CN110482239A

CN110482239A - Palletizing system and palletizing method

Info

Publication number: CN110482239A
Application number: CN201910829509.XA
Authority: CN
Inventors: 邹德志; 王志斌; 李锦平; 张元朝; 李勇; 陈晓彬; 曾强
Original assignee: GUANGZHOU NANSHA ZHUJIANG BEER CO Ltd
Current assignee: GUANGZHOU NANSHA ZHUJIANG BEER CO Ltd
Priority date: 2019-09-03
Filing date: 2019-09-03
Publication date: 2019-11-22

Abstract

The application provides a kind of palletizing system and palletizing method, palletizing system, including the first packaging pipeline, second packaging pipeline, empty stack plate pipeline, finished product pipeline, first piling platform, second piling platform and a robot stacking machine, first piling platform, second piling platform is set between empty stack plate pipeline and finished product pipeline, empty stack plate pipeline 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 provided on finished product pipeline, first pallet buffer area and the first piling platform, the transmission connection of first finished product buffer area, second pallet buffer area and the second piling platform, the transmission connection of first finished product buffer area, robot stacking machine is set up in the overhead of the first pallet buffer area and/or the second pallet buffer area.The palletizing system has many advantages, such as that high production efficiency, at low cost and occupied area are small.

Description

Palletizing system and palletizing method

Technical field

The application belongs to automatic production line technical field, and in particular to a kind of palletizing system and palletizing method.

Background technique

For current Domestic Beer industry finished product Palletizer still based on mechanical stacking machine, a high-speed production lines are usual With one or two mechanical stacking machines, every stacking machine needs an employee to be responsible for specially, while also having a small number of using machine People carries out folder case stacking, but existing Palletizer, either carries out palletizing operation or machine using mechanical stacking machine People's stacking machine carries out palletizing operation, generally existing following disadvantage:

1, it is only suitable for single line stacking, the palletizing operation of two lines or more can not be carried out simultaneously using a stacking machine；

2, since a production line is at least needed with a stacking machine, equipment input cost is larger, and causes whole A stacking production line takes up a large area.

Summary of the invention

In order to overcome the disadvantages mentioned above of the prior art, the purpose of the application is to provide a kind of palletizing system and palletizing method, It aims to solve the problem that existing stacking production line is at high cost, take up a large area, and two lines or more can not be carried out simultaneously using a stacking machine Palletizing operation the technical issues of.

The application solves technical solution used by its technical problem:

A kind of palletizing system, including the first packaging pipeline and the second packaging pipeline, arranged side by side being arranged side by side Empty stack plate pipeline and finished product pipeline, the first piling platform arranged side by side and the second piling platform and a robot Stacking machine, the first packaging pipeline are vertically arranged with empty stack plate pipeline, and the first piling platform, the second piling platform are set to empty stack Between plate pipeline and finished product pipeline, empty stack plate pipeline is arranged successively in the conveying direction the first pallet buffer area and second Pallet buffer area is provided with the first finished product buffer area and the second finished product buffer area, the first pallet buffer area, on finished product pipeline One piling platform, the first finished product buffer area along first packaging pipeline conveying direction set gradually and the first pallet buffer area with The outlet end of first packaging pipeline is isolated, and the second pallet buffer area, the second piling platform, the second finished product buffer area are along second The conveying direction of packaging pipeline is set gradually and the outlet end of the second pallet buffer area and the second packaging pipeline is isolated, the One pallet buffer area and the first piling platform, the first finished product buffer area are sequentially connected, and the second pallet buffer area and the second stacking are flat Platform, the transmission connection of the first finished product buffer area, robot stacking machine are set up in the first pallet buffer area and/or the second pallet buffer area Overhead.

Preferably, palletizing system above-mentioned further includes the first chain transminssion mechanism, in the conveying of the first packaging pipeline On direction, the first pallet buffer area is passed with the first piling platform, the first finished product buffer area simultaneously by the first chain transminssion mechanism Dynamic connection.

Preferably, palletizing system above-mentioned further includes the second chain transminssion mechanism, in the conveying of the second packaging pipeline On direction, the second pallet buffer area is passed with the second piling platform, the second finished product buffer area simultaneously by the second chain transminssion mechanism Dynamic connection.

Preferably, palletizing system above-mentioned further includes that second package pipeline, third piling platform and third chain pass Motivation structure, second package pipeline and the first packaging pipeline, the second packaging pipeline are arranged side by side, third piling platform and the One piling platform, the second piling platform are arranged side by side, and third pallet buffer area, finished product pipeline are additionally provided on empty stack plate pipeline On be additionally provided with third finished product buffer area, the second pallet buffer area is set between the first pallet buffer area and third pallet buffer area, Third pallet buffer area, third piling platform, third finished product buffer area are set gradually along the conveying direction of second package pipeline And third pallet buffer area and the outlet end of second package pipeline are isolated, robot stacking machine is set up in the second pallet caching The overhead in area, on the conveying direction of second package pipeline, third pallet buffer area passes through third chain transminssion mechanism simultaneously It is sequentially connected with third piling platform, third finished product buffer area.

Preferably, being additionally provided with wrapping machine on finished product pipeline, the second finished product buffer area, twines film at the first finished product buffer area Machine is set gradually along the conveying direction of finished product pipeline.

Trigger is torn open preferably, being provided between the first pallet buffer area and the arrival end of empty stack plate pipeline, tears trigger open The empty stack plate of monolithic is split into for the whole pile pallet by the arrival end from empty stack plate pipeline, wherein whole pile pallet is by more Block empty stack sheetpile is folded to be formed.

Include cabinet and be installed on the motor in cabinet and being arranged in pairs, transmission mechanism, convex preferably, tearing trigger open Wheel, bearing, connector sleeve, tie rod, cross bar, back-up roller wheel seat, guide rail, connecting rod, swing arm, clamping limb and cylinder, the output shaft of motor It is connect by transmission mechanism with cam drive, connector sleeve is sheathed on bearing, and bearing is in axial direction solid with the flange part of cam Fixed connection, one end of tie rod are fixedly connected on connector sleeve, and the other end is fixedly connected on cross bar；Back-up roller wheel seat is along vertical side It is fixedly connected to setting and with one end of cross bar, is fixedly connected with the first end of connecting rod and is slidably matched with guide rail respectively, even The first end of bar and the first end of swing arm are rotatablely connected and are slidably connected in the horizontal direction with the inner wall of cabinet, the second end of connecting rod It is movably connected on the inner wall of cabinet, the second end of swing arm is fixedly connected with one end of clamping limb, and the length direction of clamping limb Parallel with the conveying direction of empty stack plate pipeline, cylinder is set to the side of swing arm and the piston rod of cylinder is movably connected on swing arm On, wherein tie rod is arranged along the vertical direction, and guide rail is arranged along the vertical direction, and the core wheel position of cam is higher than the position of cross bar.

Preferably, palletizing system above-mentioned further includes the 4th chain transminssion mechanism and sets side by side with empty stack plate pipeline The artificial barcode scanning pipeline set, the arrival end of artificial barcode scanning pipeline are equipped with artificial barcode scanning area, the first pallet buffer area and tear plate open Automatic barcode scanning area is additionally provided between the exit of machine, automatic barcode scanning area is driven by the 4th chain transminssion mechanism and artificial barcode scanning area Connection.

Preferably, being additionally provided with first order dressing mechanism on the first packaging pipeline, first order dressing mechanism includes First cylinder, first connecting rod, first baffle and the first differential belt, the First piston bar of the first cylinder and first connecting rod One end rotation connection, the other end of first connecting rod is fixedly connected with the first end of first baffle, and the first end of first baffle It is rotationally connected on the edge of the first packaging pipeline, the first differential belt is wound on the roller of the first packaging pipeline and sets It is placed between the arrival end and first baffle of the first packaging pipeline.

