CN118545321A - Automatic stacking method for products with different heights - Google Patents

Abstract

The invention discloses an automatic stacking method for products with different heights, which comprises the following steps: firstly, placing products with various heights on a first conveying belt, conveying the products with various heights into a rack by the first conveying belt, and staying at a clamping station; the arrangement mode of products with different heights on the first conveyor belt is the same as the arrangement mode in a die cavity in the foaming molding machine, and the arrangement mode is recorded in a control system of the manipulator; step two, the control system controls the manipulator to move along the X-axis direction and the Y-axis direction of the frame so as to control the manipulator to move to a position right above a product of the clamping station; and thirdly, clamping the products on the manipulator to a stacking station for stacking to form a stack body. The invention realizes that products with the same height are clamped on the same layer to form a layer body, and a plurality of layer bodies are stacked to form a cuboid stack body.

Description

Automatic stacking method for products with different heights

Technical Field

The invention relates to the technical field of stacking, in particular to an automatic stacking method for products with different heights.

Background

The foaming machine is a device for manufacturing a foaming product, and a plurality of foaming forming cavities are arranged in the foaming machine so as to manufacture the foaming product. The foaming molding cavities in some foaming machines are consistent, so that foaming products with consistent sizes and heights are manufactured, and the foaming molding cavities in other foaming machines are inconsistent, for example, the foaming machines are provided with a plurality of foaming molding cavities with different heights, so that a plurality of foaming products with inconsistent heights are manufactured.

When the heights of the foaming products are inconsistent, the foaming products are inconsistent in left and right after being stacked, so that the subsequent packaging is inconvenient. In view of the above, the present inventors have made intensive studies to solve the above-mentioned drawbacks of the prior art.

Disclosure of Invention

The present invention aims to solve at least to some extent one of the technical problems in the above-described technology. Therefore, the invention aims to provide an automatic stacking method for products with different heights, which is characterized in that a mechanical arm is arranged to clamp products with the same height to the same layer to form a layer body, and a plurality of layer bodies are stacked to form a cuboid stack body.

In order to achieve the above purpose, the invention provides an automatic stacking method for products with different heights, which comprises the following steps:

Firstly, placing products with various heights on a first conveying belt, conveying the products with various heights into a rack by the first conveying belt, and staying at a clamping station; the machine frame is internally provided with a first conveying belt and a second conveying belt, a clamping station is arranged above the first conveying belt, the second conveying belt is arranged side by side with the first conveying belt, a stacking station is arranged above the second conveying belt, and a movable manipulator is arranged on the machine frame; the arrangement mode of products with different heights on the first conveyor belt is the same as the arrangement mode in a die cavity in the foaming molding machine, and the arrangement mode is recorded in a control system of the manipulator;

Step two, the control system controls the manipulator to move along the X-axis direction and the Y-axis direction of the frame so as to control the manipulator to move to the position right above the product at the clamping station;

And thirdly, clamping the products on the manipulator to a stacking station for stacking to form a stack body.

Further, in the third step, in the stack formed by stacking the manipulators, the heights of products in the same layer are consistent; or the heights of products in the same vertical column in the stack body are consistent.

Further, two products in the stack are arranged in two groups side by side, and each group of products is arranged in two or three.

Further, the visual recognition system performs visual recognition on the products on the first conveyor belt; the side part of the first conveyer belt is provided with a rejection station, and the rejection station is provided with a waste bin.

Further, when the visual recognition system recognizes that the foaming product has no defect, the control system judges that the foaming product is a qualified product, and the control system controls the mechanical arm to move the foaming product to the stacking station for stacking; when the visual recognition system recognizes that the foaming product has defects, the control system judges that the foaming product is a bad product, and the control system controls the manipulator to move the foaming product to the removing station for removing.

Further, after the control system controls the manipulator to move the foaming product to the removing station for removing, the control system records the empty position in the stacking station for placing the foaming product, and the control system controls the manipulator to grasp the foaming product of the next same kind to the empty position.

