Automatic stacking system for corrugated boards

Abstract

The invention discloses an automatic corrugated board stacking system, and relates to the field of corrugated board production, the automatic corrugated board stacking system comprises a fixing mechanism and a paperboard, the fixing mechanism is externally connected with a manipulator used for moving a tool, a lifting mechanism is mounted at the bottom of the fixing mechanism, and a first clamping mechanism is arranged at one end of the lifting mechanism; the first clamping mechanism is used for pushing the paperboard and lifting and inclining the paperboard by utilizing friction force, and after the paperboard is lifted and inclined, a lifting fork arm of the lifting mechanism can be inserted into the paperboard and lift the paperboard. The linkage plate is arranged, the rubber reinforcing layer adheres to the side face of the linkage plate, after the first paperboard clamping mechanism and the second paperboard clamping mechanism clamp a plurality of paperboards, the linkage plate ascends in the vertical direction, and one sides of the paperboards are driven to ascend through friction force of the rubber reinforcing layer; the rubber reinforcing layer is in contact with the side faces of the multiple paperboards, so that the multiple paperboards are evenly stressed, and the risk that the paperboards are damaged in the inclined rising process is reduced.

Description

Technical Field

[0001] The invention relates to the field of corrugated cardboard production, in particular to an automatic corrugated cardboard stacking system. Background Art

[0002] Corrugated cardboard, also known as corrugated cardboard, is a multi-layer adhesive body. It consists of at least one layer of wavy core paper interlayer and one layer of cardboard. It has high mechanical strength and can withstand collisions and falls during transportation. The thickness of single corrugated cardboard is usually 1.1-5mm, and the thickness of double-layer corrugated cardboard is usually 3-10mm.

[0003] Finished corrugated cardboard products need to go through multiple processes such as handling, palletizing, quantification, alignment and packaging before they can be sold. There are usually two processes involved in the handling of corrugated cardboard. One is: handling and palletizing the packaged cardboard. The cardboard is counted, aligned and then tied with straps. The packaged cardboard will be clamped and transferred by a robot with a clamping tool. The other is: handling and palletizing the cardboard that has just been produced. There are a large number of cardboards here, which are stacked together at the tail of the conveying system. The robot is also used to drive the clamping tool to clamp a part of the cardboard from the multiple stacked cardboards and transfer them to the next process.

[0004] The fixtures used in the two processes are different. The fixture used to transfer the packaged cardboard has a simple structure. For example, 50 pieces of cardboard are packaged with straps. These 50 packaged cardboards are a whole. Therefore, the fixture can use an ordinary shrink type fixture. The fixture is lowered from the top of the packaged cardboard, and the fixture is contracted to fix the cardboard. The robot drives the fixture and the cardboard to move. However, the fixture for clamping the newly produced cardboard is more complicated. The clamping tool needs to clamp a part from multiple stacked cardboards for transfer. The robot drives the fixture to approach the cardboard and hover at a certain position. The clamping tool fixes and clamps a part of the cardboard, and then the part of the fixture close to the side of the cardboard will rotate and tilt at a certain angle, and the extrusion force will be used to lift one end of this part of the cardboard, that is, a gap will appear between the clamped cardboard and the unclamped cardboard, so that the fork arm of the clamping tool can be fully extended into the cardboard from the gap without damaging the cardboard, so that the fork arm can lift this part of the cardboard for transfer.