A kind of palletizing method is applied in palletizing system above-mentioned, this method comprises:

Detect the first piling platform, on the second piling platform with the presence or absence of empty stack plate；

If there is empty stack plate on the first piling platform, the second piling platform, according to scheduled first priority policy, It controls robot stacking machine and the finished product packing on the packaging pipeline of highest priority is carried to the first piling platform or second Stacking is carried out on piling platform, wherein packaging pipeline includes the first packaging pipeline and the second packaging pipeline；

If there is no empty stack plate on the first piling platform, the second piling platform, according to scheduled second priority plan Slightly, control empty stack plate pipeline transports empty stack plate placed thereon to the higher piling platform of priority, and works as empty stack When plate reaches priority higher piling platform, control robot stacking machine removes the finished product packing on corresponding packaging pipeline It is transported on the first piling platform or the second piling platform and carries out stacking, wherein piling platform includes the first piling platform and second Piling platform；

If controlling robot code there are there is no empty stack plate on empty stack plate and the second piling platform on the first piling platform The finished product packing that stack machine packs on pipeline by first, which is carried on the first piling platform, carries out stacking, and controls the conveying of empty stack plate Line transports empty stack plate placed thereon to the second piling platform；

If not existing on empty stack plate and the second piling platform on the first piling platform, there are empty stack plates, control robot code The finished product packing that stack machine packs on pipeline by second, which is carried on the second piling platform, carries out stacking, and controls the conveying of empty stack plate Line transports empty stack plate placed thereon to the first piling platform；

When the finished product packing on the first piling platform or the second piling platform becomes finished product pile by stacking to predetermined quantity When, control robot stacking machine is replaced to carrying out stacking on another piling platform, and finished product pile is transported to finished product pipeline Upper carry out outbound.

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

The palletizing system that the application proposes can convey respectively two kinds by the first packaging pipeline and the second packaging pipeline The finished product packing of different size, while empty stack plate can be respectively delivered to and the first packaging pipeline phase by empty stack plate pipeline On corresponding first piling platform and on the second piling platform corresponding with the second packaging pipeline, then again by robot Finished product packing on Different Package pipeline is transported on corresponding piling platform and carries out stacking by stacking machine, after the completion of stacking again The good finished product packing of stacking is subjected to outbound by finished product pipeline, to realize the full-automation of palletizing operation, together When, the integral layout of the palletizing system is compact and ingenious, can be packed simultaneously at least two using a robot stacking machine Pipeline carries out palletizing operation, and may respectively be at least two piling platforms using an empty stack plate pipeline and provide empty stack Plate, therefore production efficiency is not only increased, and reduce the input cost height of equipment and reduce the occupied area of production line.

Detailed description of the invention

Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in embodiment description Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is some embodiments of the present application, general for this field For logical technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.

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

Fig. 2 is that palletizing system removes the overall structure top view after robot stacking machine in one embodiment of the application；

Fig. 3 is the enlarged diagram in Fig. 2 at A；

Fig. 4 is the enlarged diagram in Fig. 2 at B；

Fig. 5 is the structural schematic diagram of monolithic empty stack plate in one embodiment of the application；

Fig. 6 is the use state diagram for tearing trigger in one embodiment of the application open；

Fig. 7 is the external schematic top plan view for tearing trigger in one embodiment of the application open；

Fig. 8 is the internal structure main view for tearing trigger in one embodiment of the application open；

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

Figure 10 is the structural schematic diagram in Fig. 9 along the direction arrow D.

Specific embodiment

It is with reference to the accompanying drawing and specific real in order to be more clearly understood that the above objects, features, and advantages of the application Mode is applied the application is described in detail.It should be noted that in the absence of conflict, presently filed embodiment and reality The feature applied in mode can be combined with each other.Many details are explained in the following description in order to fully understand this Shen Please, described embodiment is only a part of embodiment of the application, rather than whole embodiments.Based on the application In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts Mode shall fall in the protection scope of this application.

Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application The normally understood meaning of technical staff is identical.The term used in the description of the present application is intended merely to description tool herein The purpose of the embodiment of body, it is not intended that in limitation the application.

Referring to Fig.1, Fig. 2 and Fig. 5, the embodiment of the present application provide a kind of palletizing system, including the first packaging being arranged side by side Pipeline 1 and the second packaging pipeline 2, empty stack plate pipeline 5 arranged side by side and finished product pipeline 8, arranged side by side first Piling platform 71 and the second piling platform 72 and a robot stacking machine 6, the first packaging pipeline 1 and empty stack plate convey Line 5 is vertically arranged, and the first piling platform 71, the second piling platform 72 are set between empty stack plate pipeline 5 and finished product pipeline 8, Empty stack plate pipeline 5 is arranged successively in the conveying direction the first pallet buffer area 51 and the second pallet buffer area 52, finished product conveying The first finished product buffer area 81 and the second finished product buffer area 82, the first pallet buffer area 51, the first piling platform are provided on line 8 71, the first finished product buffer area 81 is set gradually and the first pallet buffer area 51 and the along the conveying direction of the first packaging pipeline 1 The outlet end of one packaging pipeline 1 is isolated, the second pallet buffer area 52, the second piling platform 72, the second finished product buffer area 82 The conveying direction for packing pipeline 2 along second is set gradually and the outlet of the second pallet buffer area 52 and the second packaging pipeline 2 End is isolated, and the first pallet buffer area 51 and the first piling platform 71, the first finished product buffer area 81 are sequentially connected, and the second pallet is slow It deposits area 52 and the second piling platform 72, the first finished product buffer area 81 is sequentially connected, it is slow that robot stacking machine 6 is set up in the first pallet The overhead in area 51 and/or the second pallet buffer area 52 is deposited, illustratively, robot stacking machine 6 is set up in the second pallet buffer area 52 overhead, herein it should be noted that since robot stacking machine 6 is to be set up in the overhead of the second pallet buffer area 52 (such as Robot stacking machine 6 is set up in the top of the second pallet buffer area 52 by four foot mounting brackets), therefore robot stacking It is that there are certain spatial dimensions, therefore will not influence the disengaging of empty stack plate 100 between machine 6 and the second pallet buffer area 52 Second pallet buffer area 52.

In the present embodiment, the first packaging pipeline 1 can be used to convey a kind of finished product packing (such as vial paper of specification Case), the second packaging pipeline 2 can be used to convey the finished product packing (such as pop can carton) of another specification, robot stacking machine 6 The Ku Kasizhou robot of model KR180-2PA can be selected, naturally it is also possible to select the robot of other models as this reality The robot stacking machine 6 in example is applied, as long as being able to satisfy use demand, this is not limited specifically；Specifically, the stacking The working principle of system is as follows:

Empty stack plate 100 is carried to the inlet of empty stack plate pipeline 5 by fork truck, and empty stack plate pipeline 5 will be placed thereon Empty stack plate 100 transported respectively to the first pallet buffer area 51 and the second pallet buffer area 52, wherein when empty stack plate 100 reach After first pallet buffer area 51, empty stack plate 100 is transferred on the first piling platform 71 from the first pallet buffer area 51, and when sky After pallet 100 reaches the second pallet buffer area 52, empty stack plate 100 is transferred to the second piling platform from the second pallet buffer area 52 On 72, meanwhile, the finished product packing of two kinds of different sizes passes through the first packaging pipeline 1, second respectively in product line Packing the transport of pipeline 2, (the i.e. first packaging pipeline 1, second is packed in pipeline 2 close to machine to robot clamp crawl position At one end position of people's stacking machine 6), so that robot stacking machine 6 carries out clamping carrying；When the first piling platform 71 and the first packet Dress pipeline 1 be ready for it is ready after (that is, there is free pallet 100 on the first piling platform 71, the first packaging pipeline 1 is close to machine Have finished product packing at one end position of device people stacking machine 6), or when the second piling platform 72 and second has packed pipeline 2 (that is, there is free pallet 100 on the second piling platform 72, the second packaging pipeline 2 is close to robot stacking machine 6 after ready Have finished product packing at one end position), then robot stacking machine 6 can start to carry out palletizing operation, for example, when just starting, first yard Pile platform 71 and the first packaging pipeline 1 are ready for ready, and the second piling platform 72 and the second packaging pipeline 2 are quasi- not yet Standby ready, then the finished product packing that can control robot stacking machine 6 first to pack first on pipeline 1 at this time is clamped to the first stacking Stacking is carried out on platform 71, with the progress of palletizing operation, the quantity of finished product packing can gradually subtract on the first packaging pipeline 1 It is few, while the quantity of finished product packing can gradually increase on the first piling platform 71, and the second piling platform 72 and the second packaging are defeated Line sending 2 also i.e. will be ready, when finished product packing on the first piling platform 71 quantity by stacking to predetermined quantity and as at It when product pile, then can control robot stacking machine 6 that mechanical arm is moved on the second packaging pipeline 2, and then start to wrap to second Stacking is carried out in finished product packing clamping to the second piling platform 72 on dress pipeline 2, meanwhile, it will be on the first piling platform 71 Finished product pile is transferred in the first finished product buffer area 81 from the first piling platform 71, and then conveys outbound by finished product pipeline 8, with This simultaneously, empty stack plate 100 placed thereon is supplemented to the first stacking by the first pallet buffer area 51 by empty stack plate pipeline 5 On platform 71, with the progress of time, finished product pile is formed on the second piling platform 72, the first piling platform 71 and the first packaging are defeated Line sending 1 be ready for it is ready, then at this time again control robot stacking machine 6 mechanical arm is moved on the first packaging pipeline 1, into And start to the finished product packing clamping on the first packaging pipeline 1 to carrying out stacking on the first piling platform 71, meanwhile, by the Finished product pile on two piling platforms 72 is transferred in the second finished product buffer area 82 from the second piling platform 72, and then defeated by finished product Line sending 8 conveys outbound, and at the same time, empty stack plate 100 placed thereon is passed through the second pallet buffer area by empty stack plate pipeline 5 52 are supplemented on the second piling platform 72, wait palletizing operation next time, and so on, to pass through a robot stacking Machine 6 can automatically complete the palletizing operation of two lines or more；In addition, it is worth mentioning that, robot stacking machine 6 is first herein During carrying out palletizing operation on piling platform 71, when finished product pile has not yet been formed on the first piling platform 71, the second stacking Platform 72 and the second packaging pipeline 2 may be ready for ready and the second packaging pipeline 2 to the first and pack on pipeline 1 Finished product packing much larger number, then can control the replacement of robot stacking machine 6 to carrying out stacking on the second piling platform 72 at this time Operation, similarly, robot stacking machine 6 is during carrying out palletizing operation on the second piling platform 72, in the second piling platform When finished product pile having not yet been formed on 72, the first piling platform 71 and the first packaging pipeline 1 may be ready for ready and the first packet The finished product packing much larger number on the packaging pipeline 2 of pipeline 1 to the second is filled, then can control robot stacking machine 6 at this time Palletizing operation is carried out on replacement to the first piling platform 71, in this way, by the finished product packing quantity on Different Package pipeline It is monitored, and then according to monitoring as a result, control robot stacking machine 6 staggeredly carries out palletizing operation, to be conducive into one Step improves the production efficiency of palletizing system.

In the present embodiment, which can be conveyed respectively by the first packaging pipeline 1 and the second packaging pipeline 2 The finished product packing of two kinds of different sizes, while empty stack plate 100 can be respectively delivered to and the first packaging by empty stack plate pipeline 5 On corresponding first piling platform 71 of pipeline 1 and on second piling platform 72 corresponding with the second packaging pipeline 2, Then the finished product packing on Different Package pipeline is transported on corresponding piling platform by robot stacking machine 6 again and carries out code Stacking good finished product packing is carried out outbound by finished product pipeline 8 again after the completion of stacking by pile, to realize stacking work The full-automation of industry, meanwhile, the integral layout of the palletizing system is compact and ingenious, can be same using a robot stacking machine 6 When palletizing operations are carried out at least two packaging pipelines, and may respectively be at least two using an empty stack plate pipeline 5 A piling platform provides empty stack plate 100, therefore not only increases production efficiency, and reduces the input cost height of equipment and subtract The small occupied area of production line.

Referring to Fig.1, Fig. 2, Fig. 3 and Fig. 5, in an alternative embodiment, palletizing system above-mentioned further include the first chain Strip transmission mechanism 711 and the second chain transminssion mechanism 721, wherein on the conveying direction of the first packaging pipeline 1, the first stack Plate buffer area 51 is connected with the first piling platform 71, the transmission of the first finished product buffer area 81 simultaneously by the first chain transminssion mechanism 711 It connects；On the conveying direction of the second packaging pipeline 2, the second pallet buffer area 52 passes through the second chain transminssion mechanism 721 simultaneously It is sequentially connected with the second piling platform 72, the second finished product buffer area 82, illustratively, the first chain transminssion mechanism 711 and second Chain transminssion mechanism 721 uses identical structure type.

In the present embodiment, when empty stack plate 100 placed thereon is delivered to the first pallet caching by empty stack plate pipeline 5 When area 51, empty stack plate 100 can be delivered to the first stacking from the first pallet buffer area 51 by the first chain transminssion mechanism 711 and put down On platform 71, to pack the empty stack that the finished product packing on pipeline 1 is stacked on the first piling platform 71 for first in palletizing operation It, can will be at again by the first chain transminssion mechanism 711 in addition, when forming finished product pile on the first piling platform 71 on plate 100 Product pile is delivered on the first finished product buffer area 81 from the first piling platform 71, at the same time, if putting on the first pallet buffer area 51 Be equipped with empty stack plate 100, then during finished product pile is delivered to the first finished product buffer area 81 from the first piling platform 71, first Empty stack plate 100 on pallet buffer area 51 can be supplemented to the first piling platform with the transmission of the first chain transminssion mechanism 711 On 71, palletizing operation next time is waited；Application process of second chain transminssion mechanism 721 on the second piling platform 72 and the Application process of one chain transminssion mechanism 711 on the first piling platform 71 is identical, it will be understood by those skilled in the art that this It repeats no more；In addition, it should be noted that, since the conveying for carrying out product using chain transminssion mechanism is in production line technology field In be highly developed technology, therefore for the specific knot of the first chain transminssion mechanism 711 and the second chain transminssion mechanism 721 Structure composition and concrete operating principle, those skilled in the art could be aware that details are not described herein again.

Referring to Fig.1, Fig. 2 and Fig. 5, in an alternative embodiment, palletizing system above-mentioned further include that second package is defeated Line sending 3, third piling platform 73 and third chain transminssion mechanism 731, second package pipeline 3 and the first packaging pipeline 1, the Two packaging pipelines 2 are arranged side by side, and third piling platform 73 and the first piling platform 71, the second piling platform 72 are arranged side by side, It is additionally provided with third pallet buffer area 53 on empty stack plate pipeline 5, third finished product buffer area 83 is additionally provided on finished product pipeline 8, the Two pallet buffer areas 52 are set between the first pallet buffer area 51 and third pallet buffer area 53, third pallet buffer area 53, the Three piling platforms 73, third finished product buffer area 83 are set gradually along the conveying direction of second package pipeline 3 and third pallet is slow It deposits area 53 and the outlet end of second package pipeline 3 is isolated, robot stacking machine 6 is set up in the upper of the second pallet buffer area 52 Sky, on the conveying direction of second package pipeline 3, third pallet buffer area 53 passes through third chain transminssion mechanism 731 simultaneously It is sequentially connected with third piling platform 73, third finished product buffer area 83.