Further, after the first conveyor belt conveys the four foaming products to the clamping station, the first conveyor belt stops conveying, the four foaming products are clamped to the stacking station by the mechanical arm, and a layer of body is formed by the four foaming products; when one layer of body is less than four foaming products in the stacking station, the second conveying belt does not convey, the first conveying belt conveys the four foaming products again, and the mechanical arm supplements a plurality of the four foaming products to the stacking station, so that each layer of body is provided with four foaming products.

Further, the manipulator comprises a lifting frame, a first connecting plate, a first clamping jaw element, a traversing cylinder, a second connecting plate and a second clamping jaw element; the visual recognition system is arranged on the lifting frame, the first connecting plate is arranged on the lifting frame, the first clamping jaw element is arranged on the first connecting plate, the transverse moving cylinder is arranged on the first connecting plate, the second connecting plate is connected with the transverse moving cylinder and driven to move transversely by the transverse moving cylinder, and the second clamping jaw element is arranged on the second connecting plate and moves synchronously with the second connecting plate.

Further, a guide sleeve is arranged at the bottom of the first connecting plate, and a guide rod capable of moving along the guide sleeve is arranged on the second connecting plate.

Further, the first clamping jaw members are arranged at two positions and are respectively positioned at the front side and the rear side of the first connecting plate; the second clamping jaw members are arranged in two and are respectively positioned at the front side and the rear side of the second connecting plate.

Further, the first jaw member and the second jaw member are suction jaws.

Further, the first jaw member is connected to the first connecting plate through a first buffer assembly; the first buffer assembly comprises a first connecting rod, a first upper buffer rod, a first lower buffer rod and a first buffer spring, wherein the first connecting rod is fixed at the bottom of the first connecting plate, the first upper buffer rod is arranged on the first connecting rod, the first lower buffer rod is telescopically sleeved in the first upper buffer rod, the first buffer spring is sleeved on the first lower buffer rod, one end of the first buffer spring is propped against the bottom of the first upper buffer rod, and the other end of the first buffer spring is propped against the first clamping jaw element.

Further, form first spacing passageway in the head rod, first upper buffer rod is movably to be set up in first spacing passageway, and the head rod outside sets up the first locating part that can support and lean on first lower buffer rod.

Further, the second jaw member is connected to the second web through a second buffer assembly; the second buffer assembly comprises a second connecting rod, a second upper buffer rod, a second lower buffer rod and a second buffer spring, wherein the second connecting rod is fixed at the bottom of the second connecting plate, the second upper buffer rod is arranged on the second connecting rod, the second lower buffer rod is telescopically sleeved in the second upper buffer rod, the second buffer spring is sleeved on the second lower buffer rod, one end of the second buffer spring is propped against the bottom of the second upper buffer rod, and the other end of the second buffer spring is propped against the second clamping jaw element.

Further, form the spacing passageway of second in the second connecting rod, the movable setting of buffer rod is in the spacing passageway of second on the second, and the second connecting rod outside sets up the second locating part that can support and lean on the buffer rod under the second.

Further, the crane bottom sets up the lifter plate, sets up on the lifter plate and orders about first connecting plate pivoted rotating assembly, and rotating assembly includes revolving cylinder, bearing and rotary rod, and revolving cylinder sets up on the lifter plate, and the bearing setting is on the lifter plate, and the rotary rod is connected with revolving cylinder and orders about its rotatable setting in the bearing by revolving cylinder, and the rotary rod is connected with first connecting plate.

Further, the lifting frame also comprises a transverse seat and a cross beam, wherein the transverse seat is movably arranged on the cross beam, the cross beam is movably arranged on the frame, and the lifting frame is arranged in the transverse seat in a lifting manner.

