CN112550808A

CN112550808A - Double-robot cooperation stacking integrated equipment, system and method

Info

Publication number: CN112550808A
Application number: CN202011579975.6A
Authority: CN
Inventors: 杨正辉; 胡嘉祺; 王亮亮
Original assignee: Keda Industrial Group Co Ltd
Current assignee: Keda Industrial Group Co Ltd
Priority date: 2020-12-28
Filing date: 2020-12-28
Publication date: 2021-03-26
Also published as: WO2022141135A1

Abstract

The invention discloses a double-robot cooperation stacking integrated device which comprises a bearing inclining device, a stacking robot, a horizontal bundling and rolling machine, a chain type conveying line, a pallet taking and placing robot, a first pallet conveying part, a pallet warehouse and a second pallet conveying part, wherein the bearing inclining device is connected with the chain type conveying line, the stacking robot is arranged between two adjacent bearing inclining devices, the horizontal bundling and rolling machine is arranged at the joint of the bearing inclining device and the chain type conveying line, the horizontal bundling and rolling machine is used for bundling brick stacks above the bearing inclining device after stacking is finished, the first pallet conveying part, the pallet warehouse part and the second pallet conveying part are sequentially connected, the pallet taking and placing robot is arranged between the pallet conveying lines, the chain type conveying line is communicated with the second pallet conveying part through the pallet taking and placing robot, and the double-robot cooperation stacking integrated device has the advantages of compact structure, capability of efficiently finishing various specifications of, The automatic pallet taking and delivering and logistics conveying system has the advantages that the intelligent warehouse system for the logistics conveying of the whole factory can be formed by single lines or multiple lines.

Description

Double-robot cooperation stacking integrated equipment, system and method

Technical Field

The invention relates to the technical field of automatic packaging of ceramic tiles, in particular to a double-robot cooperation stacking integrated device, system and method.

Background

At present, the industrial field develops towards intellectualization and automation, and ceramic enterprises in the traditional labor-intensive industry have the problems of high labor intensity, harsh working environment and the like. Under the large background that the population dividend of China gradually disappears and the recruitment difficulty is high, the labor cost of ceramic enterprises is sharply increased. The packing of ceramic tile needs to consume a large amount of labours, as the last process in ceramic tile packing field, the efficiency that the sign indicating number package and transportation efficiency are directly influencing whole packing is influencing workman's intensity of labour and operating time. Although the bag stacking machine has made great progress in recent years, the intelligent integrated system has the defects that the bag stacking speed is low, the bag stacking form or specification is single, part of procedures are complex, automatic bag stacking cannot be realized, man-machine mixed operation is adopted, the risk of personnel safety accidents is brought, the structure of the bag stacking machine is complex, the occupied area is large, and the like, and the bag stacking and logistics storage integration cannot be realized.

Aiming at various problems in the whole ceramic industry, it is necessary to develop an intelligent stacking integrated system device which has a compact structure and can efficiently complete stacking of various specifications, automatic pallet taking and delivering and logistics conveying.

Disclosure of Invention

In order to solve the technical problem, the invention provides a double-robot cooperation stacking integrated device which comprises a plurality of bearing tilting devices, a stacking robot, a plurality of horizontal bundling and rolling machines, a plurality of chain type conveying lines, a pallet taking and placing robot, a first pallet conveying part, a pallet warehouse, a second pallet conveying part, a confluence conveying line and the like.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

a double-robot cooperation stacking integrated device comprises a plurality of bearing inclining devices, a stacking robot, a plurality of horizontal bundling machines, a plurality of chain conveying lines, a pallet taking and placing robot, a first pallet conveying part, a pallet warehouse, a second pallet conveying part and a converging conveying line, wherein the plurality of bearing inclining devices are respectively butted with the plurality of chain conveying lines, the stacking robot is arranged between two adjacent bearing inclining devices and respectively arranged at the joint of the bearing inclining devices and the chain conveying lines, the pallet taking and placing robot is arranged between the plurality of chain conveying lines and used for grabbing pallets and then placing the pallets on the chain conveying lines, the stacking robot grabs and places the bricks on the pallets to form a brick pile, the horizontal bundling machines are used for bundling the brick pile above the bearing inclining devices after finishing, first pallet transport unit, pallet storehouse part and second pallet transport unit connect gradually, the transfer chain that converges sets up between chain transfer chain and second pallet transport unit, the chain transfer chain is close to the one end of second pallet transport unit and the butt joint of transfer chain that converges.

By the arrangement, a plurality of bearing inclined devices are respectively butted with a plurality of chain type conveying lines, a palletizing robot is arranged between two adjacent bearing inclined devices, a plurality of horizontal bundling machines are respectively arranged at the joints of the bearing inclined devices and the chain type conveying lines, a pallet taking and placing robot is arranged between the chain type conveying lines and is used for grabbing pallets and then placing the pallets on the chain type conveying lines, the palletizing robot grabs and places the bricks on the pallets to palletize into brick stacks, the horizontal bundling machines are used for bundling the brick stacks above the bearing inclined devices after the stacking is finished, a first pallet conveying part, a pallet warehouse part and a second pallet conveying part are sequentially connected, the conveying lines are converged and arranged between the chain type conveying lines and the second pallet conveying part, one ends of the chain type conveying lines, which are close to the second pallet conveying part, are butted with the converging conveying lines, the connection among the parts is close, the pallet buttress deposits the pallet storehouse in through first pallet transport unit, the pallet gets into second pallet transport unit after going out the pallet storehouse, the pallet is got the pallet of robot snatching on the second pallet transport unit and then is placed on the chain conveyor line, through the transport of chain conveyor line, the pallet reachs bearing tilting means, the sign indicating number chartered plane robot carries out sign indicating number package with the ceramic tile package according to certain specification, horizontal bundle rolling mill bundles the ceramic tile package that the sign indicating number is good after accomplishing, the ceramic tile package that ties up leaves from bearing tilting means, through the chain conveyor line, thereby realize through the transfer chain that the logistics storage docks and realize high-efficient multiple specification pile up neatly, get the target of delivering pallet and intelligent logistics storage transport automatically.

As preferred, bearing tilting means is including clapping neat subassembly, jacking subassembly, direction conveying component, a plurality of drive assembly and bearing frame, clap neat subassembly, jacking subassembly, direction conveying component and a plurality of drive assembly and all set up on the bearing frame, direction conveying component is located bearing frame top middle part, the jacking subassembly is located direction conveying component below, clap neat subassembly and be located direction conveying component week side, clap neat subassembly, jacking subassembly and direction conveying component and all link to each other with drive assembly and receive drive assembly control.

Through setting up like this, clap neat subassembly, the jacking subassembly, direction conveying assembly, and a plurality of drive assembly all set up on the bearing frame, direction conveying assembly is located bearing frame top middle part, the jacking subassembly is located direction conveying assembly below, clap neat subassembly and be located direction conveying assembly week side, clap neat subassembly, jacking subassembly and direction conveying assembly all link to each other with drive assembly and receive drive assembly control, make bearing tilting device possess regular brick package, bear the weight of the ability of brick pillar and transport the brick pillar.

