CN115158765A

CN115158765A - Automatic stacking device of packaging machine and using method thereof

Info

Publication number: CN115158765A
Application number: CN202210728841.9A
Authority: CN
Inventors: 吴骐
Original assignee: Anhui Inger Packaging Technology Co ltd
Current assignee: Anhui Inger Packaging Technology Co ltd
Priority date: 2022-06-24
Filing date: 2022-06-24
Publication date: 2022-10-11
Anticipated expiration: 2042-06-24
Also published as: CN115158765B

Abstract

The invention discloses an automatic stacking device of a packaging machine and a using method thereof, belonging to the field of packaging equipment, wherein the stacking device comprises a first mounting plate, one side of the first mounting plate is provided with a fixedly connected second mounting plate, the first mounting plate is fixedly provided with an alignment module and a hoisting module, and the second mounting plate is fixedly provided with a stacking module; the alignment module comprises third mounting plates which are symmetrically distributed, the third mounting plates are fixedly connected with the first mounting plates, a first rotating drum and a second rotating drum are arranged above the third mounting plates, a conveying belt is arranged on the first rotating drum and the second rotating drum, connecting blocks which are symmetrically distributed are fixedly arranged on one third mounting plate, and the connecting blocks are fixedly connected and aligned. The device automatically aligns, aligns and stacks the articles before packaging, does not need to be placed by manpower, greatly saves the manpower and improves the production efficiency; the automatic stacking and packaging machine has the advantages of high automation degree, simple structure, space and energy conservation, and can be widely applied to stacking and packaging of various objects.

Description

Automatic stacking device of packing machine and using method thereof

Technical Field

The invention belongs to the field of packaging instruments, and particularly relates to an automatic stacking device of a packaging machine and a using method of the automatic stacking device.

Background

In production and life, many articles need to be stacked and packaged for storage and transportation. In the prior art, most of stacks of articles to be packaged are manually stacked, and some stacking methods such as clamping and the like are carried out by a machine after the articles are manually placed, but still need manpower, and meanwhile, the stacking method of the machine generally stacks the articles in a one-way mode all the time, so that the stacking is not firm enough.

Disclosure of Invention

In view of the defects in the prior art, the present invention provides an automatic stacking device for a packer and a method for using the same, so as to solve the problems in the background art.

The purpose of the invention can be realized by the following technical scheme:

an automatic stacking device of a packaging machine comprises a first mounting plate, wherein a second mounting plate is fixedly connected with one side of the first mounting plate, an alignment module and a lifting module are fixedly arranged on the first mounting plate, and a stacking module is fixedly arranged on the second mounting plate;

the alignment module comprises third mounting plates which are symmetrically distributed, the third mounting plates are fixedly connected with the first mounting plates, a first rotary drum and a second rotary drum are arranged above the third mounting plates, conveyor belts are arranged on the first rotary drum and the second rotary drum, symmetrically distributed connecting blocks are fixedly arranged on one third mounting plate, and fixedly connected alignment blocks are arranged on the connecting blocks;

the lifting module comprises a guide rail, rolling rollers are arranged on the guide rail, third bearing seats are symmetrically arranged on two sides of each roller, a first mounting block is fixedly arranged below each third bearing seat, a first telescopic cylinder is fixedly arranged below each first mounting block, a pneumatic finger is fixedly arranged at the output end of each first telescopic cylinder, and a clamping jaw is fixedly connected to the output end of each pneumatic finger;

the stacking module comprises clamping plates which are symmetrically distributed, first connecting rods which are symmetrically distributed are fixedly arranged at two ends of each clamping plate, first sliding blocks which are fixedly connected are arranged on the first connecting rods, first guide rods which are connected in a sliding mode are arranged on the first sliding blocks, locking bolts which are connected in a threaded mode are arranged on the first sliding blocks, second connecting rods which are fixedly connected are arranged at one ends of the first guide rods, second sliding blocks which are fixedly connected are arranged at the lower ends of the second connecting rods, the stacking module further comprises second mounting blocks which are distributed in an array mode, grooves are formed in the second mounting blocks, and the second sliding blocks slide in the grooves;