After the structure is adopted, the automatic stacking method for the products with different heights has the following beneficial effects:

firstly, after the foaming machine foams out different kinds of products simultaneously, the blanking mechanism clamps the products of various different kinds to the appointed position, then the first conveying belt conveys the products of various different heights into the frame and stays to the clamping station, so that the mechanical arm is convenient to clamp the products of the clamping station. The mechanical arm clamps the products to different positions, so that the same kind of products can be clamped to the same layer or the same vertical column. The manipulator can move along the X-axis direction and the Y-axis direction, so that the position of the manipulator is convenient to control, the manipulator is convenient to move to a position right above a product of the clamping station, and stable clamping of the product is realized.

And secondly, a reject station is arranged, and a reject box is arranged at the reject station, so that the manipulator is convenient for conveying bad products into the reject box for rejection. Because the eliminating station is positioned at the side part of the clamping station, the distance between the eliminating station and the clamping station is short, so that when the visual identification system identifies that the foaming product has defects, the control system controls the manipulator to clamp the foaming product after judging that the foaming product is a defective product, and then the manipulator moves transversely to move the foaming product to the eliminating station, so that the stroke of the manipulator is short, and the manipulator can quickly eliminate the defective product.

Compared with the prior art, the invention has the advantages that the mechanical arm is arranged, the visual identification system on the mechanical arm identifies whether the product has defects or not, and the qualified product is clamped to the side part of the same kind of product in the stacking station, so that a plurality of kinds of products form a layer body in the stacking station, and each layer body is in a cuboid shape; the products with the same height are clamped to the same layer to form the layers, and the layers are stacked to form the cuboid-shaped stack, so that the stack is convenient to pack.

Drawings

FIG. 1 is a schematic diagram of an automatic palletizing method for products of different heights according to an embodiment of the present invention;

FIG. 2 is a schematic view of a structure of another angle of an automatic stacking method for products with different heights according to an embodiment of the present invention;

FIG. 3 is a schematic view of a further angle of the method for automatically palletizing products at different heights according to an embodiment of the present invention;

FIG. 4 is a schematic view of a manipulator according to an embodiment of the present invention;

FIG. 5 is a schematic view of another angle of the manipulator according to an embodiment of the present invention;

Fig. 6 is a schematic view of the connection of the manipulator to the transverse seat and the cross beam according to an embodiment of the invention.

Description of the reference numerals

The first conveyor belt 1, the clamping station 11, the frame 2, the second conveyor belt 3, the palletizing station 31, the robot 4, the lifting frame 41, the first connecting plate 42, the guide sleeve 421, the first jaw member 43, the traversing cylinder 44, the second connecting plate 45, the guide rod 451, the second jaw member 46, the first buffer assembly 47, the first connecting rod 471, the first upper buffer rod 472, the first lower buffer rod 473, the first buffer spring 474, the first stopper 475, the second buffer assembly 48, the second connecting rod 481, the second upper buffer rod 482, the second lower buffer rod 483, the second buffer spring 484, the second stopper 485, the rotating assembly 49, the rotating cylinder 491, the bearing 492, the rotating rod 493, the reject box 5, the traversing seat 6, the cross beam 7.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

As shown in fig. 1 to 6, the automatic stacking method for products with different heights comprises the following steps:

Firstly, placing a plurality of products with different heights on a first conveying belt 1, conveying the products with different heights into a rack 2 by the first conveying belt 1, and staying to a clamping station 11; the machine frame 2 is internally provided with a first conveying belt 1 and a second conveying belt 3, a clamping station 11 is arranged above the first conveying belt 1, the second conveying belt 3 and the first conveying belt 1 are arranged side by side, a stacking station 31 is arranged above the second conveying belt 3, and the machine frame 2 is provided with a movable manipulator 4 with a visual identification system; step two, the control system controls the manipulator 4 to move along the X-axis direction and the Y-axis direction of the frame 2 so as to control the manipulator 4 to move to a position right above a product of the clamping station 11; step three, the mechanical arm 4 clamps the products to the side part of the same kind of products in the stacking station 31, so that in the stacking station 31, a plurality of kinds of products form a layer body, and each layer body is cuboid; step four, stacking the multi-layer laminates by the mechanical arm 4 to form a stack body, wherein the heights of products on the same layer are consistent in the stack body formed by stacking the mechanical arm; or the heights of products in the same vertical column in the stack body are consistent.