As preferred, clap neat subassembly and include two buttress framves, three centering plates and be used for adjusting the adjusting part of buttress frame and centering plate position, the one side that chain transfer line was kept away from to the direction conveying subassembly and the left and right sides of direction of motion all are equipped with the centering plate, it is located one side that the direction conveying subassembly was kept away from to the centering plate to hold up the buttress frame, it is located one side that chain transfer line was kept away from to the direction conveying subassembly and the one side that the chartered plane ware people was kept away from to the direction conveying subassembly to hold up the buttress frame.

Through setting up like this, the one side that chain transfer chain was kept away from to direction conveying subassembly and the left and right sides of direction of motion all are equipped with the centering plate, hold up the buttress frame and be located the centering plate and keep away from one side of direction conveying subassembly, hold up the buttress frame and be located one side that chain transfer chain was kept away from to direction conveying subassembly and the direction conveying subassembly kept away from the chartered plane ware people, it all matches with the adjusting part that is provided with to the centering plate to hold up the buttress frame, on the one hand make bearing tilting gear possess the ability of adjusting corresponding size according to the size of the ceramic tile of needs sign indicating number package, on the other hand has promoted bearing tilting gear at ceramic tile sign indicating number package in-process security, be favorable to reducing.

Preferably, the bag stacking robot comprises a bag stacking robot base, a first industrial robot and a brick bag clamp, the first industrial robot is a six-axis industrial robot, and the brick bag clamp is installed at the tail end of an arm of the first industrial robot.

Through setting up like this, sign indicating number package robot includes sign indicating number package robot frame, first industrial robot and brick package anchor clamps, and first industrial robot is six industrial robot, and brick package anchor clamps are installed in first industrial robot arm end, and the cooperation through six industrial robot and brick package anchor clamps makes the sign indicating number package robot can put things in good order the brick package on bearing tilting means safely with high efficiency to the brick pillar of putting into certain specification.

Preferably, the pallet taking and placing robot comprises a pallet taking and placing robot base, a second industrial robot and a pallet clamp, the second industrial robot is a four-axis industrial robot, and the pallet clamp is arranged at the tail end of an arm of the second industrial robot.

Through setting up like this, the pallet is got and is put the robot and put robot frame, second industrial robot and pallet anchor clamps including the pallet, and second industrial robot is four-axis industrial robot, and the pallet anchor clamps set up in second industrial robot arm end, and the cooperation through four-axis industrial robot and pallet anchor clamps makes the pallet get and put the robot and can conveniently get and put the pallet.

Preferably, the horizontal bundling machine comprises a belt frame, a belt bin, a bundling motor and a body frame, the belt frame is connected to the body frame in a sliding mode along the gravity direction, the belt frame is located above the supporting and inclining device, the belt bin is arranged at the position, close to the chain type conveying line, of the bottom of the body frame, and the bundling motor is fixedly connected to the belt frame.

Through setting up like this, horizontal bundle rolling mill is including taking the frame, take the storehouse, tie up motor and body frame, take the frame along gravity direction sliding connection in body frame, the frame of taking is located bearing tilting means's top, the area storehouse sets up in the position that body frame bottom is close to the chain transfer chain, tie up motor fixed connection in and take the frame, after the pile up robot is piled up the brick package into the brick pillar, the frame of taking slides to the position of tying up along the body frame, horizontal bundle rolling mill is tied up the brick pillar bundle with the help of the strapping that the storehouse was stored, the completion is fixed to the brick pillar.

Preferably, the chain conveying line comprises a conveying rack, a plurality of chain conveying motors, a plurality of chains, a plurality of aligning parts, a plurality of transmission parts and a plurality of guide parts, the chain conveying motors are fixedly connected to the side face of the conveying rack, the guide parts are arranged in the middle of the conveying rack, the chains are detachably connected to the conveying rack through the guide parts, the chains are connected with the chain conveying motors through the transmission parts, the aligning parts are fixedly connected to the conveying rack, and the aligning parts are arranged on the outer side of the chains relatively.

Through setting up like this, the chain convey line is including carrying the frame, a plurality of chain convey motors, many chains, a plurality of alignment parts, a plurality of drive disk assembly and a plurality of guide part, chain convey motor fixed connection is in carrying the frame side, a plurality of guide part all set up in carrying the frame middle part, the chain passes through guide part and can dismantle the connection in carrying the frame, the chain passes through drive disk assembly and links to each other with chain convey motor, alignment part fixed connection is in carrying the frame, alignment part sets up in the chain outside relatively, make the chain convey line guarantee under the unaffected prerequisite of transport function, still have the effect of adjustment transported goods position, thereby improve the security and the stability of transportation.

As preferred, first pallet transport unit includes that first pallet carries frame, first pallet to keep off frame, first pallet transfer chain and first pallet conveying motor, first pallet transfer chain sets up in first pallet transport frame, first pallet conveying motor links to each other with first pallet transfer chain and provides power for first pallet transfer chain, first pallet keeps off frame fixed connection in first pallet transport frame, first pallet keeps off the frame and is located first pallet transfer chain one side.

Through the arrangement, the first pallet conveying part comprises a first pallet conveying frame, a first pallet blocking frame, a first pallet conveying line and a first pallet conveying motor, the first pallet conveying line is arranged on the first pallet conveying frame, the first pallet conveying motor is connected with the first pallet conveying line and provides power for the first pallet conveying line, the first pallet blocking frame is fixedly connected to the first pallet conveying frame, the first pallet blocking frame is located on one side of the first pallet conveying line, the first pallet blocking frame is arranged on one side of the first pallet conveying line through the first pallet conveying frame, the first pallet blocking frame, cooperation between the first pallet conveying line and the first pallet conveying motor, and pallets which are piled can be conveyed to a pallet warehouse to be stored.

As preferred, the pallet storehouse includes pallet storehouse frame, pallet jacking part, pallet storehouse transfer chain, pallet clamping part and pallet storehouse conveying motor, pallet storehouse transfer chain sets up in pallet storehouse frame, pallet storehouse conveying motor links to each other with pallet storehouse transfer chain and provides power for pallet storehouse transfer chain, the fixed pallet storehouse frame of pallet clamping part, pallet clamping part sets up in pallet storehouse transfer chain both sides relatively, pallet jacking part fixes pallet storehouse frame, pallet jacking part sets up below position in pallet storehouse transfer chain in pallet storehouse frame, pallet jacking part passes through the second grade stroke cylinder, can reach and accomplish a plurality of jacking stroke distances.