the stacking module further comprises fourth mounting plates which are symmetrically distributed, second guide rods which are symmetrically distributed are fixedly arranged on the fourth mounting plates, a fifth mounting plate which is connected in a sliding mode is arranged on the second guide rods, a screw rod which is connected in a rotating mode is further arranged on the fourth mounting plates, the screw rod is in threaded connection with the fifth mounting plates, a first gear and second gears which are symmetrically distributed are rotatably arranged on one fourth mounting plate, the first gear is fixedly connected with the screw rod and meshed with the second gear, a third connecting rod which is connected in a rotating mode is arranged on the second gear, and the third connecting rod is rotatably connected with a second sliding block;

the third supporting columns are distributed in an array mode on the fifth mounting plate, the third mounting plate is fixedly connected with the sixth mounting plate, the rotating plate is rotatably connected with the sixth mounting plate, and the rotating plate is used for placing the stacking plate.

Furthermore, two ends of the first winding drum are respectively and rotatably provided with a first bearing seat which is symmetrically distributed, two ends of the second winding drum are respectively and rotatably provided with a second bearing seat which is symmetrically distributed, the first bearing seats are fixedly connected with a third mounting plate, and the second bearing seats are fixedly connected with the first mounting plate; a motor mounting plate is fixedly arranged on a third mounting plate, a first motor is fixedly arranged on the motor mounting plate, and the output end of the first motor penetrates through a first bearing seat and is fixedly connected with a first reel.

Further, adjust the module well and still include the backup pad, the backup pad pastes tight conveyer belt, and the fixed first support post that is equipped with array distribution in backup pad below, first support post and first mounting panel fixed connection.

Furthermore, the guide rail below is fixed and is equipped with the second support column of symmetric distribution, a second support column and first mounting panel fixed connection, another second support column and second mounting panel fixed connection, and one side of a third bearing frame is equipped with fixed connection's second motor, and the output of second motor passes the third bearing frame to with gyro wheel fixed connection.

Further, the stacking module further comprises a third motor, the output end of the third motor is fixedly connected with the first gear, and the third motor, the fourth mounting plate and the second mounting block are fixedly connected with the second mounting plate.

Furthermore, a fourth motor is fixedly arranged below the sixth mounting plate, the output end of the fourth motor penetrates through the sixth mounting plate and is fixedly connected with the rotating plate, a second telescopic cylinder and a stop block which are fixedly connected are arranged on the rotating plate, and a push block which is fixedly connected is arranged on the output end of the second telescopic cylinder.

Further, the use method of the automatic stacking device of the packaging machine comprises the following steps:

the method comprises the following steps: placing the stacking plate on the rotating plate, starting the second telescopic cylinder, pushing the push block to enable the push block to clamp the stacking plate, sliding the first sliding block, controlling the distance between the clamping plates to be equal to the length of the strip-shaped object, and rotating the locking bolt to lock the first sliding block;

step two: starting a first motor to drive the conveyor belt to move;

step three: placing the bar-shaped object on a conveyor belt, placing the bar-shaped object on the conveyor belt, moving the bar-shaped object to an alignment block, and aligning the bar-shaped object under the pushing of the conveyor belt;

step four: controlling the output end of the first telescopic cylinder to extend out to enable the clamping jaw to move downwards, then controlling a pneumatic finger to clamp the strip-shaped object, and then controlling the output end of the first telescopic cylinder to retract;

step five: controlling a second motor to drive the bar-shaped object to horizontally move above the stacking plate, extending out the first telescopic cylinder until the bar-shaped object is lowered onto the stacking plate, and then controlling a pneumatic finger to open to place the bar-shaped object on the stacking plate;

step six: controlling the first telescopic cylinder to retract, controlling the second motor, and bringing the clamping jaw back to the original position;

step seven: controlling a third motor to rotate, driving the stacking plate to translate for a certain distance, reserving a position for a second strip-shaped object, driving the clamping plate to move inwards to push the strip-shaped object to the middle of the stacking plate, and when the third motor stops rotating, returning the clamping plate to the initial position so as not to influence the falling position of the next strip-shaped object;

step eight: repeating the third step and the seventh step until one layer of stacking is finished, starting a fourth motor, and rotating the stacking plate by 90 degrees;

step nine: and repeating the third step to the eighth step until the stacking is finished, and taking down the stacking plate for subsequent packaging.