In the present embodiment, which can need to only carry out simultaneously three productions using a robot stacking machine 6 The palletizing operation of line further improves the utilization rate of production efficiency and equipment, wherein same using a robot stacking machine 6 The detailed process of the palletizing operation of tri- production lines of Shi Jinhang carries out two using a robot stacking machine 6 with aforementioned simultaneously The detailed process of the palletizing operation of production line is similar, and therefore, relative theory process, which can refer to, to be previously with regard to utilize a robot Stacking machine 6 carries out the description of the palletizing operation of two production lines simultaneously, and details are not described herein again.

Referring to Fig.1, Fig. 2 and Fig. 5 is additionally provided with wrapping machine 9, third in an alternative embodiment on finished product pipeline 8 Finished product buffer area 83, the second finished product buffer area 82, the first finished product buffer area 81, wrapping machine 9 along finished product pipeline 8 conveying direction It sets gradually.

In the present embodiment, third finished product buffer area 83, the second finished product buffer area 82 and the first finished product buffer area are placed in Finished product pile on 81 can be delivered to wrapping machine 9 by finished product pipeline 8 and carry out twining film outbound, thus by conveying close to finished product The exit setting wrapping machine 9 of line 8 carries out finished product pile to twine film process, it is ensured that the stability of finished product pile packaging.

Referring to Fig.1, Fig. 2 and Fig. 5, in an alternative embodiment, the first pallet buffer area 51 and empty stack plate pipeline 5 Arrival end between be provided with and tear trigger 50 open, tear trigger 50 open for will be from the whole pile pallet of the arrival end of empty stack plate pipeline 5 10 split into the empty stack plate 100 of monolithic, wherein whole pile pallet 10 is stacked by muti-piece empty stack plate 100.

In the present embodiment, tear the setting of trigger 50 open so that fork truck can be used the mode that whole pile pallet 10 is carried come for Empty stack plate pipeline 5 provides empty stack plate 100, avoids fork truck from forking monolithic empty stack plate 100 back and forth, to not only increase fork truck Handling efficiency, at the same also improve empty stack plate pipeline 5 for plate efficiency；Specifically, whole pile pallet 10 is carried to sky by fork truck Side machine is torn open to whole pile pallet when whole pile pallet 10 is transported to the station where tearing trigger 50 open in the inlet of pallet pipeline 5 10 gradually split into Pork-pieces empty stack plate 100, so that empty stack plate pipeline 5 can convey 100 1 pieces of blocks of empty stack plate On to required station (such as on the first pallet buffer area 51,71 station of the first piling platform).

Referring to figs. 1 to Figure 10, in an alternative embodiment, trigger 50 is torn open including cabinet 501 and is installed on cabinet In 501 and the motor 504, transmission mechanism, cam 508, the bearing (not indicated in figure), connector sleeve 509, tie rod that are arranged in pairs 510, cross bar 512, back-up roller wheel seat 513, guide rail 514, connecting rod 515, swing arm 503, clamping limb 502 and cylinder 518, motor 504 Output shaft be sequentially connected by transmission mechanism and cam 508, connector sleeve 509 is sheathed on bearing, bearing in axial direction with The flange part of cam 508 is fixedly connected, and one end of tie rod 510 is fixedly connected on connector sleeve 509, and the other end is fixedly connected on cross On bar 512；Back-up roller wheel seat 513 is arranged along the vertical direction and is fixedly connected respectively with one end of cross bar 512, with connecting rod 515 First end is fixedly connected and is slidably matched with guide rail 514, and the first end of connecting rod 515 and the first end of swing arm 503 are rotatablely connected And the inner wall with cabinet 501 is slidably connected in the horizontal direction, the second end of connecting rod 515 is rotationally connected on the inner wall of cabinet 501, The second end of swing arm 503 is fixedly connected with one end of clamping limb 502, and the length direction of clamping limb 502 and empty stack plate pipeline 5 Conveying direction it is parallel, cylinder 518 is set to the side of swing arm 503 and the piston rod of cylinder 518 is movably connected in swing arm 503, Wherein, tie rod 510 is arranged along the vertical direction, and guide rail 514 is arranged along the vertical direction, and the core wheel position of cam 508 is higher than cross bar 512 Position；Illustratively, transmission mechanism uses chain transminssion mechanism, specifically includes minor sprocket 505, big sprocket wheel 506, chain (figure In do not indicate), bearing block 507 and transmission shaft, bearing block 507 mounts on the top of cabinet 501, big sprocket wheel 506, bearing block 507 and cam 508 be successively sheathed on transmission shaft (not indicated in figure) along the axial direction of transmission shaft, minor sprocket 505 is sheathed on electricity It is sequentially connected on the output shaft of machine 504 and by chain and big sprocket wheel 506；Illustratively, bearing in axial direction with cam 508 Flange part achieved a fixed connection by way of pin shaft+nut, the shape of connector sleeve 509 is cam-like, and tie rod 510 uses chain Item form (as use simplex roller chain), one end of tie rod 510 with can by way of pin shaft with the flange part of connector sleeve 509 It is fixedly connected, the other end of tie rod 510 can be fixedly connected by brazier head screw 511 with cross bar 512, and back-up roller wheel seat 513 passes through Idler wheel 5131 arranged at the bottom is slidably matched with guide rail 514；Illustratively, the first end of back-up roller wheel seat 513 and connecting rod 515 It can be achieved a fixed connection by attachment screw, offer the first bar shaped long hole 516 on the inner wall of cabinet 501, the first of connecting rod 515 End and the first end of swing arm 503 can be installed on the first bar shaped long hole 516 by way of bolt+nut, so that connecting rod 515 First end and the first end of swing arm 503, which can be realized, to be rotatablely connected and can horizontally slip in the horizontal direction, similarly, cabinet 501 The second bar shaped long hole 517 is also provided on inner wall, the second end of connecting rod 515 can be installed on first by way of bolt+nut On bar shaped long hole 516, so that the second end of connecting rod 515 can realize rotation and horizontally slip along horizontal direction；Illustratively, Multiple clamping parts 5021 of the lateral aperture of pluggable empty stack plate 100 are provided on clamping limb 502；In addition, when concrete application, motor 504 and cylinder 518 respectively with production line control system be electrically connected.

In the present embodiment, this tear open trigger 50 to tear plate principle open as follows:

When just starting, clamping limb 502 is in open configuration, and on certain height and position, when defeated from empty stack plate When the position of clamping limb 502 of trigger 50 is torn in whole pile pallet 10 arrival of 5 arrival end of line sending open, the piston of cylinder 518 is controlled Bar elongation, pushes swing arm 503 to swing, and then drives clamping limb 502 to close up and be clamped in whole pile pallet 10 and be located at bottom second On the empty stack plate 100 of a position；When the first pallet buffer area 51, the second pallet buffer area 52, third pallet buffer area 53, first When any one station lacks empty stack plate 100 in piling platform 71, the second piling platform 72, control motor 504 is rotated forward, Jin Ertong Chain transminssion mechanism band moving cam 508 is crossed to rotate, so that the flange part of cam 508 gradually turns to highest point from minimum point, and Since connector sleeve 509 is to be sheathed on bearing and bearing is in axial direction fixedly connected with the flange part of cam 508, cam During 508 are rotated, bearing can be rotated with the rotation of cam 508, and connector sleeve 509 can't be with cam 508 rotation and rotate but rise to the convex of highest point and connector sleeve 509 from gradually minimum point with the rotation of cam 508 Edge is directed downwardly always, and tie rod 510 can also rise with the rising of connector sleeve 509, and then pulls back-up roller wheel seat 513 It is moved up along guide rail 514, pushes one end of connecting rod 515 along the first bar shaped long hole when back-up roller wheel seat 513 moves up 516 levels are moved to the left, and the other end of connecting rod 515 then moves horizontally to the right along the second bar shaped long hole 517 and (is equivalent to connecting rod 515 are swung up, and become larger with horizontal inclination angle), swing arm 503 and clamping limb 502 then with connecting rod 515 is swung up and on It rises, so that second block of bottom empty stack plate 100 is gradually disengaged with first block of bottom empty stack plate 100, plate movement, separation are torn in completion open First block of empty stack plate 100 afterwards is delivered on required station by empty stack plate pipeline 5, and when the flange part of cam 508 from When minimum point turns to highest point, clamping limb 502 also rises to its highest critical localisation upwards；