By the arrangement, the pallet warehouse comprises a pallet warehouse frame, pallet clamping components, a pallet warehouse conveying line, a pallet jacking component and a pallet warehouse conveying motor, the pallet warehouse conveying line is arranged on the pallet warehouse conveying base, the pallet warehouse conveying motor is connected with the pallet warehouse conveying line and provides power for the pallet warehouse conveying line, the pallet clamping components are fixedly connected to the pallet warehouse frame, the pallet clamping components are oppositely arranged on two sides of the pallet warehouse conveying line, the pallet jacking component is fixedly connected to the pallet warehouse frame, the pallet jacking component is arranged at the lower position in the pallet warehouse conveying line on the pallet warehouse frame, the pallet jacking component can clamp the piled pallets, the pallet jacking component begins to descend, a first single pallet attached with the piled pallet piles simultaneously descends onto the conveying component of the pallet warehouse and is conveyed to a second pallet conveying component, and a robot for picking and placing is convenient, the operation is circulated until the pallet stack entering the pallet warehouse is cut.

Preferably, the second pallet transport unit includes a second pallet transport frame, a second pallet transport line and a second pallet transport motor, the second pallet transport line is disposed on the second pallet transport frame, the second pallet transport motor is connected to the second pallet transport line and provides power for the second pallet transport line.

Through setting up like this, second pallet transport unit includes second pallet transport rack, second pallet transfer chain and second pallet conveying motor, second pallet transfer chain sets up in second pallet transport rack, second pallet conveying motor links to each other with second pallet transfer chain and provides power for second pallet transfer chain for the pallet of outflow pallet storehouse arrives the position that the pallet was convenient for the pallet to get and put the robot and snatch after the transport through second pallet transport unit, make things convenient for the pallet to get and put the robot and shift the pallet to chain transfer chain.

The invention also discloses a double-robot cooperation stacking integrated system which comprises a plurality of stacking integrated devices, wherein the confluence conveying lines between two adjacent double-robot cooperation stacking integrated devices are butted to form a system confluence conveying line, one side of the system confluence conveying line is provided with a first pallet conveying part, a pallet library and a second pallet conveying part of the double-robot cooperation stacking integrated devices, and the other side of the system confluence conveying line is provided with a bearing tilting device, a bag stacking robot, a horizontal bundling machine, a chain conveying line and a pallet taking and placing robot of the double-robot cooperation stacking integrated devices.

Through setting up like this, be in the same place a plurality of pile up neatly integrated equipment integrations, the transfer chain butt joint that converges between two adjacent pile up neatly integrated equipment forms the transfer chain that converges of system, one side that the system converges the transfer chain sets up the first pallet transport unit of two cooperation pile up neatly integrated equipment of robot, pallet storehouse and second pallet transport unit, the opposite side that the system converges the transfer chain sets up the bearing tilting means of two cooperation pile up neatly integrated equipment of robot, the pile up neatly robot, horizontal bundle rolling machine, chain transfer chain and pallet are got and are put the robot, make the work efficiency of pile up neatly integrated equipment obtain promoting by a wide margin.

The invention also discloses a stacking method applying the double-robot cooperation stacking integrated equipment, which comprises the following steps of:

s1, pallet preparation: a pallet stack formed by stacking a single pallet is placed on a first pallet conveying part through a forklift and conveyed into a pallet warehouse;

s2, splitting a single pallet: the pallet jacking component jacks the stacked pallet stack upwards to enable the stacked pallet stack to leave the pallet warehouse conveying line, then the pallet clamping component clamps the position of a second single pallet in the pallet stack from the jacking direction of the pallet jacking component, the pallet positioned at the bottommost layer in the pallet stack begins to descend along with the pallet jacking component, the pallet attached to the pallet jacking component descends onto the pallet warehouse conveying line, splitting of the single pallet is completed, the single pallet split in the pallet warehouse is conveyed to the position to be taken of the second pallet conveying component through the pallet warehouse conveying line, and the actions are circulated until the pallet stack entering the pallet warehouse is split;

s3, conveying the pallet: the picking and placing robot picks and transfers a single pallet from the second pallet conveying part to the chain type conveying line, the single pallet enters the bearing and inclining device through the chain type conveying line after being aligned and centered, the bearing and inclining device starts to carry and position the pallet, the jacking assembly retracts to enable the pallet to keep an inclination angle, the pallet extends upwards from the two side supporting frames in the inclination direction and keeps in a supporting state at the edges of the two sides of the pallet), and the stacking robot waits for stacking of bricks and packages;

s4, stacking and bundling brick bags: the stacking robot stacks bricks on the inclined pallet according to a preset specification to form a brick pile, after the stacking of the brick pile is finished, the horizontal bundling machine starts to descend, the horizontal bundling machine descends to the upper end of the brick pile, the jacking assembly jacks up to enable the brick pile to keep a horizontal position, the horizontal bundling machine starts to bundle a first strip, after the bundling is finished, the position of the buttress frame is changed through the adjusting assembly, the buttress frame is enabled to be flush with the ground, the horizontal bundling machine descends to the middle position of the brick pile to bundle, after the bundling is finished, the horizontal bundling machine descends to the lower end of the brick pile to bundle, after the bundling is finished, the horizontal bundling machine starts to ascend to a position above the safe height of a work area of the stacking robot, and the brick pile bundling is finished;

s5, brick pile transportation: the bundled brick piles enter a chain type conveying line through a guide conveying assembly of the bearing tilting device, are conveyed through the chain type conveying line and are conveyed into a warehouse through a confluence conveying line;

s6, repeating the processes from S1 to S5, and circulating the operation.

Preferably, the pallet jacking part is driven by the cylinder in step S2, the jacking height of the pallet jacking part has two, and the high position of jacking is the position one that keeps level with the terminal surface under the pallet clamping part, and the high position of another jacking is the position two of a pallet height below the pallet clamping part apart from the pallet clamping part terminal surface down, and concrete segmentation process includes following steps:

s21, a first pallet splitting process: the pallet jacking component ascends to a second position, the pallet clamping component clamps the pallet stack, and the pallet jacking component descends to a pallet warehouse conveying line while returning, so that the first pallet is cut;

s22, splitting the middle pallet: the pallet jacking component rises to a first position, the pallet clamping component releases the pallet stack, the pallet jacking component descends to a second position, the pallet clamping component clamps the pallet stack, the pallet jacking component descends to a return position and simultaneously lowers the lowermost pallet in the pallet stack onto a pallet warehouse conveying line, and the middle pallet splitting process is circulated in this way to complete splitting of the middle pallet;

s23, a final pallet splitting process: the pallet jacking component ascends to the first position, the pallet clamping component releases the pallet stack, and the pallet jacking component descends to return and simultaneously lowers the last pallet onto the pallet warehouse conveying line to complete the splitting of the last pallet.