The invention has the beneficial effects that:

1. according to the automatic stacking device of the packing machine, the articles are automatically aligned and stacked before being packed, manual arrangement is not needed, manpower is greatly saved, and the production efficiency is improved;

2. the automatic stacking device of the packing machine, provided by the invention, has the advantages of high automation degree, simple structure and space and energy conservation, and can be widely applied to stacking and packing of various objects.

Drawings

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural view of an alignment module according to the present invention;

FIG. 3 is a schematic view of the construction of a lifting module of the present invention;

FIG. 4 is a schematic view of a stacking module configuration of the present invention;

FIG. 5 is an enlarged view of FIG. 4 at A in accordance with the present invention;

FIG. 6 is a schematic view of a stacking module configuration of the present invention;

fig. 7 is a schematic view of a part of the stacking module according to the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "opening," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like are used in an orientation or positional relationship that is merely for convenience in describing and simplifying the description, and do not indicate or imply that the referenced component or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present invention.

As shown in fig. 1, an automatic stacking device of a packer comprises a first mounting plate 1, wherein a second mounting plate 4 fixedly connected with the first mounting plate 1 is arranged on one side of the first mounting plate 1, a centering module 2 and a lifting module 3 are fixedly arranged on the first mounting plate 1, and a stacking module 5 is fixedly arranged on the second mounting plate 4.

As shown in fig. 2, the aligning module 2 includes third mounting plates 202 which are symmetrically distributed, the third mounting plates 202 are fixedly connected to the first mounting plate 1, a first reel 204 and a second reel 206 which rotate are respectively arranged above the third mounting plates 202, a conveyor belt 205 is arranged on the first reel 204 and the second reel 206, first bearing seats 203 which are symmetrically distributed are respectively arranged at two ends of the first reel 204 in a rotating manner, second bearing seats 201 which are symmetrically distributed are respectively arranged at two ends of the second reel 206 in a rotating manner, the first bearing seats 203 are fixedly connected to the third mounting plates 202, and the second bearing seats 201 are fixedly connected to the first mounting plates 1; a motor mounting plate 209 and connecting blocks 210 which are symmetrically distributed are fixedly arranged on one third mounting plate 202, a first motor 213 is fixedly arranged on the motor mounting plate 209, the output end of the first motor 213 penetrates through the first bearing seat 203 and is fixedly connected with the first reel 204, an aligning block 211 which is fixedly connected is arranged on the connecting block 210, and a strip-shaped object 212 is arranged on the conveyor belt 205;

the aligning module 2 further comprises a supporting plate 208, the supporting plate 208 is attached to the conveying belt 205, first supporting columns 207 distributed in an array mode are fixedly arranged below the supporting plate 208, and the first supporting columns 207 are fixedly connected with the first mounting plate 1.

As shown in fig. 3, the hoisting module 3 includes a guide rail 302, a rolling roller 303 is disposed on the guide rail 302, third bearing seats 309 are disposed on two sides of the roller 303, the third bearing seats 309 are symmetrically disposed, a first mounting block 304 is fixedly disposed below the third bearing seats 309, a first telescopic cylinder 305 is fixedly disposed below the first mounting block 304, a pneumatic finger 306 is fixedly disposed at an output end of the first telescopic cylinder 305, a clamping jaw 307 fixedly connected to an output end of the pneumatic finger 306 is disposed at the output end of the pneumatic finger, second supporting columns 308 are fixedly disposed below the guide rail 302, one second supporting column 308 is fixedly connected to the first mounting plate 1, the other second supporting column 308 is fixedly connected to the second mounting plate 4, a second motor 301 fixedly connected to one side of one third bearing 309 is disposed, and an output end of the second motor 301 passes through the third bearing seats 309 and is fixedly connected to the roller 303.