Then, control motor 504 is inverted, and band moving cam 508 rotates, so that the flange part of cam 508 is gradually from most High point turns to minimum point, and since connector sleeve 509 is to be sheathed on bearing and the bearing in axial direction flange with cam 508 During portion is fixedly connected, therefore cam 508 is rotated, bearing can be rotated with the rotation of cam 508, and connector sleeve 509 will not rotate with the rotation of cam 508 but gradually drop to minimum point from highest point with the rotation of cam 508 And the flange part of connector sleeve 509 is directed downwardly always, and tie rod 510 can also fall with the decline of connector sleeve 509, so that branch Support roller mount 513 is moved down along guide rail 514 under the effect of gravity, pulling when back-up roller wheel seat 513 moves down One end of connecting rod 515 is moved horizontally to the right along the first bar shaped long hole 516, and the other end of connecting rod 515 is then along the second bar shaped 517 level of long hole is moved to the left and (is equivalent to connecting rod 515 to lower swing, become smaller with horizontal inclination angle), swing arm 503 and clamping Arm 502 then declines with connecting rod 515 to lower swing, so that whole pile pallet 10 is also and then gradually reduced, when cam 508 When flange part turns to minimum point from highest point, clamping limb 502 is also to its minimum critical localisation is dropped to, current whole pile stack at this time First block of empty stack plate 100 in plate 10 positioned at bottom is in contact with the roller on empty stack plate pipeline 5 just, passes through control at this time The piston rod of cylinder 518 is shunk, and swing arm 503 is pulled to swing, and then drives first block of empty stack plate of the release bottommost of clamping limb 502 100, so that first block of empty stack plate 100 for being located at bottom in current whole pile pallet 10 is placed on roller, waiting is torn open next time Plate movement.

In the present embodiment, smart structural design for tearing trigger 50 open, by the up and down, the pine that control clamping limb 502 It opens and closes up, so that Pork-pieces empty stack plate 100 can gradually be split into for whole pile pallet 10 by tearing trigger 50 open, effectively increase empty stack Plate pipeline 5 for plate efficiency.

Referring to Fig.1, Fig. 2 and Fig. 5, in an alternative embodiment, palletizing system above-mentioned further include that the 4th chain passes Motivation structure 574 and the artificial barcode scanning pipeline 4 being arranged side by side with empty stack plate pipeline 5, the arrival end of artificial barcode scanning pipeline 4 Equipped with artificial barcode scanning area 41, automatic barcode scanning area 57 is additionally provided between the first pallet buffer area 51 and the exit for tearing trigger 50 open, from Dynamic barcode scanning area 57 is sequentially connected by the 4th chain transminssion mechanism 574 with artificial barcode scanning area 41, herein it should be pointed out that the 4th Chain transminssion mechanism 574 is similar with the first, second, third above-mentioned chain transminssion mechanism 731, is mainly driven by driving motor The transmission of the transmission parts such as movable sprocket, and then chain rotation is driven, due to carrying out the conveying of product using chain transminssion mechanism in life Highly developed technology in producing line technical field, thus for the specific structure of the 4th chain transminssion mechanism 574 composition and Concrete operating principle, those skilled in the art could be aware that details are not described herein again.

In the present embodiment, in beer industry, since finished product pile will finally enter tiered warehouse facility, and each finished product Pile needs to be automatically transported to by machine in tiered warehouse facility on corresponding position in storehouse, therefore four in empty stack plate 100 all around Generally bar code 101 can be all posted using the identity as empty stack plate 100 on side, it is subsequent in this way to enter solid in finished product pile When warehouse, machine can be transported on corresponding position in storehouse by the bar code 101 on empty stack plate 100；Specifically, when empty stack plate 100 when being transported to automatic barcode scanning area 57, can be by the automatic scanning machine that is set in automatic barcode scanning area 57 on empty stack plate 100 Bar code 101 carries out automatic barcode scanning and (an automatic scanning machine is arranged such as in the side edge in automatic barcode scanning area 57, utilizes the position Automatic scanning machine barcode scanning is carried out to the bar code 101 on 100 side of empty stack plate), if the success of automatic barcode scanning, can continue should Empty stack plate 100 is fed forward to required station, and if barcode scanning fails, by the 4th chain transminssion mechanism 574 by the sky Pallet 100 is transplanted on artificial barcode scanning area 41, holds scanning machine by employee and carries out supplement barcode scanning to bar code 101 thereon, benefit is swept Success after, then by control the 4th chain transminssion mechanism 574 in driving motor inverted, thus by artificial barcode scanning succeed after Empty stack plate 100 automatically return to and continue to be fed forward on empty stack plate pipeline 5；In the present embodiment, empty stack plate 100 is when long Between after use, the bar code 101 being arranged on may have the problems such as missing, sundries covering, and automatic scanning machine is past at this time Toward can not barcode scanning success after the failure of the automatic barcode scanning of empty stack plate 100, generally require employee and in the prior art and be manually removed sky Pallet 100, therefore staff labor intensity is big, and in the present embodiment, by adding artificial barcode scanning pipeline 4, and pass through the 4th Chain transminssion mechanism 574 by empty stack plate pipeline 5 automatic barcode scanning area 57 and artificial barcode scanning pipeline 4 on artificial barcode scanning area 41 are sequentially connected, so that can pass through the 4th transfer automatically of chain transminssion mechanism 574 after the failure of the automatic barcode scanning of empty stack plate 100 Manually mend to artificial barcode scanning area 41 and sweep, and manually mend sweep successfully after can automatically return to and continue on empty stack plate pipeline 5 It is fed forward, to efficiently solve in the prior art, after the failure of the automatic barcode scanning of empty stack plate 100, needs manually to reject empty The problem of pallet 100, greatly reduces the labor intensity of employee.

Referring to Fig.1, Fig. 2, Fig. 4 and Fig. 5 are additionally provided with first on the first packaging pipeline 1 in an alternative embodiment Dressing mechanism 11 is arranged, first order dressing mechanism 11 includes the first cylinder 110, first connecting rod 112,113 and of first baffle First differential belt 115, the First piston bar 111 of the first cylinder 110 and one end of first connecting rod 112 are rotatablely connected, and first The other end of connecting rod 112 is fixedly connected with the first end of first baffle 113, and the first end rotation connection of first baffle 113 In first packaging pipeline 1 edge on, meanwhile, pulley 114, the first differential skin are additionally provided in the second end of first baffle 113 On the roller for being wound in the first packaging pipeline 1 with 115 and it is set to the arrival end and first baffle of the first packaging pipeline 1 Between 113.

