlled by controlling one or more independent driving motors arranged at the bottom of the transition area 56 to stop working. The roller on the 51 stops rolling, and then the first chain transmission mechanism 711 is controlled to drive, and the empty pallet 100 is added to the first stacking platform 71;

In this way, through the above process, the full automation of palletizing operations is realized. At the same time, the palletizing system only needs one robot palletizer 6 to perform palletizing operations on more than two lines at the same time, thus not only improving production efficiency, but also The high input cost of the equipment is reduced and the floor area of the production line is reduced.

The above is only a preferred embodiment of the application, and is not intended to limit the application in any form. Therefore, any modifications made to the above embodiments according to the technical essence of the application, Equivalent changes and modifications all still fall within the scope of the technical solutions of the present application.

Claims (10)

1. A stacking system, characterized in that, comprises the first packing conveying line and the second packing conveying line arranged side by side, the empty pallet conveying line and the finished product conveying line arranged side by side, the first stacking platform arranged side by side and The second palletizing platform, and a robot palletizing machine, the first packaging conveying line and the empty pallet conveying line are vertically arranged, and the first palletizing platform and the second palletizing platform are arranged on the empty Between the pallet conveying line and the finished product conveying line, the empty pallet conveying line is provided with a first pallet buffer area and a second pallet buffer area sequentially along the conveying direction, and a first pallet buffer area is arranged on the finished product conveying line. A finished product buffer area and a second finished product buffer area, the first pallet buffer area, the first palletizing platform, and the first finished product buffer area are arranged in sequence along the conveying direction of the first packaging conveying line, and the first pallet The buffer area is isolated from the outlet end of the first packaging conveying line, the second pallet buffering area, the second palletizing platform, and the second finished product buffering area are sequentially arranged along the conveying direction of the second packaging conveying line and The second pallet buffer area is isolated from the outlet end of the second packaging conveying line, the first pallet buffer area is connected to the first palletizing platform and the first finished product buffer area by transmission, and the first pallet buffer area The second pallet buffer area is in transmission connection with the second palletizing platform and the first finished product buffer area, and the robot palletizer is mounted on the first pallet buffer area and/or the second pallet buffer area over the sky. 2. The palletizing system according to claim 1, further comprising a first chain transmission mechanism, in the conveying direction of the first packaging conveying line, the first pallet buffer area passes through the first A chain transmission mechanism is in transmission connection with the first palletizing platform and the first finished product buffering area at the same time. 3. The palletizing system according to claim 1, further comprising a second chain transmission mechanism, in the conveying direction of the second packaging conveying line, the second pallet buffer area passes through the first The two chain transmission mechanisms are simultaneously in transmission connection with the second palletizing platform and the second finished product buffering area. 4. The palletizing system according to claim 1, further comprising a third packaging conveying line, a third palletizing platform and a third chain transmission mechanism, the third packaging conveying line and the first packaging The conveyor line and the second packaging conveyor line are arranged side by side, the third palletizing platform is arranged side by side with the first palletizing platform and the second palletizing platform, and a third pallet is also arranged on the empty pallet conveyor line A buffer area, a third product buffer area is also provided on the finished product conveying line, the second pallet buffer area is set between the first pallet buffer area and the third pallet buffer area, the The third pallet buffer area, the third palletizing platform, and the third finished product buffer area are arranged in sequence along the conveying direction of the third packaging conveying line, and the third pallet buffering area is connected to the exit of the third packaging conveying line The ends are separated, the robot palletizer is erected above the second pallet buffer area, and in the conveying direction of the third packaging conveying line, the third pallet buffer area passes through the third chain The transmission mechanism is in transmission connection with the third palletizing platform and the third finished product buffer area at the same time. 5. The palletizing system according to claim 1, characterized in that, a wrapping machine is also provided on the finished product conveying line, and the second finished product buffer area, the first finished product buffer area, and the wrapping machine are arranged along the The conveying direction of the finished product conveying line is set in sequence. 