As shown in fig. 4 to 7, the stacking module 5 includes clamp plates 513 symmetrically distributed, first link bars 512 symmetrically distributed are fixedly disposed at two ends of the clamp plates 513, first slider blocks 521 fixedly connected to the first link bars 512 are disposed on the first link bars 521, first guide bars 520 slidably connected to the first slider blocks 521, locking bolts 522 threadedly connected to the first slider blocks 521 are disposed on the first link bars 521, second link bars 503 fixedly connected to one ends of the first guide bars 520 are disposed on one ends of the first link bars 520, second slider blocks 502 fixedly connected to the lower ends of the second link bars 503, the stacking module 5 further includes second mounting blocks 501 arranged in an array, slots are formed in the second mounting blocks 501, and the second slider blocks 502 slide in the slots.

The stacking module 5 further comprises fourth mounting plates 505 which are symmetrically distributed, second guide rods 509 which are symmetrically distributed are fixedly arranged on the fourth mounting plates 505, fifth mounting plates 511 which are in sliding connection are arranged on the second guide rods 509, lead screws 510 which are rotatably connected are further arranged on the fourth mounting plates 505, the lead screws 510 are in threaded connection with the fifth mounting plates 511, a first gear 508 and a second gear 506 which are symmetrically distributed are rotatably arranged on one fourth mounting plate 505, the first gear 508 is fixedly connected with the lead screws 510, the first gear 508 is meshed with the second gear 506, a third connecting rod 504 which is rotatably connected is arranged on the second gear 506, and the third connecting rod 504 is rotatably connected with the second sliding block 502.

The stacking module 5 further comprises a third motor 507, an output end of the third motor 507 is fixedly connected with the first gear 508, and the third motor 507, the fourth mounting plate 505 and the second mounting block 501 are fixedly connected with the second mounting plate 4.

The stacking device is characterized in that third supporting columns 523 distributed in an array mode are arranged on the fifth mounting plate 511, sixth mounting plates 519 fixedly connected are arranged on the third supporting columns 523, rotating plates 517 connected in a rotating mode are arranged on the sixth mounting plates 519, a fourth motor 524 is fixedly arranged below the sixth mounting plates 519, the output end of the fourth motor 524 penetrates through the sixth mounting plates 519 and is fixedly connected with the rotating plates 517, a stacking plate 518 is arranged on the rotating plates 517, second telescopic cylinders 515 and a stop block 514 which are fixedly connected are arranged on the rotating plates 517, and push blocks 516 fixedly connected are arranged on the output ends of the second telescopic cylinders 515.

The working principle is as follows: the strip-shaped objects are aligned through the aligning block 211 so as to be convenient to clamp, the strip-shaped objects are aligned through the clamping plate 513 during stacking, the first sliding block 521 slides, the distance between the clamping plates 513 is controlled to be equal to the length of the strip-shaped objects, otherwise, the clamping plates cannot align the strip-shaped objects, the plurality of strip-shaped objects are sequentially stacked through transverse movement of the stacking plate 518, and the stacking plate 518 rotates 90 degrees when the one layer is stacked, so that the stacking is continued.

The use method of the automatic stacking device of the packaging machine comprises the following steps:

the method comprises the following steps: placing a stacking plate 518 on a rotating plate 517, starting a second telescopic cylinder 515, pushing a push block 516, enabling the push block 516 to clamp the stacking plate 518, sliding a first sliding block 521, controlling the distance between clamping plates 513 to be equal to the length of a strip-shaped object, and rotating a locking bolt 522 to lock the first sliding block 521;

step two: starting a first motor 213 to drive the conveyor belt 205 to move;

step three: placing the bar-shaped object on the conveyor belt 205, moving the bar-shaped object to the alignment block 211, and aligning the bar-shaped object under the pushing of the conveyor belt 205;

step four: controlling the output end of the first telescopic cylinder 305 to extend to enable the clamping jaw 307 to move downwards, then controlling the pneumatic finger 306 to clamp the bar-shaped object 212, and then controlling the output end of the first telescopic cylinder 305 to retract;

step five: controlling the second motor 301 to drive the bar-shaped object to translate to a position above the stacking plate 518, extending the first telescopic cylinder 305 until the bar-shaped object is lowered onto the stacking plate 518, and then controlling the pneumatic finger 306 to open to place the bar-shaped object on the stacking plate 518;

step six: controlling the first telescopic cylinder 305 to retract, controlling the second motor 301 to bring the clamping jaw 307 back to the original position;