Compared with the prior art, the invention has the beneficial technical effects that:

1. a plurality of bearing inclined devices are respectively butted with a plurality of chain type conveying lines, a bag stacking robot is arranged between two adjacent bearing inclined devices, a plurality of horizontal bundling machines are respectively arranged at the joints of the bearing inclined devices and the chain type conveying lines, a pallet taking and placing robot is arranged between the chain type conveying lines and used for grabbing pallets and then placing the pallets on the chain type conveying lines, the bag stacking robot grabs and places the bricks on the pallets to be stacked into brick piles, the horizontal bundling machines are used for bundling the piled bricks above the bearing inclined devices after stacking is finished, a first pallet conveying component, a pallet warehouse component and a second pallet conveying component are sequentially connected, a confluence conveying line is arranged between the chain type conveying lines and the second pallet conveying component, one end of each chain type conveying line, which is close to the second pallet conveying component, is butted with the confluence conveying line, all the components are closely connected, and the structure is compact, the method comprises the steps that pallet stacks are stored in a pallet warehouse through a first pallet conveying part, the pallets enter a second pallet conveying part after leaving the pallet warehouse, a pallet taking and placing robot grabs the pallets on the second pallet conveying part and then places the pallets on a chain type conveying line, the pallets reach a bearing tilting device after being conveyed by the chain type conveying line, a stacking robot carries out stacking and packaging on ceramic tile packages according to certain specifications, a horizontal bundling machine bundles the stacked ceramic tile packages, the bundled ceramic tile packages leave from the bearing tilting device, and the ceramic tile packages are butted with logistics storage through a confluence conveying line through the chain type conveying line so as to achieve the aims of efficiently completing stacking of multiple specifications, automatically taking and delivering the pallets and carrying intelligent logistics;

2. the supporting and inclining device comprises a patting and aligning component, a jacking component, a guiding and conveying component, a plurality of driving components and a supporting base, so that the supporting and inclining device has the capacity of arranging brick packages, bearing the brick stacks and transferring the brick stacks, wherein the patting and aligning component comprises two buttress frames, three centering plates and an adjusting component for adjusting the positions of the buttress frames and the centering plates, and the supporting and inclining device has the capacity of adjusting corresponding sizes according to the sizes of the ceramic tiles which need to be stacked;

3. the stacking robot comprises a stacking robot base, a first industrial robot and a brick package clamp, wherein the first industrial robot is a six-axis industrial robot, the brick package clamp is arranged at the tail end of an arm of the first industrial robot, and the six-axis industrial robot and the brick package clamp are matched to enable the stacking robot to efficiently and safely stack brick packages on a bearing tilting device and stack the brick packages into a brick pile with a certain specification;

4. the horizontal bundling machine comprises a belt frame, a belt bin, a bundling motor and a body frame, wherein the belt frame is connected to the body frame in a sliding mode along the gravity direction, the belt frame is located above the bearing inclining device, the belt bin is arranged at the position, close to the chain type conveying line, of the bottom of the body frame, the bundling motor is fixedly connected to the belt frame, after the brick packages are stacked into brick piles by the stacking robot, the belt frame slides to the bundling position along the body frame, and the horizontal bundling machine bundles the brick piles by means of the bundling belt stored in the belt bin to complete fixing of the brick piles;

5. the chain type conveying line comprises a conveying rack, a plurality of conveying motors, a plurality of chains, a plurality of alignment parts, a plurality of transmission parts and a plurality of guide parts, wherein the conveying motors are fixedly connected to the side face of the conveying rack, the guide parts are all arranged in the middle of the conveying rack, the chains are detachably connected to the conveying rack through the guide parts, the chains are connected with the conveying motors through the transmission parts, the alignment parts are fixedly connected to the conveying rack, the alignment parts are arranged on the outer side of the chains relatively, so that the chain type conveying line has the function of adjusting the positions of conveyed articles on the premise of ensuring that the conveying function is not influenced, and the safety and the stability of the conveying process are improved;

6. the pallet taking and placing robot comprises a pallet taking and placing robot base, a second industrial robot and a pallet clamp, wherein the second industrial robot is a four-axis industrial robot, the pallet clamp is arranged at the tail end of an arm of the second industrial robot and is far away from one end of the pallet taking and placing robot base, and the pallet taking and placing robot can conveniently take and place pallets through the cooperation of the four-axis industrial robot and the pallet clamp;

7. the pallet conveying mechanism comprises a first pallet conveying rack, a pallet clamping part, a first pallet conveying line, a first pallet conveying motor, a pallet warehouse comprising a pallet warehouse rack, a pallet jacking part, a pallet warehouse conveying line, a pallet jacking part, a pallet warehouse conveying motor and a second pallet conveying part comprising a second pallet conveying rack, a second pallet conveying line and a second pallet conveying motor, wherein the first pallet conveying part, the pallet clamping part, the first pallet conveying line and the first pallet conveying motor are matched with each other, so that stacked pallets enter the pallet warehouse to be stored through the first pallet conveying part, then the second pallet is separated by the pallet library, leaves the pallet library and flows into the second pallet conveying part at the frequency of one pallet at a time, and then the pallet is conveyed by the second pallet conveying part and then reaches a position where the pallet taking and placing robot can conveniently grab, and finally the pallet is transferred to the chain type conveying line by the pallet taking and placing robot.

Drawings

FIG. 1 is a general schematic diagram of a first embodiment of the present invention;

FIG. 2 is a schematic view of the construction of the device for supporting and tilting of the present invention;

FIG. 3 is a schematic structural diagram of a bag loader robot according to the present invention;

FIG. 4 is a schematic view of the structure of the horizontal bale rolling mill of the present invention

FIG. 5 is a schematic view showing the structure of the chain conveyor line according to the present invention

FIG. 6 is a schematic view of the pallet picking and placing robot according to the present invention

Fig. 7 is a schematic view of the first pallet transport unit of the present invention

FIG. 8 is a schematic diagram of the structure of the pallet library of the present invention

Fig. 9 is a schematic view of the second pallet transport unit of the present invention

FIG. 10 is a schematic view showing the structure of the confluence conveying line according to the present invention

FIG. 11 is a schematic view of the second embodiment of the present invention in an operating state

FIG. 12 is a schematic view of the structure of a third embodiment of the present invention;

fig. 13 is a schematic diagram of the jacking height of the pallet jacking component in the second embodiment of the invention.

Wherein, the technical characteristics that each reference numeral refers to are as follows:

1. a supporting tilting device; 11. a patting component; 111. a buttress frame; 112. a centering plate; 113. an adjustment assembly; 1131. centering blocks; 114. a limiting plate; 12. a jacking assembly; 13. a guide conveying assembly; 14. a drive assembly; 15. supporting the machine base; 2. a bag loader robot; 21. a stacker robot base; 22. a first industrial robot; 23. brick clamp; 3. a horizontal bundle rolling mill; 31. a belt frame; 32. a belt bin; 33. bundling a motor; 34. a body frame; 4. a chain conveyor line; 41. a conveyor frame; 42. a chain conveyor motor; 43. a chain; 44. an alignment member; 45. a transmission member; 46. a guide member; 5. a pallet picking and placing robot; 51. the pallet taking and placing robot base; 52. a second industrial robot; 53. a pallet clamp; 6. a first pallet transport component; 61. a first pallet conveyor frame; 62. a first pallet stop; 63. a first pallet conveyor line; 64. a first pallet conveying motor; 7. a pallet warehouse; 71. a pallet warehouse rack; 72. a pallet jacking component; 73. a pallet warehouse conveying line; 74. a pallet clamping member; 75. a pallet warehouse conveying motor; 8. a second pallet transport component; 81. a second pallet conveyor frame; 82. a second pallet conveyor line; 83. a second pallet conveyor motor; 9. a confluence conveying line; 91. a reversing device; 92. a conveyance device; 9R, a first pallet transport component, a pallet warehouse and a second pallet transport component; 9L, a bearing tilting device, a bag stacking robot, a horizontal bundling and rolling machine, a chain type conveying line and a pallet taking and placing robot; 101. brick wrapping; 102. piling bricks; 103. a pallet; 104. stacking the plates; p1, position one; p2, position two.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments, but the scope of the present invention is not limited to the following embodiments.