In this way, according to the automatic stacking method for products with different heights, after different types of products are formed by the foaming machine in a foaming mode, the blanking mechanism clamps the products with different types to a designated position, and then the first conveying belt 1 conveys the products with different heights into the frame 2 and stays in the clamping station 11, so that the mechanical arm 4 can clamp the products in the clamping station 11 conveniently. The robot 4 clamps the product to different positions, thereby clamping the same kind of product to the same layer to form a layer body. The manipulator 4 can move along the X-axis direction and the Y-axis direction, so that the position of the manipulator 4 is conveniently controlled, the manipulator 4 is conveniently moved to a position right above a product of the clamping station 11, and stable clamping of the product is realized. The manipulator 4 laminates layer by layer to form the buttress body, so, with the back of layering layer by layer laminating layer, the buttress body is whole to be the cuboid to the packing of being convenient for. Because the product types of the adjacent upper layer body and the lower layer body in the stack body are inconsistent, the overall strength is higher after the multi-layer layers are stacked together.

Optionally, in a first step, two different heights of products are placed on the first conveyor 1, the first conveyor 1 delivering the two different heights of products into the frame 2 and resting on the gripping station 11. Wherein, two kinds of products in the buttress body are set up into two sets of side by side, and every group product sets up to two or three. The manipulator 4 can be with the centre gripping of same kind to pile up neatly station 31 formation one deck body, and the layer body that two kinds of products formed stacks together in turn, is convenient for pack.

Further, the visual recognition system performs visual recognition on the products on the first conveying belt; the side part of the first conveyor belt 1 is provided with a rejection station, and the rejection station is provided with a waste bin 5. Through setting up the rejection station, the rejection station sets up waste bin 5, and the manipulator 4 of being convenient for carries bad product to waste bin 5 in reject. Because the rejecting station is located at the side of the clamping station 11, the rejecting station is close to the clamping station 11, so when the visual identification system identifies that the foaming product has defects, the control system controls the manipulator 4 to clamp the foaming product after judging that the foaming product is a defective product, and then the manipulator 4 moves transversely to move the foaming product to the rejecting station, so that the stroke of the manipulator 4 is short, and the manipulator 4 can reject the defective product rapidly.

In this embodiment, when the visual recognition system recognizes that the foamed product has no defect, the control system determines that the foamed product is a qualified product, and the control system controls the manipulator 4 to move the foamed product to the stacking station 31 for stacking; when the visual recognition system recognizes that the foaming product has defects, the control system judges that the foaming product is a bad product, and the control system controls the manipulator 4 to move the foaming product to the rejecting station for rejecting.

After the mechanical arm moves to the upper part of the foaming product, the visual recognition system recognizes the foaming product, so that whether the foaming product has defects is recognized, and when the visual recognition system recognizes that the foaming product has no defects, the control system judges that the foaming product is a qualified product and controls the mechanical arm 4 to move the foaming product to the stacking station 31 for stacking. When the visual recognition system recognizes that the foaming product has defects, the control system judges that the foaming product is a bad product, and the control system controls the manipulator 4 to move the foaming product to the rejecting station for rejecting, so that different foaming products are clamped to the designated position for stacking, and the bad foaming product is rejected.

In this embodiment, after the control system controls the manipulator 4 to move the foamed product to the removing station for removing, the control system records the empty position in the stacking station 31 where the foamed product is placed, and the control system controls the manipulator 4 to grasp the foamed product of the next same kind to the empty position, so that it is ensured that each layer has a plurality of foamed products thereon, and each layer has a rectangular parallelepiped shape.