In the present embodiment, specifically, the finished product packing one by one in product line (such as vial carton) from The arrival end of first packaging pipeline 1 enters, when finished product is packaged into up to region locating for the first differential belt 115, due to first Differential belt 115 is slower close to the transmission speed of the part belt of arrival end, and the biography of the part belt close to first baffle 113 Defeated fast speed, therefore the spacing between former and later two finished product packings can be pulled open by the first differential belt 115, and then when " walking " It, should under the barrier effect of first baffle 113 when finished product packing in front encounters the first baffle 113 in traverse state Finished product packing has enough spaces to realize that 90 ° turn to and enter on robot clamp crawl position that (such as finished product packing is sidewards Come in, then after turning to, can be entered with endways posture on robot clamp crawl position), wherein the first plate washer 113 On the bootable finished product packing of pulley 114 steering is better achieved；And when the finished product packing entered from 113 position of first baffle When quantity reaches predetermined quantity, then the First piston bar 111 for controlling the first cylinder 110 is shunk, and then drives 113 edge of first baffle Conveying direction is rotated and is withdrawn, so that the finished product packing come in below keeps original posture to enter robot clamp crawl position On, and the finished product packing quantity entered from from 113 position of first baffle then controls the first cylinder when reaching predetermined quantity again 110 First piston bar 111 extends, and then first baffle 113 is driven to stretch out along the opposite direction rotation of conveying direction, so that The finished product packing come in below realizes that 90 ° turn to and enter on robot clamp crawl position, and so on carry out, so that subsequent Robot stacking machine 6 is packed the finished product packing on pipeline 1 by first with different clamping angles and is clamped to the first piling platform 71 Upper carry out stacking, that is, finished product packing is stacked on empty stack plate 100 in a manner of " horizontal-perpendicular-horizontal " or " perpendicular-horizontal-perpendicular ", thus Compared with single angle repeats the stacking mode stacked, by the way that finished product packing is stacked to empty stack plate in turn with stagger angle On 100, the reliability of palletizing operation can be improved, avoid during carrying out stacking to finished product packing, the stacking on empty stack plate 100 The case where finished product packing to get up collapses.

Referring to Fig.1, Fig. 2 and Fig. 5 is additionally provided with second order on the second packaging pipeline 2 in an alternative embodiment Dressing mechanism 21 is additionally provided with third arrangement dressing mechanism 31 on second package pipeline 3, wherein second order dressing mechanism 21, The arrangement, structure composition and effect that third arranges dressing mechanism 31 are essentially identical with first order dressing mechanism 11, therefore to this It repeats no more.

Referring to figs. 1 to Figure 10, the embodiment of the present application also provides a kind of palletizing method, applied in any of the above-described embodiment In palletizing system, this method comprises:

S1, the first piling platform 71 of detection whether there is empty stack plate 100 on the second piling platform 72；

S2, if there is empty stack plate 100 on the first piling platform 71, the second piling platform 72, according to scheduled first Priority policy controls robot stacking machine 6 for the finished product packing on the packaging pipeline of highest priority and is carried to first yard Stacking is carried out on pile platform 71 or the second piling platform 72, wherein packaging pipeline includes the first packaging pipeline 1 and the second packet Fill pipeline 2；

It is excellent according to scheduled second if there is no empty stack plate 100 on the first piling platform 71, the second piling platform 72 First grade strategy, control empty stack plate pipeline 5 transport empty stack plate 100 placed thereon to the higher piling platform of priority On, and when the higher piling platform of the arrival of empty stack plate 100 priority, control robot stacking machine 6 conveys corresponding packaging Finished product packing on line is carried on the first piling platform 71 or the second piling platform 72 and carries out stacking, wherein piling platform packet Include the first piling platform 71 and the second piling platform 72；

If being controlled on the first piling platform 71 there are there is no empty stack plate 100 on empty stack plate 100 and the second piling platform 72 The finished product packing that robot stacking machine 6 processed packs on pipeline 1 by first, which is carried on the first piling platform 71, carries out stacking, and Controlling empty stack plate pipeline 5 will be in the transport to the second piling platform 72 of empty stack plate 100 placed thereon；

If not existing on empty stack plate 100 and the second piling platform 72 on the first piling platform 71 there are empty stack plate 100, control The finished product packing that robot stacking machine 6 processed packs on pipeline 2 by second, which is carried on the second piling platform 72, carries out stacking, and Controlling empty stack plate pipeline 5 will be in the transport to the first piling platform 71 of empty stack plate 100 placed thereon；

S3, when the finished product packing on the first piling platform 71 or the second piling platform 72 is become by stacking to predetermined quantity When finished product pile, stacking is carried out in the control replacement to another piling platform of robot stacking machine 6, and finished product pile is transported to finished product Outbound is carried out on pipeline 8.

It, can be by the first piling platform 71 and the second piling platform in some specific embodiments in above-mentioned S1 Photoelectric sensor is set on 72 come detect the first piling platform 71, on the second piling platform 72 with the presence or absence of empty stack plate 100, certainly It can also be realized using the sensor or sensor combinations of its type, as long as being able to satisfy requirement, this not made to have The limitation of body.

In above-mentioned S2, in some specific embodiments, scheduled first priority policy can produced by user It is preset in line control system, it is such as previously set in production line control system when the first piling platform 71, the second stacking When there is empty stack plate 100 on platform 72, the priority of the first packaging pipeline 1 is higher than the priority of the second packaging pipeline 2 (i.e. preferential first packaging pipeline 1 of choosing carries out palletizing operation)；In other specific embodiments, scheduled first is preferential Grade strategy is also possible to depending on the storage quantity of finished product packing on packaging pipeline, for example, can be by defeated in the first packaging The modes such as sensor for countering are arranged in line sending 1 and the second packaging pipeline 2 to come to the first packaging packaging conveying of pipeline 1, second The storage quantity of finished product packing is monitored on line 2, and then empty when existing on the first piling platform 71, the second piling platform 72 When pallet 100, preferential choose stores more packaging pipeline progress palletizing operation, such as monitors the first packaging pipeline The storage quantity of finished product packing, then can be preferential than more (or having more certain quantitative value) on the second packaging pipeline 2 on 1 It chooses the first packaging pipeline 1 and carries out palletizing operation；And scheduled second priority policy can use and the first priority plan Slightly identical strategy, details are not described herein again, and in practical application, both priority policies can be according to actual production demand spirit It is living carry out using.

In above-mentioned S3, whether finished product packing on the first piling platform 71 or the second piling platform 72 is by stacking to pre- Fixed number amount can carry out back and forth the number of stacking according to robot stacking machine 6 to determine, when robot stacking machine 6 carries out code back and forth When the number of pile reaches pre-determined number, then it may determine therefrom that the finished product packing on the first piling platform 71 or the second piling platform 72 By stacking to predetermined quantity, wherein for different piling platforms, corresponding pre-determined number can be identical be also possible to Different, in practical application, can flexibly be set according to the actual condition of production.

Referring to Figures 1 and 2, more specifically, empty stack plate pipeline 5 along conveying direction is successively arranged inlet region 54, tears plate open Area 55, transition region 56, automatic barcode scanning area 57, the first stack caching plate area 51, the second pallet buffer area 52 and third pallet buffer area 53, artificial barcode scanning pipeline 4 is equipped with artificial barcode scanning area 41 and practical barcode scanning area 42, wherein tears trigger 50 open and is set to the area Chai Ban On 55, transition region 56, automatic barcode scanning area 57, the first stack caching plate area 51, the second pallet buffer area 52 and third pallet buffer area Roller on 53 can realize the rolling along conveying direction by the way that one or more individual motors of 56 bottom of transition region are arranged in, Referring to figs. 1 to Fig. 8, in some more specifically embodiments, the specific course of work of palletizing system is as follows:

On the one hand, whole pile pallet 10 is carried to inlet region 54 by fork truck one by one, when the photoelectric transfer that the area Chai Ban 55 is arranged in Sensor detects when not having empty stack plate 100 in the area Chai Ban 55 that the independent drive of one or more of 54 bottom of inlet region is arranged in control Roller rolls forward on dynamic motor driven inlet region 54, and then whole pile pallet 10 is delivered to the area Chai Ban 55, when setting is being torn open When position sensor in plate area 55 detects that whole pile pallet 10 arrived the position for the clamping limb 502 for tearing trigger 50 open, control Roller on inlet region 54 processed stops rolling, while the movement of trigger 50 is torn in control open, and clamping limb 502 is clamped in whole pile pallet 10 On the empty stack plate 100 of the position of bottom second；First is detected when front being arranged in corresponding to the photoelectric sensor on station Pallet buffer area 51, the second pallet buffer area 52, third pallet buffer area 53, the first piling platform 71, the second piling platform 72 In any one station lack empty stack plate 100 when, control tear open trigger 50 clamping limb 502 upwards be lifted so that second piece of bottom Empty stack plate 100 is gradually disengaged with first block of bottom empty stack plate 100, when clamping limb 502 is raised to its highest critical localisation upwards, Control is set to the roller rolls forward in one or more individual motors driving area Chai Ban 55 of 55 bottom of the area Chai Ban, and then will First block of empty stack plate 100 after separation is delivered to transition region 56, and when the position sensor being arranged in transition region 56 detects When first block of empty stack plate 100 has completely arrived at transition region 56, then the one or more of 56 bottom of transition region is arranged in independently in control The roller rolls forward of driving motor driving thereon, while controlling the roller in the area Chai Ban 55 and stopping rolling and controlling tearing trigger open 50 clamping limb 502 moves down, and (handles folded by clamping limb 502 at this time when clamping limb 502 drops to its minimum critical localisation Empty stack plate 100 be in contact just with the roller in the area Chai Ban 55), clamping limb 502 unclamps the current folded empty stack plate 100 handled And be clamped in current whole pile pallet 10 and be located on the empty stack plate 100 of the position of bottom second, thus will current whole pile pallet 10 In be located at the position of bottom first empty stack plate 100 be placed on roller, wait next time tear plate open；And when setting is being swept automatically When position sensor in code area 57 detects that first block of original empty stack plate 100 arrived automatic barcode scanning area 57, then control is set Roller on it is set to stop rolling, and control the automatic scanning machine that is arranged in automatic barcode scanning area 57 to the empty stack plate 100 into Row barcode scanning, if barcode scanning success, controls the roller rolls forward in automatic barcode scanning area 57, so that the empty stack plate 100 is delivered to On required station；And if barcode scanning is at work, the driving motor controlled in the 4th chain transminssion mechanism 574 rotates forward, should Empty stack plate 100 is transplanted on artificial barcode scanning area 41 from automatic barcode scanning area 57, herein it should be pointed out that examining for safety factor Consider, the facilities such as block can be provided between general artificial barcode scanning area 41 and practical barcode scanning area 42 and are isolated, therefore when setting exists When position sensor in artificial barcode scanning area 41 detects that the empty stack plate 100 reaches artificial barcode scanning area 41, the 4th chain of control is passed Motivation structure 574 stops transmission, and then one or more independent driving motors of artificial 4 bottom of barcode scanning pipeline are being arranged in just in control Turn, which is transported to practical barcode scanning area 42 from artificial barcode scanning area 41, when the position being arranged in practical barcode scanning area 42 When setting sensor and detecting that the empty stack plate 100 reaches practical barcode scanning area 42, then the hand-holdable scanning machine of employee is on the empty stack plate 100 Bar code 101 carry out supplement barcode scanning, after benefit is swept successfully, benefit is swept successful signal and is sent to production line control system by scanning machine In, and then one or more independent driving motors reversion that artificial 4 bottom of barcode scanning pipeline is set is controlled, by the empty stack plate 100 return to artificial barcode scanning area 41 from practical barcode scanning area 42, when the empty stack plate 100 after benefit is swept successfully reaches artificial barcode scanning area 41, It controls the roller on artificial barcode scanning pipeline 4 to stop rolling, then controls the driving motor in the 4th chain transminssion mechanism 574 again The empty stack plate 100 is returned to automatic barcode scanning area 57 from artificial barcode scanning area 41, the empty stack plate 100 after benefit is swept successfully by reversion When reaching automatic barcode scanning area 57, then controls the 4th chain transminssion mechanism 574 and stop transmission, then control again in automatic barcode scanning area 57 Roller rolls forward, to the empty stack plate 100 is delivered on required station, in this way, by the above process, so that one piece Block empty stack plate 100 can be transported in good order on required station by empty stack plate pipeline 5, herein it should be noted that When empty stack plate 100 after benefit is swept successfully is back to automatic barcode scanning area 57, since production line control system has received benefit before this The automatic scanning machine sweeping successful signal, therefore being set in automatic barcode scanning area 57 at this time will not be again to the empty stack mended after sweeping successfully Plate 100 carries out barcode scanning；

On the other hand, the finished product packing of three kinds of different sizes passes through the first packaging pipeline respectively in product line 1, the second packaging pipeline 2, the transport of second package pipeline 3 to robot clamp crawl position (the i.e. first packaging pipeline 1, the In two packaging pipelines 2, second package pipeline 3 at an end position of robot stacking machine 6, baffle is equipped at the position To prevent finished product packing from keeping moving forward), so that robot stacking machine 6 carries out clamping carrying；Assuming that when just starting, robot Stacking machine 6 is the progress palletizing operation on the first piling platform 71, when by defeated in the first, second, third packaging to setting Each monitoring result of sensor for countering in line sending 3 carries out analysis and knows, the finished product packing on current second packaging pipeline 2 Quantity is most, and than the finished product packing on the current packaging pipeline (being at this time the first packaging pipeline 1) for carrying out palletizing operation Quantity has more certain quantity, while the quantity being had more reaches predetermined number magnitude (that is, the packet that current finished product packing quantity is most The difference of finished product packing amount of storage between dress pipeline and the current packaging pipeline for carrying out palletizing operation reaches predetermined value), then There are under the premise of empty stack plate 100, the robotic arm of control robot stacking machine 6 turns to the on current second piling platform 72 On robot clamp clamping position on two packaging pipelines 2, and according to First piston bar 111 in second order dressing mechanism 21 Corresponding status signal (can be sent to robot stacking machine 6 or production line when Telescopic-cylinder First piston bar 111 by retracted position In control system), the fixture of robot stacking machine 6 is rotated to the predetermined angular being adapted with finished product packing placing attitude, into And the robot clamp is grabbed and carries out palletizing operation in the finished product packing clamping to the second piling platform 72 on position, in this way, logical Cross sensor for countering to it is each packaging pipeline on finished product packing storage quantity real-time perfoming monitor, and to each monitoring result into Row analysis, controllable robot stacking machine 6 carry out the multi-thread above palletizing operation simultaneously；Assuming that being carried out in robot stacking machine 6 During palletizing operation, the first piling platform 71 takes the lead in foring finished product pile, then controls robot stacking machine 6 and replace to remaining A production line of highest priority carries out palletizing operation in two production lines, and controls the first chain transminssion mechanism 711 and carry out Transmission, the finished product pile on the first piling platform 71 is transferred in the first finished product buffer area 81 from the first piling platform 71, into And the finished product pile is delivered to by 9 place station of wrapping machine by finished product pipeline 8 and carries out twining film, outbound, wherein by finished product pile During the first finished product buffer area 81 is delivered to from the first piling platform 71, if storage has empty stack on the first pallet buffer area 51 Plate 100, then the empty stack plate 100 on the first pallet buffer area 51 can be supplemented to the transmission of the first chain transminssion mechanism 711 On first piling platform 71, palletizing operation next time is waited, and if storage is not free pallet on the first pallet buffer area 51 100, then monolithic empty stack plate 100 is split out by tearing trigger 50 open, and the empty stack plate 100 is delivered to the by empty stack plate pipeline 5 One pallet buffer area 51, when the position sensor by being arranged on the first pallet buffer area 51 detects that the empty stack plate 100 arrives When up to the first pallet buffer area 51, then stopped by one or more independent driving motors that 56 bottom of transition region is arranged in control Work come control the roller on the first pallet buffer area 51 stop roll, then again lead to control the first chain transminssion mechanism 711 into Row transmission, which is supplemented on the first piling platform 71；

In this way, by the above process, the full-automation of palletizing operation is realized, meanwhile, which only needs a machine Device people stacking machine 6 can carry out simultaneously the palletizing operation of two lines or more, therefore not only increase production efficiency, and reduce and set Standby input cost height and the occupied area for reducing production line.