Example one

Referring to fig. 1, the present embodiment discloses a two-robot cooperation palletizing integrated device, which includes a plurality of supporting tilting devices 1, a palletizing robot 2, a plurality of horizontal baler 3, a plurality of chain conveyor lines 4, a pallet taking and placing robot 5, a first pallet conveying part 6, a pallet warehouse 7, a second pallet conveying part 8 and a confluence conveyor line 9, in the present embodiment, the number of the supporting tilting devices 1, the number of the horizontal baler 3 and the number of the chain conveyor lines 4 are two and are all symmetrically arranged along the same straight line, the supporting tilting devices 1 are respectively butted with the chain conveyor lines 4, the palletizing robot 2 is arranged between the two supporting tilting devices 1, the two horizontal baler 3 are respectively arranged at the joints of the supporting tilting devices 1 and the chain conveyor lines 4, the horizontal baler 3 is used for directly strapping brick stacks 102 above the supporting tilting devices 1 after the palletizing is finished, first pallet conveyor part 6, pallet storehouse part 7 and second pallet conveyor part 8 connect gradually, and the pallet is got and is put robot 5 and set up between two chain conveyor 4, and two chain conveyor 4 get robot 5 intercommunication second pallet conveyor part 8 through the pallet, converge the one end butt joint that conveyor line 9 and chain conveyor 4 are close to pallet and get robot 5.

Referring to fig. 2, bearing tilting apparatus 1 is including clapping neat subassembly 11, jacking subassembly 12, direction conveying component 13, two drive assemblies 14 and bearing frame 15, clap neat subassembly 11, jacking subassembly 12, direction conveying component 13, and two drive assemblies 14 all set up on bearing frame 15, direction conveying component 13 is located 15 top middle parts of bearing frame, jacking subassembly 12 is located direction conveying component 13 below, clap neat subassembly 11 and be located direction conveying component 13 week side, clap neat subassembly 11, jacking subassembly 12 and direction conveying component 13 all link to each other with drive assembly 14 and are controlled by drive assembly 14. The patting and aligning assembly 11 comprises a buttress frame 111, a centering plate 112, an adjusting assembly 113 and limiting plates 114, wherein the adjusting assembly 113 and the limiting plates 114 are used for adjusting the positions of the buttress frame 111 and the centering plate 112, the adjusting assembly 113 further comprises a centering block 1131, the centering plate 112 is arranged on one side of the guide conveying assembly 13 away from the chain conveying line 4 and on the left side and the right side of the movement direction, the buttress frame 111 is positioned on one side of the centering plate 112 away from the guide conveying assembly 13, the buttress frame 111 is positioned on one side of the guide conveying assembly 13 away from the chain conveying line 4 and one side of the guide conveying assembly 13 away from the palletizing robot 2, the vertical cross section of the limiting plate 114 is in an L shape, the limiting plate 114 is positioned on one side of the guide conveying assembly 13 close to the chain conveying line 4, the guide conveying assembly 13, the centering block 1131 is located outside the centering plate 112 that is remote from the palletizer robot 2. During operation, at first transport the pallet through direction conveying assembly 13 and drive assembly 14 into, then adjust the pallet to the position of being convenient for sign indicating number package (the minimum of pallet four corners is in same department with the contained angle of two buttress framves 111) through clapping neat subassembly 11 and jacking subassembly 12, the pallet that the pile up the good brick pillar of putting into order is transported away through direction conveying assembly 13 and drive assembly 14 after the sign indicating number package is finished.

Referring to fig. 1 and 3, the palletizing robot 2 includes a palletizing robot base 21, a first industrial robot 22 and a brick clamp 23, the first industrial robot 22 is a six-axis industrial robot, and the brick clamp 23 is detachably connected to the end of an arm of the industrial robot. In operation, the six-axis industrial robot puts the brick package into the pallet placed on the bearing and tilting device 1 by means of the brick package clamp 23.

Referring to fig. 4, the horizontal banding machine 3 includes a band frame 31, a band bin 32, a banding motor 33, and a body frame 34, the band frame 31 is slidably coupled to the body frame 34 in a gravity direction, the band bin 32 is disposed at a position near the chain conveyor line 4 at the bottom of the body frame 34, and the banding motor 33 is fixedly coupled to the band frame 31. In operation, the belt frame 31 slides from the parking position to the bundling position, the bundling motor 33 drives the bundling belt stored in the belt storage 32 to bundle the stacked brick packages, and after the bundling, the belt frame 31 returns to the parking position, in this embodiment, the horizontal bundling machine 3 is a horizontal bundling machine of type HS-001.

Referring to fig. 5, the chain conveyor line 4 includes a conveyor frame 41, a chain conveyor motor 42, a chain 43, an alignment member 44, a transmission member 45 and a guide member 46, the chain conveyor motor 42 is fixedly connected to a side surface of the conveyor frame 41, the guide member 46 is disposed at a middle portion of the conveyor frame 41, the chain 43 is detachably connected to the conveyor frame 41 through the guide member 46, the chain 43 is connected to the chain conveyor motor 42 through the transmission member 45, the alignment member 44 is fixedly connected to the conveyor frame 41, and the alignment member 44 is disposed at an outer side of the chain 43. During operation, the chain type conveying motor 42 drives the chain 43 to move under the guiding of the guiding part 46 through the transmission part 45, so as to drive the articles stored above the chain 43 to move, and the aligning part 44 aligns the articles stored above the chain 43, so that the stability of the article conveying process is ensured.

Referring to fig. 1 and 6, the pallet taking and placing robot 5 includes a pallet taking and placing robot base 51, a second industrial robot 52 and a pallet clamp 53, the second industrial robot 52 is a four-axis industrial robot, and the pallet clamp 53 is disposed at an end of an arm of the second industrial robot 52. In operation, the four-axis industrial robot grabs and places the pallet from the second pallet transport part 8 onto the chain conveyor line 4 by means of the pallet clamp 53.