Further, after the first conveyor belt 1 conveys the four foaming products to the clamping station 11, the first conveyor belt 1 stops conveying, the manipulator 4 clamps the four foaming products to the stacking station 31, and the four foaming products form a layer; when one layer of body in the stacking station 31 is less than four foaming products, the second conveying belt 3 does not convey, the first conveying belt 1 conveys the four foaming products again, and the mechanical arm 4 supplements a plurality of the four foaming products to the stacking station 31, so that each layer of body has four foaming products. Four foaming products are formed at one time by the foaming machine, the visual recognition system on the mechanical arm 4 recognizes the four foaming products in sequence, if one foaming product in the four foaming products has a defect, the mechanical arm 4 grabs one foaming product to the rejecting station, the mechanical arm 4 grabs three foaming products to the stacking station 31, and the three foaming products are less than four foaming products, so that the second conveying belt 3 does not convey the foaming products. When the second conveyor belt 3 has a plurality of layers, such as twelve layers, and each layer has four foamed products, the second conveyor belt 3 conveys the stack to a packing station for packing.

In the present embodiment, the robot 4 includes a lifting frame 41, a first connecting plate 42, a first jaw member 43, a traversing cylinder 44, a second connecting plate 45, and a second jaw member 46; the visual recognition system is arranged on the lifting frame 41, the first connecting plate 42 is arranged on the lifting frame 41, the first clamping jaw element 43 is arranged on the first connecting plate 42, the traversing cylinder 44 is arranged on the first connecting plate 42, the second connecting plate 45 is connected with the traversing cylinder 44 and driven to transversely move by the traversing cylinder 44, and the second clamping jaw element 46 is arranged on the second connecting plate 45 and synchronously moves along with the second connecting plate 45. When the foaming machine is used, after the foaming machine foams and forms the foaming product, the visual identification system on the manipulator 4 can identify whether the foaming product has defects. By providing the lateral moving cylinder 44, the second connecting plate 45 and the second jaw member 46, when foamed products of different sizes are clamped, when the foamed products are large in size, the lateral moving cylinder 44 drives the second connecting plate 45 to move laterally, so that the distance between the second jaw member 46 and the first jaw member 43 becomes large, and thus foamed products of large sizes can be stably clamped. When the foam product is small, the traversing cylinder 44 drives the second connecting plate 45 to move transversely in the opposite direction, so that the distance between the second jaw member 46 and the first jaw member 43 becomes smaller, and the foam product with small size can be stably held. The two foamed products in this example may be of different sizes so that the robot 4 can adjust the distance between the second jaw member 46 and the first jaw member 43 appropriately depending on the size of the product so that the product is more stable when clamped.

In this example, a guide sleeve 421 is disposed at the bottom of the first connecting plate 42, and a guide rod 451 capable of moving along the guide sleeve 421 is disposed on the second connecting plate 45. The first clamping jaw members 43 are arranged in two and are respectively positioned on the front side and the rear side of the first connecting plate 42; the second jaw members 46 are provided in two, respectively on the front and rear sides of the second connecting plate 45. The first jaw member 43 and the second jaw member 46 are suction jaws.

By providing the guide sleeve 421 and the guide bar 451, the second connecting plate 45 is made more stable when moving, and thus the second jaw element 46 is made more stable when moving. By providing two first jaw members 43 and two second jaw members 46, the four corners of the edge of the foamed product are gripped when gripping the foamed product, further improving the stability of the gripping. When the foam product is clamped by the suction claw, the suction claw can generate negative pressure, so that the suction claw has stronger suction force, and the clamping is more stable.

In the preferred embodiment of the present invention, the first jaw member 43 is connected to the first connecting plate 42 by a first buffer assembly 47; the first buffer assembly 47 includes a first connecting rod 471, a first upper buffer rod 472, a first lower buffer rod 473 and a first buffer spring 474, the first connecting rod 471 is fixed at the bottom of the first connecting plate 42, the first upper buffer rod 472 is disposed on the first connecting rod 471, the first lower buffer rod 473 is telescopically sleeved in the first upper buffer rod 472, the first buffer spring 474 is sleeved on the first lower buffer rod 473, one end of the first buffer spring 474 is abutted against the bottom of the first upper buffer rod 472, and the other end of the first buffer spring 474 is abutted against the first jaw member 43.