[0005] When transferring and stacking newly produced corrugated cardboard, the clamping tooling uses the extrusion force to push the cardboard to tilt, creating a gap between it and the cardboard at the bottom. The external force exerted by the rotating component in the clamping tooling mainly contacts the few sheets of cardboard close to the bottom layer, which can easily cause these sheets of cardboard close to the bottom layer to deform and pose a risk of damage. Summary of the invention

[0006] Based on this, the object of the present invention is to provide an automatic corrugated cardboard stacking system to solve the technical problems mentioned in the above background.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic stacking system for corrugated cardboard, comprising a fixing mechanism and cardboard, the fixing mechanism is externally connected to a robot for moving tooling, and a lifting mechanism is installed at the bottom of the fixing mechanism, and a first clamping mechanism is arranged at one end of the lifting mechanism, the first clamping mechanism comprises a mounting plate, and two groups of first telescopic components are installed on the top of the mounting plate, and the ends of the two groups of first telescopic components are connected to a first connecting frame, a fixing plate is installed at the bottom of the first connecting frame, and a lifting plate is arranged on the side of the fixing plate, and a second telescopic component is installed on the top of the lifting plate, the end of the second telescopic component is connected to a linkage plate, and the linkage plate and the lifting plate are movably installed by setting a second slide rail assembly.

[0008] By adopting the above technical solution, a linkage plate is provided, and a rubber reinforcement layer is adhered to the side of the linkage plate. When the first cardboard clamping mechanism and the second cardboard clamping mechanism clamp the multiple cardboards, the linkage plate rises from the vertical direction, and the friction force of the rubber reinforcement layer is used to drive one side of the multiple cardboards to rise. The rubber reinforcement layer is in contact with the side surfaces of the multiple cardboards, so that the multiple cardboards are evenly stressed, reducing the risk of damage to the cardboards when they are inclined and rising.

[0009] The present invention is further configured as follows: the lifting mechanism includes a beam connected to the fixing mechanism, and one end of the beam is connected to the mounting plate, and a driving device is installed on the top of the beam, a guide rod is arranged inside the beam, and a sliding seat is movably installed outside the guide rod, and a photographing positioning device is installed at the bottom of the beam, a second threaded rod is rotatably connected inside the beam, and the second threaded rod is connected to the output of the driving device, and the second threaded rod is threadedly connected to the sliding seat, a fourth telescopic assembly is arranged at the bottom of the sliding seat, and a lifting fork arm is installed at the end of the fourth telescopic assembly.

[0010] By adopting the above technical solution, the cardboard can be lifted by setting up a lifting mechanism. When a gap appears between the clamped cardboard and the cardboard at the bottom, the lifting fork arm of the lifting mechanism is inserted from the gap to transfer the cardboard to the lifting fork arm. Then, when the robot drives the tooling to move, the cardboard can be transferred to the designated location for stacking.

[0011] The present invention is further configured such that a limiting frame is installed on the side of the lifting plate, and the limiting frame is sleeved on the outside of the lifting fork arm.

[0012] By adopting the above technical solution, a limiting frame is arranged at the bottom of the lifting plate, and the lifting fork arm passes through the inside of the limiting frame, and the limiting frame can support the lifting fork arm.

[0013] The present invention is further configured such that a rubber reinforcement layer is installed on the side of the linkage plate, and the rubber reinforcement layer is made of a rubber material with a large friction coefficient.

[0014] By adopting the above technical solution and arranging a rubber reinforcement layer on the side of the linkage plate, the friction force of the linkage plate can be improved, so that the linkage plate can better lift the cardboard.

[0015] The present invention is further configured as follows: a second connecting frame is installed on the side of the first connecting frame, a second clamping mechanism is arranged on the top of the mounting plate, and the second clamping mechanism includes a third connecting frame installed on the top of the second connecting frame, and a rack is installed on the side of the third connecting frame, the second clamping mechanism includes a gear and a worm rotatably connected to the top of the mounting plate, and the gear and the worm are transmission-connected by a transmission belt assembly, the second clamping mechanism includes a third telescopic assembly rotatably connected to the top of the mounting plate, a worm gear is arranged at one end of the third telescopic assembly, and a clamping rod is arranged at the other end of the third telescopic assembly.

[0016] By adopting the above technical solution, by setting up a second clamping mechanism, the clamping rod of the second clamping mechanism is rotatable and foldable. Compared with the fixedly installed clamping rod in the prior art, the manipulator can approach the cardboard from one side of the cardboard when driving the clamping tooling of the cardboard to move, so that the manipulator does not need to drive the clamping tooling to descend from the top of the cardboard to clamp the cardboard, thereby reducing the movement stroke of the manipulator and improving the stacking efficiency of the manipulator for the cardboard.