6. The palletizing system according to any one of claims 1-5, characterized in that, a detacher is arranged between the first pallet buffer area and the inlet end of the empty pallet conveying line, The depanel machine is used to split the whole stack of pallets from the inlet end of the empty pallet conveying line into single empty pallets, wherein the whole stack of pallets is stacked by a plurality of empty pallets made. 7. The palletizing system according to claim 6, wherein the depaneling machine includes a box body and a motor, a transmission mechanism, a cam, a bearing, a connecting sleeve, a puller installed in the box body and arranged in pairs. bars, cross bars, supporting roller seats, guide rails, connecting rods, swing arms, clamping arms and cylinders, the output shaft of the motor is connected to the cam through the transmission mechanism, and the connecting sleeve is sleeved on the bearing Above, the bearing is fixedly connected to the flange portion of the cam along the axial direction, one end of the tie rod is fixedly connected to the connecting sleeve, and the other end is fixedly connected to the cross bar; the supporting roller The seat is arranged vertically and is respectively fixedly connected with one end of the cross bar, fixedly connected with the first end of the connecting rod and slidingly fitted with the guide rail, the first end of the connecting rod is connected with the swing arm The first end of the connecting rod is rotatably connected and slidably connected with the inner wall of the box in the horizontal direction, the second end of the connecting rod is movably connected with the inner wall of the box, and the second end of the swing arm is connected with the inner wall of the box. One end of the clamping arm is fixedly connected, and the length direction of the clamping arm is parallel to the conveying direction of the empty pallet conveying line, the cylinder is arranged on one side of the swing arm and the piston rod of the cylinder is movably connected to the On the swing arm, wherein, the pull bar is arranged along the vertical direction, the guide rail is arranged along the vertical direction, and the position of the wheel center of the cam is higher than the position of the cross bar. 8. The palletizing system according to claim 6, further comprising a fourth chain transmission mechanism and a manual code-scanning conveyor line arranged side by side with the empty pallet conveyor line, the manual code-scanning conveyor line A manual code scanning area is provided at the entrance, and an automatic code scanning area is also provided between the first pallet buffer area and the exit of the depaneling machine, and the automatic code scanning area passes through the fourth chain transmission mechanism It is connected to the manual code scanning area by transmission. 9. The palletizing system according to any one of claims 1-5, characterized in that, the first packaging conveying line is also provided with a first alignment mechanism, and the first alignment mechanism includes a first Cylinder, first connecting rod, first baffle plate and first differential belt, the first piston rod of the first cylinder is connected to one end of the first connecting rod in rotation, and the other end of the first connecting rod is connected to The first end of the first baffle is fixedly connected, and the first end of the first baffle is rotatably connected to the edge of the first packaging conveying line, and the first differential belt is wound around the first The drum of a packaging conveying line is arranged between the inlet end of the first packaging conveying line and the first baffle. 10. A palletizing method, characterized in that it is applied to the palletizing system according to any one of claims 1-9, said method comprising: Detect whether there is an empty pallet on the first palletizing platform and the second palletizing platform; If there are empty pallets on both the first palletizing platform and the second palletizing platform, then according to the predetermined first priority strategy, the robot palletizer is controlled to transport the finished product packaging on the packaging conveyor line with the highest priority to the Palletizing is performed on the first palletizing platform or the second palletizing platform, wherein the packaging conveying line includes a first packaging conveying line and a second packaging conveying line; If there is no empty pallet on the first palletizing platform and the second palletizing platform, then according to the predetermined second priority strategy, the empty pallet conveying line is controlled to transport the empty pallet placed on it to the priority on the higher-level palletizing platform, and when the empty pallet reaches the higher-priority palletizing platform, the robot palletizer is controlled to transport the finished product packaging on the corresponding packaging conveyor line to the Palletizing is performed on the first palletizing platform or the second palletizing platform, wherein the palletizing platform includes the first palletizing platform and the second palletizing platform; If there is an empty pallet on the first palletizing platform and there is no empty pallet on the second palletizing platform, then control the robot palletizer to transport the finished product packaging on the first packaging conveying line to the first performing palletizing on the palletizing platform, and controlling the empty pallet conveying line to transport the empty pallet placed thereon to the second palletizing platform; If there is no empty pallet on the first palletizing platform and there is an empty pallet on the second palletizing platform, then control the robot palletizer to transport the finished product packaging on the second packaging conveying line to the second palletizing platform. Palletizing on the palletizing platform, and controlling the empty pallet conveying line to transport the empty pallet placed thereon to the first palletizing platform; When the finished packages on the first palletizing platform or the second palletizing platform are palletized to a predetermined quantity and become finished products, the robot palletizer is controlled to be replaced on another palletizing platform. Palletizing, and transporting the finished product stack to the finished product conveying line for outbound.