Referring to fig. 7, the first pallet transport part 6 includes a first pallet transport frame 61, a first pallet stop 62, a first pallet transport line 63, and a first pallet transport motor 64, the first pallet transport line 63 is disposed on the first pallet transport frame 61, the first pallet transport motor 64 is connected to the first pallet transport line 63 and provides power for the first pallet transport line 63, the first pallet stop 62 is fixedly connected to the first pallet transport frame 61, and the first pallet stop 62 is located on one side of the first pallet transport line 63. In operation, the staff puts the pallet that becomes the buttress on first pallet transfer chain 63 with the help of fork truck, and first pallet conveying motor 64 drive first pallet transfer chain 63 sends the pallet that becomes the buttress into pallet storehouse 7, and pallet storehouse 7 is cut the stack pallet into monolithic pallet through cutting the mode fast.

Referring to fig. 1 and 8, the pallet warehouse 7 includes a pallet warehouse rack 71, a pallet jacking member 72, the pallet warehouse conveying line 73, the pallet clamping component 74 and the pallet warehouse conveying motor 75, the pallet warehouse conveying line 73 is arranged on the pallet warehouse frame 71, the pallet warehouse conveying motor 75 is connected with the pallet warehouse conveying line 73 and provides power for the pallet warehouse conveying line 73, the pallet jacking component 72 is fixedly connected to the pallet warehouse frame 71, the pallet jacking component 72 is relatively arranged below the middle of the pallet warehouse conveying line 73, the pallet clamping component 74 is fixedly connected to the pallet warehouse frame 71, the pallet clamping component 74 is arranged at positions on two sides of the pallet warehouse frame 71, the piled pallet is divided into single pallets under the splitting of the pallet clamping component 74 and the pallet jacking component 72, the pallet leaves the pallet warehouse 7, and the pallet warehouse conveying motor 75 drives the pallet warehouse conveying line 73 to transfer the pallet to the position of the second pallet conveying component 8.

Referring to fig. 1 and 9, the second pallet transport component 8 includes a second pallet transport frame 81, a second pallet transport line 82, and a second pallet transport motor 83, the second pallet transport line 82 being disposed on the second pallet transport frame 81, the second pallet transport motor 83 being connected to the second pallet transport line 82 and providing power to the second pallet transport line 82. In operation, the second pallet transport motor 83 drives the second pallet transport lines 82 to transport pallets from the pallet warehouse 7 to a position convenient for the pallet pick and place robot 5 to grasp.

Referring to fig. 1 and 10, the confluence conveying line 9 includes a reversing device 91 and a conveying device 92, the movement direction of the confluence conveying line 9 is perpendicular to the movement direction of the chain conveying line 4, and the reversing device 91 is butted with one end of the chain conveying line 4 near the pallet picking and placing robot 5. During operation, piled and tied brick packages are conveyed to the reversing device 91 through the chain conveying line 4, and conveyed to a warehouse through the conveying device 92 after reversing.

Example two:

referring to fig. 11, the embodiment is an embodiment of a palletizing method according to the first application embodiment, and includes the following processes:

s1, pallet preparation: a stack 104 of single pallets 103 is placed by a forklift onto the first pallet transport unit 6 and the stack 104 is brought into the magazine 7 by the first pallet transport unit 6 and splitting is started. The first pallet conveyor part 6 is provided with a pallet stack movement reminding device for reminding the process of entering the pallet warehouse by the first pallet conveyor part;

s2, splitting a single pallet: the pallet jacking part 72 jacks the stacked pallet stack 104 upwards to enable the stacked pallet stack 104 to leave the pallet library conveying line 73, then the pallet clamping part 74 clamps the position of a second single pallet 103 in the jacking direction of the pallet jacking part 72 in the pallet stack 104, the pallet positioned at the bottommost layer in the pallet stack 104 is lowered along with the pallet jacking part 72, the pallet attached to the pallet jacking part 72 is lowered onto the pallet library conveying line 73, the splitting of the single pallet is completed, and the single pallet 103 split in the pallet library 7 is conveyed to the position to be taken of the second pallet conveying part 8 through the pallet library conveying line 73. In which the pallet stack 104 is singulated by the cooperation of the pallet lifting members 72 and the pallet clamping members 74. Specifically, the pallet jacking component 72 is driven by the air cylinder, and there are two jacking heights of the pallet jacking component 72, referring to fig. 13, one jacking height position is a position P1 that is level with the lower end face of the clamp of the pallet jacking component 72, and the other jacking height position is a position two P2 that is below the clamp of the pallet jacking component 72 and is at a height of one pallet 103 from the lower end face of the clamp. The pallet jacking component 72 is equipped with a margin detection device for reminding the first pallet conveying component 6 to convey the pallet stack 104 formed by stacking the single pallets 103 to the pallet warehouse 7 when only the last pallet 103 is left on the pallet 103 clamped by the pallet clamping component 74 of the pallet warehouse 7, and the specific splitting process comprises the following steps:

s21, a first pallet splitting process: the pallet jacking part 72 is lifted to the position two P2, the pallet clamping part 74 clamps the pallet stack 104, and the pallet jacking part 72 descends to return to the position and simultaneously lowers the first pallet 103 onto the pallet warehouse conveying line 73, so that the splitting of the first pallet is completed;

s22, splitting the middle pallet: the pallet jacking part 72 rises to a first position P1, the pallet clamping part 74 releases the pallet stack, the pallet jacking part 72 descends to a second position P2, the pallet clamping part 74 clamps the pallet stack 104, and the pallet jacking part 72 descends to return and simultaneously lowers the lowermost pallet 103 in the pallet stack 104 onto the pallet warehouse conveying line 73, so that the middle pallet splitting process is circulated, and the splitting of the middle pallet is completed;

s23, a final pallet splitting process: the pallet jacking component 72 is lifted to the position P1, the pallet clamping component 74 releases the pallet stack, and the pallet jacking component 72 descends to return to lower the last pallet 103 onto the pallet warehouse conveyor line 73, so that the splitting of the last pallet 103 is completed.

S3, conveying the pallet: after the monolithic pallet 103 of 7 segmentations of pallet storehouse carried the position of waiting to get of second pallet transport unit 8 through pallet storehouse transfer chain 73, the pallet is got and is put robot 5 and snatchs and transfer chain 4 with monolithic pallet 103 from second pallet transport unit 8, gets into bearing tilting gear 1 via chain transfer chain 4 again after clapping neat centering, and bearing tilting gear 1 begins to pallet 103 carry location, and concrete positioning process does: firstly, the position of the pallet 103 close to one side of the chain conveyor line 4 is determined by the limiting plate 114 through the L-shaped structure of the limiting plate, then one of the buttress frames 111 far away from the side close to the chain conveyor line 4 determines the position of the pallet 103 far away from one side of the chain conveyor line 4 through the centering plate 112 at the same position, and is matched with the limiting plate 114 to lock the pallet 103 in the moving direction of the chain conveyor line 4, then the position of the pallet 103 close to the palletizing robot 2 is determined by abutting through one of the centering plates 112 close to the palletizing robot 2, and finally the position of the pallet 103 far away from the palletizing robot 2 is determined by abutting through the centering block 1131, and is matched with the limiting plate 114 to lock the pallet 103 in the moving direction perpendicular to the chain conveyor line 4. The jacking assembly 12 retracts to enable the pallet 103 to keep an inclined angle, extends upwards from the two side buttress frames 111 in the inclined direction, keeps two side edges of the pallet 103 in a buttress state, and waits for the palletizing robot 2 to stack the brick packages 101 of the ceramic tiles;