The above is only the preferred embodiment of the application, not makes any form of restriction to the application, therefore It is all without departing from technical scheme content, technical spirit any modification to the above embodiments according to the application, Equivalent variations and modification, in the range of still falling within technical scheme.

Claims

1. a kind of palletizing system, which is characterized in that including the first packaging pipeline and the second packaging pipeline, simultaneously being arranged side by side Arrange the empty stack plate pipeline and finished product pipeline, the first piling platform and the second piling platform arranged side by side of setting, Yi Jiyi Platform robot stacking machine, the first packaging pipeline are vertically arranged with the empty stack plate pipeline, first piling platform, Second piling platform is set between the empty stack plate pipeline and the finished product pipeline, and the empty stack plate pipeline is along conveying side To the first pallet buffer area and the second pallet buffer area is disposed with, the first finished product caching is provided on the finished product pipeline Area and the second finished product buffer area, the first pallet buffer area, the first piling platform, the first finished product buffer area are along first packet The conveying direction of dress pipeline is set gradually and the outlet end phase of the first pallet buffer area and the first packaging pipeline Isolation, the conveying that the second pallet buffer area, the second piling platform, the second finished product buffer area pack pipeline along described second Direction is set gradually and the outlet end of the second pallet buffer area and the second packaging pipeline is isolated, first stack Plate buffer area and first piling platform, the first finished product buffer area are sequentially connected, the second pallet buffer area and described the Two piling platforms, the first finished product buffer area transmission connection, the robot stacking machine be set up in the first pallet buffer area and/ Or the overhead of the second pallet buffer area.

2. palletizing system according to claim 1, which is characterized in that further include the first chain transminssion mechanism, described One packaging pipeline conveying direction on, the first pallet buffer area by first chain transminssion mechanism and meanwhile with it is described First piling platform, the transmission connection of the first finished product buffer area.

3. palletizing system according to claim 1, which is characterized in that further include the second chain transminssion mechanism, described Two packaging pipelines conveying direction on, the second pallet buffer area by second chain transminssion mechanism and meanwhile with it is described Second piling platform, the transmission connection of the second finished product buffer area.

4. palletizing system according to claim 1, which is characterized in that further include that second package pipeline, third stacking are flat Platform and third chain transminssion mechanism, the second package pipeline and the first packaging pipeline, the second packaging pipeline are simultaneously Row's setting, the third piling platform and first piling platform, the second piling platform are arranged side by side, the empty stack plate conveying It is additionally provided with third pallet buffer area on line, third finished product buffer area is additionally provided on the finished product pipeline, second pallet is slow It deposits area to be set between the first pallet buffer area and the third pallet buffer area, the third pallet buffer area, third yard Pile platform, third finished product buffer area are set gradually along the conveying direction of the second package pipeline and the third pallet caches Area and the outlet end of the second package pipeline are isolated, and the robot stacking machine is set up in the second pallet buffer area Overhead, on the conveying direction of the second package pipeline, the third pallet buffer area is passed by the third chain Motivation structure is sequentially connected with the third piling platform, third finished product buffer area simultaneously.

5. palletizing system according to claim 1, which is characterized in that be additionally provided with wrapping machine on the finished product pipeline, institute The second finished product buffer area, the first finished product buffer area, wrapping machine is stated to set gradually along the conveying direction of the finished product pipeline.

6. palletizing system according to any one of claims 1-5, which is characterized in that the first pallet buffer area and institute It states to be provided between the arrival end of empty stack plate pipeline and tears trigger open, the trigger of tearing open is for will be from the empty stack plate pipeline The whole pile pallet of arrival end splits into the empty stack plate of monolithic, wherein whole pile pallet empty stack sheetpile as described in muti-piece is folded to be formed.

7. palletizing system according to claim 6, which is characterized in that the trigger of tearing open includes cabinet and is installed on described In cabinet and the motor, transmission mechanism, cam, bearing, connector sleeve, tie rod, cross bar, back-up roller wheel seat, the guide rail, company that are arranged in pairs The output shaft of bar, swing arm, clamping limb and cylinder, the motor is connect by the transmission mechanism with the cam drive, described Connector sleeve is sheathed on the bearing, and the bearing is in axial direction fixedly connected with the flange part of the cam, the tie rod One end be fixedly connected on the connector sleeve, the other end is fixedly connected on the cross bar；The back-up roller wheel seat is along vertical Direction is arranged and is fixedly connected respectively with one end of the cross bar, is fixedly connected with the first end of the connecting rod and leads with described Rail is slidably matched, the first end rotation connection of the first end of the connecting rod and the swing arm and in the horizontal direction with the cabinet Inner wall is slidably connected, and the second end of the connecting rod is movably connected on the inner wall of the cabinet, the second end of the swing arm and institute The one end for stating clamping limb is fixedly connected, and the conveying direction of the length direction of the clamping limb and the empty stack plate pipeline is flat Row, the cylinder is set to the side of swing arm and the piston rod of the cylinder is movably connected in the swing arm, wherein the tie rod It is arranged along the vertical direction, the guide rail is arranged along the vertical direction, and the core wheel position of the cam is higher than the position of the cross bar.

8. palletizing system according to claim 6, which is characterized in that further include the 4th chain transminssion mechanism and with it is described The arrival end of empty stack plate pipeline artificial barcode scanning pipeline arranged side by side, the artificial barcode scanning pipeline is equipped with artificial barcode scanning Area is additionally provided with automatic barcode scanning area, the automatic barcode scanning area between the first pallet buffer area and the exit for tearing trigger open It is sequentially connected by the 4th chain transminssion mechanism and the artificial barcode scanning area.

9. palletizing system according to any one of claims 1-5, which is characterized in that on the first packaging pipeline also Equipped with first order dressing mechanism, the first order dressing mechanism includes the first cylinder, first connecting rod, first baffle and the One differential belt, the First piston bar of first cylinder and one end of the first connecting rod are rotatablely connected, and described first connects The other end of extension bar is fixedly connected with the first end of the first baffle, and the first end of the first baffle is rotationally connected with institute On the edge for stating the first packaging pipeline, the first differential belt is wound on the roller of the first packaging pipeline and sets It is placed between the arrival end and the first baffle of the first packaging pipeline.

10. a kind of palletizing method, which is characterized in that be applied in palletizing system as claimed in any one of claims 1-9 wherein, institute The method of stating includes:

If there is empty stack plate on the first piling platform, the second piling platform, according to scheduled first priority policy, control Finished product packing on the packaging pipeline of highest priority is carried to first piling platform or described by robot stacking machine Stacking is carried out on second piling platform, wherein the packaging pipeline includes the first packaging pipeline and the second packaging pipeline；

If there is no empty stack plate on the first piling platform, the second piling platform, according to scheduled second priority policy, control Empty stack plate pipeline processed transports the empty stack plate placed thereon to the higher piling platform of priority, and works as the sky When pallet reaches the priority higher piling platform, the robot stacking machine is controlled by the corresponding packaging pipeline On finished product packing be carried on first piling platform or second piling platform and carry out stacking, wherein the stacking Platform includes first piling platform and second piling platform；

If controlling the robot code there are there is no empty stack plate on empty stack plate and the second piling platform on the first piling platform Finished product packing on the first packaging pipeline is carried on first piling platform and carries out stacking by stack machine, and controls institute Empty stack plate pipeline is stated to transport the empty stack plate placed thereon to second piling platform；

If not existing on empty stack plate and the second piling platform on the first piling platform, there are empty stack plates, control the robot code Finished product packing on the second packaging pipeline is carried on second piling platform and carries out stacking by stack machine, and controls institute Empty stack plate pipeline is stated to transport the empty stack plate placed thereon to first piling platform；

When the finished product packing on first piling platform or second piling platform by stacking to predetermined quantity and become at It when product pile, controls the robot stacking machine and replaces to carrying out stacking on piling platform described in another, and by the finished product pile Outbound is carried out on transport to finished product pipeline.