[0017] The present invention is further configured such that the rack and the gear mesh with each other for transmission, and the worm and the worm wheel mesh with each other for transmission.

[0018] By adopting the above technical solution, by setting up racks and gears, the third connecting frame can drive the gear to rotate when moving, the gear drives the worm to rotate through the transmission belt assembly, the worm drives the worm wheel to rotate, thereby driving the third telescopic assembly to rotate 90°.

[0019] The present invention is further configured such that a clamping plate is installed on the top of the mounting plate, and a slide groove is provided on the top of the mounting plate below the clamping plate, and the clamping plate and the slide groove limit the third connecting frame.

[0020] By adopting the above technical solution, the third connecting frame can be limited by providing the clamping plate and the sliding groove.

[0021] The present invention is further configured such that a first threaded rod is rotatably connected between the second connecting frame and the fixed plate, and the fixed plate and the lifting plate are movably installed by setting a first slide rail assembly, and the lifting plate and the first threaded rod are threadedly connected.

[0022] By adopting the above technical solution, a lifting plate with adjustable height is provided, and then the height of the linkage plate can be adjusted. According to the detection data of the distance sensor, the robot can be controlled to reach a specified height above the cardboard each time it drives the tooling to clamp the cardboard, and then the height of the linkage plate is adjusted using a scale ruler. According to the thickness of each cardboard, the number of cardboards in the tooling clamp can be controlled, and then the cardboard can be clamped quantitatively in the process of clamping the tooling to transport and stack.

[0023] The present invention is further configured such that a first suction cup group is installed at the bottom of the mounting plate, a distance sensor is provided at the bottom of the first suction cup group, and a second suction cup group is installed at the bottom of the lifting fork arm.

[0024] By adopting the above technical solution, by setting the first suction cup group and the second suction cup group, a gravity sensor is set on the top of the lifting arm to detect the weight of the lifted cardboard, and the weight of each cardboard is converted to further check whether the number of lifted cardboards is accurate. When the number of lifted and clamped cardboards is more or less, the first suction cup group and the second suction cup group can be used to add or remove them.

[0025] In summary, the present invention mainly has the following beneficial effects:

[0026] 1. The present invention sets a linkage plate, and a rubber reinforcement layer is adhered to the side of the linkage plate. When the first cardboard clamping mechanism and the second cardboard clamping mechanism clamp the multiple cardboards, the linkage plate rises from the vertical direction, and the friction force of the rubber reinforcement layer is used to drive one side of the multiple cardboards to rise. The rubber reinforcement layer is in contact with the side of the multiple cardboards, so that the multiple cardboards are evenly stressed, reducing the risk of damage to the cardboards when they are inclined and rising.

[0027] 2. The present invention arranges the clamping rod to be rotatable and foldable, compared with the fixedly installed clamping rod in the prior art, so that the robot can approach the cardboard from one side when driving the clamping tooling of the cardboard to move, so that the robot does not need to drive the clamping tooling to descend from the top of the cardboard to clamp the cardboard, thereby reducing the movement stroke of the robot and improving the stacking efficiency of the robot for the cardboard.