By providing the first buffer assembly 47, the first jaw member 43 moves under the action of the first buffer spring 474 when the first jaw member 43 is clamped, so as to prevent the first jaw member 43 from directly striking the foamed product to cause damage.

Further, a first limiting channel is formed in the first connecting rod 471, the first upper buffer rod 472 is movably disposed in the first limiting channel, and a first limiting component 475 capable of abutting against the first lower buffer rod 473 is disposed outside the first connecting rod 471. Through setting up first spacing passageway and first locating part 475, the position of conveniently adjusting first buffer rod 473 to be applicable to the foaming product of difference in height.

Further, the second jaw member 46 is connected to the second web 45 through a second cushioning assembly 48; the second buffer assembly 48 includes a second connecting rod 481, a second upper buffer rod 482, a second lower buffer rod 483, and a second buffer spring 484, the second connecting rod 481 is fixed at the bottom of the second connecting plate 45, the second upper buffer rod 482 is disposed on the second connecting rod 481, the second lower buffer rod 483 is telescopically sleeved in the second upper buffer rod 482, the second buffer spring 484 is sleeved on the second lower buffer rod 483, one end of the second buffer spring 484 is abutted against the bottom of the second upper buffer rod 482, and the other end of the second buffer spring 484 is abutted against the second jaw member 46.

By providing the second buffer assembly 48, the second jaw member 46 is moved by the second buffer spring 484 when the second jaw member 46 is gripped, thereby preventing the second jaw member 46 from directly striking the foamed product to cause damage.

In this embodiment, a second limiting channel is formed in the second connecting rod 481, the second upper buffer rod 482 is movably disposed in the second limiting channel, and a second limiting member 485 capable of abutting against the second lower buffer rod 483 is disposed outside the second connecting rod 481. Through setting up second spacing passageway and second locating part 485, conveniently adjust the position of buffer rod 483 under the second to be applicable to the foaming product of difference in height.

Further, a lifting plate is arranged at the bottom of the lifting frame 41, a rotating assembly 49 for driving the first connecting plate 42 to rotate is arranged on the lifting plate, the rotating assembly 49 comprises a rotating cylinder 491, a bearing 492 and a rotating rod 493, the rotating cylinder 491 is arranged on the lifting plate, the bearing 492 is arranged on the lifting plate, the rotating rod 493 is connected with the rotating cylinder 491 and is driven by the rotating cylinder 491 to be rotatably arranged in the bearing 492, and the rotating rod 493 is connected with the first connecting plate 42. By providing the rotating assembly 49, the clamped foaming product can be rotated, thereby facilitating stacking.

Further, the device also comprises a transverse seat 6 and a cross beam 7, wherein the transverse seat 6 is movably arranged on the cross beam 7, the cross beam 7 is movably arranged on the frame 2, and a lifting frame 41 is arranged in the transverse seat 6 in a lifting manner. By providing the cross beam 7 and the transverse seat 6, the first jaw member 43 and the second jaw member 46 are facilitated to clamp qualified foamed products to the stacking station 31 for stacking, and poor foamed products are facilitated to clamp to the rejection station for rejection.

Compared with the prior art, the invention has the advantages that the mechanical arm 4 is arranged, the visual recognition system on the mechanical arm 4 recognizes the type of the product, and the product is clamped to the side part of the same type of product in the stacking station 31, so that a plurality of types of products form a layer body in the stacking station 31, and each layer body is in a cuboid shape; the products with the same height are clamped to the same layer to form the layers, and the layers are stacked to form the cuboid-shaped stack, so that the stack is convenient to pack.

The above examples and drawings are not intended to limit the form or form of the present invention, and any suitable variations or modifications thereof by those skilled in the art should be construed as not departing from the scope of the present invention.