s4, stacking and bundling the brick bags 101: the packaging machine robot 2 stacks the brick packages 101 on the inclined pallet 103 according to a preset specification to form a brick pile 102, after the ceramic brick pile 102 is stacked, the horizontal bundling machine 3 starts to descend, the horizontal bundling machine 3 descends to a first strip (the upper end position of the brick pile), the jacking assembly 12 jacks up to enable the brick pile 102 to keep a horizontal position, the horizontal bundling machine 3 starts to bundle the first strip, after the bundling is completed, the position of the buttress frame 111 is changed through the adjusting assembly 113 to enable the buttress frame 111 to be flush with the ground, the horizontal bundling machine 3 descends to a second strip (the middle position of the brick pile) to bundle, after the bundling is completed, the horizontal bundling machine 3 descends to a third strip (the lower end position of the brick pile) to bundle, after the bundling is completed, the horizontal bundling machine 3 starts to ascend to the upper end (the upper end of the safety height of a robot work area), and the brick pile 102 is bundled;

s5, brick pile transportation: the bundled brick piles 102 enter the chain type conveying line 4 through the guide conveying assembly 13 of the bearing tilting device 1, are conveyed through the chain type conveying line 4 and are conveyed into a warehouse through the confluence conveying line 9;

s6, repeating the processes from S1 to S5, and circulating the operation.

Example three:

referring to fig. 12, this embodiment discloses a two-robot cooperation pile up neatly integrated system, including the two-robot cooperation pile up neatly integrated equipment disclosed of five embodiments one, the transfer chain 9 butt joint that converges among two adjacent two-robot cooperation pile up neatly integrated equipment forms the transfer chain that converges of system, one side that the system converges the transfer chain sets up the first pallet transport unit, pallet storehouse and the second pallet transport unit 9R of two-robot cooperation pile up neatly integrated equipment, the opposite side that the system converges the transfer chain sets up the bearing tilting gear, the pile up neatly machine ware robot, horizontal bundle rolling mill, chain transfer chain and the pallet of two-robot cooperation pile up neatly integrated equipment and gets robot 9L.

Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. The utility model provides a two robot cooperation pile up neatly integrated equipment which characterized in that: comprises a plurality of bearing tilting devices (1), a stacking robot (2), a plurality of horizontal bundling machines (3), a plurality of chain conveying lines (4), a pallet picking and placing robot (5), a first pallet conveying part (6), a pallet warehouse (7), a second pallet conveying part (8) and a confluence conveying line (9), wherein the plurality of bearing tilting devices (1) are respectively butted with the plurality of chain conveying lines (4), the stacking robot (2) is arranged between two adjacent bearing tilting devices (1), the horizontal bundling machines (3) are arranged at the joints of the bearing tilting devices (1) and the chain conveying lines (4), the pallet picking and placing robot (5) is arranged between the plurality of chain pallet conveying lines (4) and is used for picking and then placing the pallet on the chain conveying lines (4), the stacking robot (2) picks and places the brick bundles on the pallet to form brick stacks, horizontal bundle rolling machine (3) are used for after the pile up neatly bearing slope device (1) top is tied up brick pillar (102), first pallet transport unit (6), pallet storehouse part (7) and second pallet transport unit (8) connect gradually, converge transfer chain (9) and set up between chain transfer chain (4) and second pallet transport unit (8), chain transfer chain (4) are close to the one end of second pallet transport unit (8) and converge transfer chain (9) butt joint.

2. The double-robot cooperation palletizing integration device as claimed in claim 1, the supporting and inclining device (1) comprises a beating component (11), a jacking component (12), a guiding and conveying component (13), a plurality of driving components (14) and a supporting machine base (15), the patting and aligning component (11), the jacking component (12), the guiding and conveying component (13) and a plurality of driving components (14) are all arranged on the bearing base (15), the guide conveying component (13) is positioned in the middle part above the bearing machine base (15), the jacking component (12) is positioned below the guide conveying component (13), the patting component (11) is positioned on the periphery side of the guide conveying component (13), the patting and aligning component (11), the jacking component (12) and the guiding and conveying component (13) are all connected with the driving component (14) and are controlled by the driving component (14).

3. The double-robot-cooperation palletizing integration equipment according to claim 2, wherein the palletizing assembly (11) comprises a stacking rack (111), a centering plate (112) and an adjusting assembly (113) for adjusting the positions of the stacking rack (111) and the centering plate (112), the centering plate (112) is arranged on one side of the guide conveying assembly (13) far away from the chain conveying line (4) and on the left side and the right side of the movement direction, the stacking rack (111) is arranged on one side of the centering plate (112) far away from the guide conveying assembly (13), the stacking rack (111) is arranged on one side of the guide conveying assembly (13) far away from the chain conveying line (4) and the guide conveying assembly (13) is arranged on one side of the guide conveying assembly (13) far away from the palletizing robot (2).

4. Two-robot-cooperation palletizing integration apparatus according to claim 1, wherein the palletizing robot (2) comprises a palletizing robot base (21), a first industrial robot (22) and a palletizing clamp (23), the first industrial robot (22) is a six-axis industrial robot, the palletizing clamp (23) is installed at an end of an arm of the first industrial robot (22), the pallet taking robot (5) comprises a pallet taking robot base (51), a second industrial robot (52) and a pallet clamp (53), the second industrial robot (52) is a four-axis industrial robot, and the pallet clamp (53) is installed at an end of an arm of the second industrial robot (52).

5. Double robot-cooperating palletization integration facility according to claim 1, wherein the horizontal baler (3) comprises a belt frame (31), a belt bin (32), a strapping motor (33) and a body frame (34), the belt frame (31) is slidably connected to the body frame (34) along the gravity direction, the belt frame (31) is located above the supporting tilting device (1), the belt bin (32) is arranged at the bottom of the body frame (34) near the chain conveyor line (4), and the strapping motor (33) is fixedly connected to the belt frame (31).

6. The double-robot cooperation palletizing integration device as claimed in claim 1, the chain conveyor line (4) comprises a conveyor frame (41), a plurality of chain conveyor motors (42), a plurality of chains (43), a plurality of aligning components (44), a plurality of transmission components (45) and a plurality of guide components (46), the chain type conveying motor (42) is fixedly connected to the side surface of the conveying rack (41), the guide parts (46) are all arranged in the middle of the conveying rack (41), the chain (43) is detachably connected with the conveying rack (41) through a guide part (46), the chain (43) is connected with a chain type conveying motor (42) through a transmission part (45), the aligning component (44) is fixedly connected to the conveying rack (41), and the aligning component (44) is arranged on the outer side of the chain (43) oppositely.