[0028] 3. The present invention arranges a third telescopic component at the end of the clamping rod. When the first telescopic component is driven, it drives the linkage plate to approach the cardboard. Here, the linkage plate only fits the cardboard. Then the third telescopic component drives the clamping rod to fit the cardboard from the other side of the cardboard, and pushes the cardboard to further fit the linkage plate, so that the clamping rod and the linkage plate clamp the cardboard together. The height of the clamping rod is greater than the linkage plate. Compared with the fixedly installed clamping rod in the prior art, a gap for inserting the clamping rod will be left between the cardboard and the conveying system. If the clamping rod cannot move forward and backward, the manipulator is required to drive the clamping tooling to move as a whole, thereby driving the clamping rod to fit the other side of the cardboard. Then the linkage plate approaches the cardboard and cooperates with the clamping rod to clamp the cardboard, which increases the movement stroke of the manipulator, which not only reduces the clamping efficiency, but also wastes more electrical energy. In addition, the two also have such problems. The difference is that in the application, the third telescopic component drives the clamping rod to move and push the cardboard to move toward the linkage plate and clamp it, while in the prior art, the linkage plate moves to push the cardboard to move toward the clamping rod and clamp it. Although the clamping rod in the prior art will fit the cardboard, there will still be a gap, and the cardboard will produce plastic deformation during the clamping process. This makes the linkage plate in the prior art push the cardboard to approach the clamping rod, and the clamping rod does not move at this time, resulting in the part of the cardboard that needs to be clamped pushed by the linkage plate to be staggered with the remaining cardboard below. If the bottom edge position of the linkage plate happens to contact the topmost piece of the remaining cardboard, the cardboard will be damaged during the clamping process. In the present application, the linkage plate does not move after fitting the cardboard, and relies on the movement of the clamping rod to push the cardboard to approach the linkage plate and clamp it, thereby reducing the risk of cardboard damage.

[0029] 4. The present invention can adjust the height of the linkage plate by setting a lifting plate with adjustable height. According to the detection data of the distance sensor, the manipulator can be controlled to reach a specified height above the cardboard each time it drives the tooling to clamp the cardboard, and then the height of the linkage plate is adjusted by using a scale ruler. The number of cardboards in the tooling clamp can be controlled according to the thickness conversion of each cardboard, and then the cardboard can be quantitatively clamped during the process of clamping the tooling to transport and stack. There may be certain errors, so a gravity sensor is provided on the top of the lifting arm to detect the weight of the lifted cardboard. The weight conversion of each cardboard further checks whether the number of lifted cardboards is accurate. When the number of lifted and clamped cardboards is more or less, the first suction cup group and the second suction cup group can be used to add and remove them. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of the present invention;

[0031] Figure 2 is a side view of the present invention;

[0032] Figure 3 For the present invention Figure 2 A in the enlarged view;

[0033] Figure 4 It is a schematic diagram of the lifting mechanism structure of the present invention;

[0034] Figure 5 It is a schematic structural diagram of the second clamping mechanism of the present invention;

[0035] Figure 6 It is a schematic structural diagram of the first clamping mechanism of the present invention;

[0036] Figure 7 It is a schematic diagram of the connection between the lifting plate and the linkage plate of the present invention;

[0037] Figure 8 It is a schematic diagram of the connection between the mounting plate, the clamping plate and the slide groove of the present invention;

[0038] Fig. 9 It is a schematic diagram of the connection between the mounting plate, the first suction cup group and the distance sensor of the present invention;

[0039] Fig.10 For the present invention Figure 5 The enlarged view of point B in the figure;

[0040] Fig.11 It is a schematic diagram of the bonding structure of the linkage plate and the paperboard of the present invention.

[0041] In the figure: 1, first clamping mechanism; 2, second clamping mechanism; 3, first suction cup group; 4, distance sensor; 5, lifting mechanism; 6, second suction cup group; 7, camera positioning device; 8, fixing mechanism; 9, cardboard; 10, slide groove; 11, limit frame; 12, paperboard; 101, mounting plate; 102, first telescopic assembly; 103, first connecting frame; 104, fixing plate; 105, second connecting frame; 106, first threaded rod; 107, first slide rail assembly; 108, lifting plate; 109, second telescopic assembly; 110, linkage plate; 111, second slide rail assembly; 112, rubber reinforcement layer; 201, third connecting frame; 202, rack; 203, gear; 204, worm; 205, drive belt assembly; 206, worm wheel; 207, third telescopic assembly; 208, clamping rod; 501, cross beam; 502, guide rod; 503, sliding seat; 504, second threaded rod; 505, driving device; 506, fourth telescopic assembly; 507, lifting fork arm. DETAILED DESCRIPTION

[0042] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0043] The following describes an embodiment of the present invention based on its overall structure.