step seven: controlling the third motor 507 to rotate to drive the stacking plate 518 to translate for a certain distance, reserving a position for a second strip-shaped object, driving the clamping plate 513 to move inwards to push the strip-shaped object to the middle of the stacking plate 518, and when the third motor 507 stops rotating, returning the clamping plate 513 to the initial position so as not to influence the falling position of the next strip-shaped object;

step eight: repeating the third step and the seventh step until one layer of stacking is finished, starting the fourth motor 524, and rotating the stacking plate 518 by 90 degrees;

step nine: and repeating the third step to the eighth step until the stacking is finished, and taking down the stacking plate 518 for subsequent packaging.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.

Claims

1. An automatic stacking device of a packer comprises a first mounting plate (1), and is characterized in that one side of the first mounting plate (1) is provided with a fixedly connected second mounting plate (4), the first mounting plate (1) is fixedly provided with an alignment module (2) and a hoisting module (3), and the second mounting plate (4) is fixedly provided with a stacking module (5);

the aligning module (2) comprises third mounting plates (202) which are symmetrically distributed, the third mounting plates (202) are fixedly connected with the first mounting plate (1), a first rotary drum (204) and a second rotary drum (206) are arranged above the third mounting plates (202), a conveyor belt (205) is arranged on the first rotary drum (204) and the second rotary drum (206), symmetrically distributed connecting blocks (210) are fixedly arranged on one third mounting plate (202), and fixedly connected aligning blocks (211) are arranged on the connecting blocks (210);

the hoisting module (3) comprises a guide rail (302), a rolling roller (303) is arranged on the guide rail (302), third bearing seats (309) which are symmetrically distributed are arranged on two sides of the roller (303), a first installation block (304) is fixedly arranged below the third bearing seats (309), a first telescopic cylinder (305) is fixedly arranged below the first installation block (304), a pneumatic finger (306) is fixedly arranged on the output end of the first telescopic cylinder (305), and a clamping jaw (307) which is fixedly connected is arranged on the output end of the pneumatic finger (306);

the stacking module (5) comprises symmetrically distributed clamping plates (513), first connecting rods (512) symmetrically distributed are fixedly arranged at two ends of each clamping plate (513), first sliding blocks (521) fixedly connected are arranged on the first connecting rods (512), first guide rods (520) in sliding connection are arranged on the first sliding blocks (521), locking bolts (522) in threaded connection are arranged on the first sliding blocks (521), second connecting rods (503) fixedly connected are arranged at one ends of the first guide rods (520), second sliding blocks (502) fixedly connected are arranged at the lower ends of the second connecting rods (503), the stacking module (5) further comprises second mounting blocks (501) distributed in an array mode, grooves are formed in the second mounting blocks (501), and the second sliding blocks (502) slide in the grooves;

the stacking module (5) further comprises fourth mounting plates (505) which are symmetrically distributed, second guide rods (509) which are symmetrically distributed are fixedly arranged on the fourth mounting plates (505), fifth mounting plates (511) which are in sliding connection are arranged on the second guide rods (509), lead screws (510) which are in rotary connection are further arranged on the fourth mounting plates (505), the lead screws (510) are in threaded connection with the fifth mounting plates (511), one fourth mounting plate (505) is rotatably provided with first gears (508) and second gears (506) which are symmetrically distributed, the first gears (508) are fixedly connected with the lead screws (510), the first gears (508) are meshed with the second gears (506), third connecting rods (504) which are in rotary connection are arranged on the second gears (506), and the third connecting rods (504) are in rotary connection with the second sliding blocks (502);

the stacking machine is characterized in that third supporting columns (523) distributed in an array mode are arranged on the fifth mounting plate (511), a sixth mounting plate (519) fixedly connected with the third supporting columns (523) is arranged on the third supporting columns (523), a rotating plate (517) connected with the sixth mounting plate in a rotating mode is arranged on the sixth mounting plate (519), and the rotating plate (517) is used for placing a stacking plate (518).