7. The dual-robot cooperative stacking integrated device according to claim 1, wherein the first pallet conveying part (6) comprises a first pallet conveying frame (61), a first pallet blocking frame (62), a first pallet conveying line (63) and a first pallet conveying motor (64), the first pallet conveying line (63) is disposed on the first pallet conveying frame (61), the first pallet conveying motor (64) is connected with the first pallet conveying line (63) and provides power for the first pallet conveying line (63), the first pallet blocking frame (62) is fixedly connected to the first pallet conveying frame (61), and the first pallet blocking frame (62) is located on one side of the first pallet conveying line (63).

8. The dual-robot cooperation stacking integrated device according to claim 1, wherein the pallet library (7) comprises a pallet library frame (71), a pallet jacking component (72), a pallet library conveyor line (73), a pallet clamping component (74) and a pallet library conveyor motor (75), the pallet library conveyor line (73) is disposed on the pallet library frame (71), the pallet library conveyor motor (75) is connected with the pallet library conveyor line (73) and provides power for the pallet library conveyor line (73), the pallet clamping component (74) fixes the pallet library frame (71), the pallet clamping component (74) is disposed on two sides of the pallet library conveyor line (73), the pallet jacking component (72) fixes the library frame (71), the jacking component (72) is disposed on the pallet library frame (71), the jacking component (72) is disposed at a lower position in the pallet library conveyor line (73), the second pallet conveying part (8) comprises a second pallet conveying frame (81), a second pallet conveying line (82) and a second pallet conveying motor (83), the second pallet conveying line (82) is arranged on the second pallet conveying frame (81), and the second pallet conveying motor (83) is connected with the second pallet conveying line (82) and provides power for the second pallet conveying line (82).

9. A two-robot cooperation palletizing system, comprising a plurality of two-robot cooperation palletizing integrated devices as claimed in any one of claims 1 to 8, wherein two adjacent converging conveying lines (9) in the two-robot cooperation palletizing integrated devices are butted to form a system converging conveying line, one side of the system converging conveying line is provided with a first pallet conveying part, a pallet library and a second pallet conveying part (9R) of the two-robot cooperation palletizing integrated devices, and the other side of the system converging conveying line is provided with a bearing tilting device, a palletizing robot, a horizontal bundling machine, a chain conveying line and a pallet taking and placing robot (9L) of the two-robot cooperation palletizing integrated devices.

10. A palletizing method for applying the double-robot cooperation palletizing integrated equipment as claimed in any one of claims 1 to 8, which is characterized by comprising the following steps:

s1, pallet preparation: a pallet stack (104) formed by stacking a single pallet (103) is placed on the first pallet conveying component (6) through a forklift and conveyed into the pallet warehouse (7);

s2, splitting a single pallet: the pallet jacking component (72) jacks the stacked pallet stack (104) upwards to enable the stacked pallet stack to leave the pallet library conveying line (73), then the pallet clamping component (74) clamps the position of a second single pallet (103) in the jacking direction of the pallet jacking component (72) in the pallet stack (104), the pallet positioned at the bottommost layer in the pallet stack (104) begins to descend along with the pallet jacking component (72), the pallet attached to the pallet jacking component (72) descends onto the pallet library conveying line (73), splitting of the single pallet is completed, the single pallet (103) split in the pallet library (7) is conveyed to the position to be taken of the second pallet conveying component (8) through the pallet library conveying line (73), and the operation is circulated until the pallet stack (104) entering the pallet library (7) is cut;

s3, conveying the pallet: the picking and placing robot (5) picks and transfers a single pallet (103) from the second pallet conveying part (8) to the chain type conveying line (4), the pallet is aligned and centered and then enters the bearing tilting device (1) through the chain type conveying line (4), the bearing tilting device (1) starts to carry and position the pallet (103), the jacking component (12) retracts to enable the pallet (103) to keep an inclination angle, the pallet (103) extends upwards from the two side buttress frames (111) in the inclination direction, the two side edges of the pallet (103) are kept in a buttress state, and the palletizing robot (2) is waited to stack bricks (101) of ceramic tiles;

s4, stacking and bundling brick bags (101): the palletizing robot (2) stacks the bricks (101) on the inclined pallet (103) according to a preset specification to form a brick pile (102), after the stacking of the brick pile (102) is finished, the horizontal bundling machine (3) starts to descend, the horizontal bundling machine (3) descends to the upper end position of the brick pile (102), the jacking component (12) jacks up to enable the brick pile (102) to be kept at a horizontal position, the horizontal bundling machine (3) starts to bundle and roll a first strip, after the bundling is finished, the position of the buttress frame (111) is changed through the adjusting component (113) to enable the buttress frame (111) to be flush with the ground, the horizontal bundling machine (3) descends to the middle position of the brick pile (102) to bundle, after the bundling is finished, the horizontal rolling machine (3) descends to the lower end position of the brick pile to bundle, and after the bundling is finished, the horizontal bundling machine (3) starts to ascend to a position above the safety height of a work area of the palletizing robot (2), finishing the bundling of the brick pillar (102);

s5, brick pile transportation: the bundled brick piles (102) enter a chain type conveying line (4) through a guide conveying assembly (13) of the bearing tilting device (1), are conveyed through the chain type conveying line (4), and are conveyed into a warehouse through a confluence conveying line (9);

s6, repeating the processes from S1 to S5, and circulating the operation.

11. The palletizing method according to claim 10, wherein the pallet jacking component (72) in the step S2 is driven by a cylinder, the pallet jacking height of the pallet jacking component (72) is two, one jacking height position is a first position (P1) which is equal to the lower end face of the pallet clamping component (74), and the other jacking height position is a second position (P2) which is below the pallet clamping component (74) and is one pallet (103) height away from the lower end face of the pallet clamping component (74), and the concrete splitting process comprises the following steps:

s21, a first pallet splitting process: the pallet jacking part (72) ascends to a second position (P2), the pallet clamping part (74) clamps the pallet stack (104), the pallet jacking part (72) descends to return, and meanwhile the first pallet (103) is also lowered onto the pallet warehouse conveying line (73), so that the splitting of the first pallet (103) is completed;

s22, splitting the middle pallet: the method comprises the steps that a pallet jacking component (72) ascends to a first position (P1), a pallet clamping component (74) releases a pallet stack, the pallet jacking component (72) descends to a second position (P2), the pallet clamping component (74) clamps the pallet stack (104), the pallet jacking component (72) descends to return and simultaneously lowers the lowermost pallet (103) in the pallet stack (104) to a pallet warehouse conveying line (73), the splitting process of the middle pallet is circulated, and splitting of the middle pallet is completed;

s23, a final pallet splitting process: the pallet jacking component (72) ascends to the first position (P1), the pallet clamping component (74) releases the pallet stack, the pallet jacking component (72) descends to return and simultaneously lowers the last pallet (103) onto the pallet warehouse conveying line (73), and the splitting of the last pallet (103) is completed.