[0044] Embodiment 1

[0045] An automatic palletizing system for corrugated cardboard, such as Figure 1-11 As shown, it includes a fixing mechanism 8 and a cardboard 12, the fixing mechanism 8 is externally connected to a manipulator for moving tooling, and a lifting mechanism 5 is installed at the bottom of the fixing mechanism 8, the lifting mechanism 5 is used to lift the cardboard 12 to be transported, and then put down the cardboard 12 for stacking, and a first clamping mechanism 1 is arranged at one end of the lifting mechanism 5, the first clamping mechanism 1 is used to clamp the cardboard 12 and lift and tilt the cardboard 12, the first clamping mechanism 1 includes a mounting plate 101, and two groups of first telescopic components 102 are installed on the top of the mounting plate 101, and the ends of the two groups of first telescopic components 102 are connected to a first connecting frame 103, the first telescopic components 102 push the first connecting frame 103 to move, and a fixing plate 104 is installed at the bottom of the first connecting frame 103, and the side of the fixing plate 104 is provided A lifting plate 108 is provided, and a second telescopic component 109 is installed on the top of the lifting plate 108. The end of the second telescopic component 109 is connected to a linkage plate 110. The second telescopic component 109 pushes the linkage plate 110 to rise and fall. The linkage plate 110 can lift and tilt the cardboard 12 by friction, and a second slide rail component 111 is movably installed between the linkage plate 110 and the lifting plate 108. A limiting gantry is usually provided at the tail of the conveying system of the cardboard 12 to cooperate with the first clamping mechanism 1, which can prevent the cardboard 12 from moving when the first clamping mechanism 1 clamps the cardboard 12. Similarly, when there is no limiting gantry at the tail of the conveying system of the cardboard 12 during actual production, a limiting component with the same function as the limiting gantry needs to be installed on the side of the mounting plate 101 in the first clamping mechanism 1.

[0046] See also Figure 4The lifting mechanism 5 includes a crossbeam 501 connected to the fixing mechanism 8, and one end of the crossbeam 501 is connected to the mounting plate 101, and a driving device 505 is installed on the top of the crossbeam 501, a guide rod 502 is arranged inside the crossbeam 501, and a sliding seat 503 is movably installed outside the guide rod 502, and a photo positioning device 7 is installed at the bottom of the crossbeam 501, and a second threaded rod 504 is rotatably connected inside the crossbeam 501, and the second threaded rod 504 is connected to the output of the driving device 505, and the second threaded rod 504 is connected to the output of the driving device 505. The threaded rod 504 is threadedly connected to the sliding seat 503, and a fourth telescopic component 506 is provided at the bottom of the sliding seat 503, and a lifting fork arm 507 is installed at the end of the fourth telescopic component 506. The cardboard 12 can be lifted by setting the lifting mechanism 5. When a gap appears between the clamped cardboard 12 and the cardboard 12 at the bottom, the lifting fork arm 507 of the lifting mechanism 5 is inserted from the gap to transfer the cardboard 12 to the lifting fork arm 507. Then, when the robot drives the tooling to move, the cardboard 12 can be transferred to the designated location for stacking.

[0047] See also Figure 5 A limiting frame 11 is installed on the side of the lifting plate 108, and the limiting frame 11 is sleeved on the outside of the lifting fork arm 507. By arranging the limiting frame 11 at the bottom of the lifting plate 108, the lifting fork arm 507 passes through the inside of the limiting frame 11, and the limiting frame 11 can support the lifting fork arm 507.

[0048] See also Figure 7 A rubber reinforcement layer 112 is installed on the side of the linkage plate 110. The rubber reinforcement layer 112 is made of rubber material with a large friction coefficient. By arranging the rubber reinforcement layer 112 on the side of the linkage plate 110, the friction force of the linkage plate 110 can be improved, so that the linkage plate 110 can better lift the cardboard 12.