2. The automatic stacking device of the packing machine as claimed in claim 1, wherein both ends of the first reel (204) are rotatably provided with symmetrically distributed first bearing seats (203), both ends of the second reel (206) are rotatably provided with symmetrically distributed second bearing seats (201), the first bearing seats (203) are fixedly connected with the third mounting plate (202), and the second bearing seats (201) are fixedly connected with the first mounting plate (1); and a motor mounting plate (209) is fixedly arranged on one third mounting plate (202), a first motor (213) is fixedly arranged on the motor mounting plate (209), and the output end of the first motor (213) penetrates through the first bearing seat (203) and is fixedly connected with the first reel (204).

3. The automatic stacking device of a packing machine as claimed in claim 2, wherein the aligning module (2) further comprises a supporting plate (208), the supporting plate (208) is attached to the conveyor belt (205), first supporting columns (207) are fixedly arranged below the supporting plate (208) in an array, and the first supporting columns (207) are fixedly connected with the first mounting plate (1).

4. An automatic stacking device for a packaging machine according to claim 3, characterized in that the guide rail (302) is fixedly provided with symmetrically distributed second supporting columns (308) below, one second supporting column (308) is fixedly connected with the first mounting plate (1), the other second supporting column (308) is fixedly connected with the second mounting plate (4), one side of a third bearing seat (309) is provided with a fixedly connected second motor (301), and the output end of the second motor (301) penetrates through the third bearing seat (309) and is fixedly connected with the roller (303).

5. Automatic stacking device of a packer as claimed in claim 4, characterised in that the stacking module (5) further comprises a third motor (507), the output of the third motor (507) is fixedly connected to the first gear (508), and the third motor (507), the fourth mounting plate (505) and the second mounting block (501) are fixedly connected to the second mounting plate (4).

6. The automatic stacking device of the packaging machine as claimed in claim 5, wherein a fourth motor (524) is fixedly arranged below the sixth mounting plate (519), an output end of the fourth motor (524) penetrates through the sixth mounting plate (519) and is fixedly connected with a rotating plate (517), a second telescopic cylinder (515) and a stop block (514) which are fixedly connected are arranged on the rotating plate (517), and a push block (516) which is fixedly connected is arranged on an output end of the second telescopic cylinder (515).

7. The method for using the automatic stacking device of the packer as claimed in claim 6, wherein the method comprises the following steps:

the method comprises the following steps: placing a stacking plate (518) on a rotating plate (517), starting a second telescopic cylinder (515), pushing a push block (516), enabling the push block (516) to clamp the stacking plate (518), sliding a first sliding block (521), controlling the distance between clamping plates (513) to be equal to the length of a strip-shaped object, and rotating a locking bolt (522) to lock the first sliding block (521);

step two: starting a first motor (213) to drive the conveyor belt (205) to move;

step three: placing the strip-shaped object on a conveyor belt (205), placing the strip-shaped object on the conveyor belt (205), moving the strip-shaped object to an alignment block (211), and aligning under the pushing of the conveyor belt (205);

step four: controlling the output end of the first telescopic cylinder (305) to extend out, enabling the clamping jaw (307) to move downwards, then controlling a pneumatic finger (306) to clamp the bar-shaped object (212), and then controlling the output end of the first telescopic cylinder (305) to retract;

step five: controlling a second motor (301) to drive the bar-shaped object to translate to a position above the stacking plate (518), extending out the first telescopic cylinder (305) until the bar-shaped object is lowered onto the stacking plate (518), and then controlling a pneumatic finger (306) to open to place the bar-shaped object on the stacking plate (518);

step six: controlling the first telescopic cylinder (305) to retract, controlling the second motor (301) to bring the clamping jaw (307) back to the original position;

step seven: controlling a third motor (507) to rotate to drive a stacking plate (518) to translate for a certain distance, reserving a position for a second strip-shaped object, driving a clamping plate (513) to move inwards to push the strip-shaped object to the middle of the stacking plate (518), and when the third motor (507) stops rotating, returning the clamping plate (513) to the initial position so as not to influence the falling position of the next strip-shaped object;

step eight: repeating the third step to the seventh step until one layer of stacking is finished, starting a fourth motor (524), and rotating the stacking plate (518) by 90 degrees;

step nine: and repeating the third step to the eighth step until the stacking is finished, and taking down the stacking plate (518) for subsequent packaging.