Mid- and low-level palletizing machines mainly consist of a flattening conveyor, a slow-stop conveyor, a rotation conveyor, a pallet bin, a pallet conveyor, a grouping machine, a bag pushing device, a palletizing device, and a pallet conveyor. The core of the palletizing device is the end effector. To adapt to the production needs of multiple varieties and small batches, modern robotic automatic palletizing machines often use pneumatically driven multi-functional end effectors. These actuators typically integrate clamping, gripping, and suction mechanisms, driven by cylinders, to perform various actions such as clamping, gripping, suctioning, handling, and stacking of boxes, barrels, bags, and auxiliary materials such as pallets and padding paper (or mats). They are characterized by compact structure, wide applicability, and high reliability. Their optimized structural design ensures smooth and reliable operation. The palletizing process is fully automatic, requiring no manual intervention during normal operation, and has a wide range of applications. Some systems integrate super robotic arms with automation modules such as RFID and warehouse management systems, supporting flexible switching between multiple modes and full-process digital tracking.
For non-standard automated palletizing machines customized for specific scenarios, their workflow can be further broken down into three core systems: a perception system (such as industrial cameras or photoelectric sensors, responsible for identifying material size, shape, and position), a decision-making system (such as a PLC or dedicated motion chip, responsible for planning the optimal motion trajectory), and an execution system (i.e., the end effector, responsible for completing the specific operation). In terms of specific mechanical design, the structural drawings of palletizing machines are commonly found in 3D design software such as Solidworks. The design typically includes key mechanical components such as shelves, drive motors, transmission ball screws, square sliding rails, and couplings. Some designs also integrate a central control system that can communicate and interact with AGVs (Automated Guided Vehicles) to achieve a higher level of logistics automation.