Claims (10)

1. An automatic stacking method for products with different heights is characterized by comprising the following steps of: the method comprises the following steps:

Firstly, placing products with various heights on a first conveying belt, conveying the products with various heights into a rack by the first conveying belt, and staying at a clamping station; the machine frame is internally provided with a first conveying belt and a second conveying belt, a clamping station is arranged above the first conveying belt, the second conveying belt is arranged side by side with the first conveying belt, a stacking station is arranged above the second conveying belt, and a movable manipulator is arranged on the machine frame; the arrangement mode of products with different heights on the first conveyor belt is the same as the arrangement mode in a die cavity in the foaming molding machine, and the arrangement mode is recorded in a control system of the manipulator;

Step two, the control system controls the manipulator to move along the X-axis direction and the Y-axis direction of the frame so as to control the manipulator to move to the position right above the product at the clamping station;

And thirdly, clamping the products on the manipulator to a stacking station for stacking to form a stack body.

2. An automatic palletizing method for products of different heights according to claim 1, characterized in that: in the third step, the height of the products in the same layer is consistent in a stack body formed by stacking the mechanical arms; or the heights of products in the same vertical column in the stack body are consistent.

3. An automatic palletizing method for products of different heights according to claim 1, characterized in that: two products in the stack are arranged in two groups side by side, and each group of products is arranged in two or three.

4. An automatic palletizing method for products of different heights according to claim 1, characterized in that: the visual recognition system performs visual recognition on the products on the first conveyor belt; the side part of the first conveyer belt is provided with a rejection station, and the rejection station is provided with a waste bin.

5. An automatic palletizing method for products of different heights according to claim 4, characterized in that: when the visual recognition system recognizes that the foaming product has no defect, the control system judges that the foaming product is a qualified product, and the control system controls the manipulator to move the foaming product to the stacking station for stacking; when the visual recognition system recognizes that the foaming product has defects, the control system judges that the foaming product is a bad product, and the control system controls the manipulator to move the foaming product to the removing station for removing.

6. An automatic palletizing method for products of different heights according to claim 4, characterized in that: when the control system controls the manipulator to move the foaming product to the removing station for removing, the control system records the empty position in the stacking station for placing the foaming product, and the control system controls the manipulator to grasp the foaming product of the next same kind to the empty position.

7. An automatic palletizing method for products of different heights according to claim 1, characterized in that: after the first conveyor belt conveys the four foaming products to the clamping station, the first conveyor belt stops conveying, the mechanical arm clamps the four foaming products to the stacking station, and the four foaming products form a layer; when one layer of body is less than four foaming products in the stacking station, the second conveying belt does not convey, the first conveying belt conveys the four foaming products again, and the mechanical arm supplements a plurality of the four foaming products to the stacking station, so that each layer of body is provided with four foaming products.

8. An automatic palletizing method for products of different heights according to claim 1, characterized in that: the manipulator comprises a lifting frame, a first connecting plate, a first clamping jaw element, a transverse moving cylinder, a second connecting plate and a second clamping jaw element; the visual recognition system is arranged on the lifting frame, the first connecting plate is arranged on the lifting frame, the first clamping jaw element is arranged on the first connecting plate, the transverse moving cylinder is arranged on the first connecting plate, the second connecting plate is connected with the transverse moving cylinder and driven to move transversely by the transverse moving cylinder, and the second clamping jaw element is arranged on the second connecting plate and moves synchronously with the second connecting plate.

9. An automatic palletizing method for products of different heights according to claim 8, characterized in that: the bottom of the first connecting plate is provided with a guide sleeve, and the second connecting plate is provided with a guide rod capable of moving along the guide sleeve.

10. An automatic palletizing method for products of different heights according to claim 8, characterized in that: the first clamping jaw members are arranged at the front side and the rear side of the first connecting plate respectively; the second clamping jaw members are arranged in two and are respectively positioned at the front side and the rear side of the second connecting plate.