[0049] Embodiment 2

[0050] An automatic palletizing system for corrugated cardboard, such as Figure 1-11As shown, a second connecting frame 105 is installed on the side of the first connecting frame 103, a second clamping mechanism 2 is arranged on the top of the mounting plate 101, and the second clamping mechanism 2 includes a third connecting frame 201 installed on the top of the second connecting frame 105, and a rack 202 is installed on the side of the third connecting frame 201, the second clamping mechanism 2 includes a gear 203 and a worm 204 rotatably connected to the top of the mounting plate 101, and the gear 203 and the worm 204 are connected by a transmission belt assembly 205, and the second clamping mechanism 2 includes a third telescopic assembly 207 rotatably connected to the top of the mounting plate 101. , and a worm gear 206 is provided at one end of the third telescopic component 207, and a clamping rod 208 is provided at the other end of the third telescopic component 207. By setting the second clamping mechanism 2, the clamping rod 208 of the second clamping mechanism 2 is rotatable and foldable. Compared with the fixedly installed clamping rod 208 in the prior art, the manipulator can approach the cardboard 12 from one side of the cardboard 12 when driving the clamping tooling of the cardboard 12 to move, so that the manipulator does not need to drive the clamping tooling to descend from the top of the cardboard 12 to clamp the cardboard 12, thereby reducing the movement stroke of the manipulator and improving the stacking efficiency of the cardboard 12 by the manipulator.

[0051] See also Fig.10 The rack 202 and the gear 203 are meshed with each other for transmission, and the worm 204 and the worm wheel 206 are meshed with each other for transmission. By setting the rack 202 and the gear 203, the third connecting frame 201 can drive the gear 203 to rotate when moving, and the gear 203 drives the worm 204 to rotate through the transmission belt assembly 205, and the worm 204 drives the worm wheel 206 to rotate, thereby driving the third telescopic assembly 207 to rotate 90°.

[0052] See also Figure 8 A card plate 9 is installed on the top of the mounting plate 101, and a slide groove 10 is opened on the top of the mounting plate 101 below the card plate 9, and the card plate 9 and the slide groove 10 limit the third connecting frame 201. By setting the card plate 9 and the slide groove 10, the third connecting frame 201 can be limited.

[0053] Embodiment 3

[0054] An automatic palletizing system for corrugated cardboard, such as Figure 1-11As shown, a first threaded rod 106 is rotatably connected between the second connecting frame 105 and the fixed plate 104, and a first slide rail assembly 107 is provided between the fixed plate 104 and the lifting plate 108, and the lifting plate 108 is threadedly connected to the first threaded rod 106. By providing a lifting plate 108 with adjustable height, the height of the linkage plate 110 can be adjusted. According to the detection data of the distance sensor 4, the manipulator can be controlled to reach a specified height above the cardboard 12 each time the tooling is driven to clamp the cardboard 12, and then the height of the linkage plate 110 is adjusted by using a scale ruler. The number of cardboards 12 of the tooling fixture can be controlled according to the thickness conversion of each cardboard 12, and then the cardboards 12 can be quantitatively clamped during the process of clamping the tooling, transporting and stacking.

[0055] See also Figure 2 A first suction cup group 3 is installed at the bottom of the mounting plate 101, and a distance sensor 4 is provided at the bottom of the first suction cup group 3. A second suction cup group 6 is installed at the bottom of the lifting fork arm 507. By providing the first suction cup group 3 and the second suction cup group 6, a gravity sensor is provided at the top of the lifting fork arm 507 to detect the weight of the lifted cardboard 12. The weight of each cardboard 12 is converted to further check whether the number of lifted cardboards 12 is accurate. When the number of lifted and clamped cardboards 12 is more or less, the first suction cup group 3 and the second suction cup group 6 can be used to add or remove them.

[0056] The working principle of the present invention is as follows: after the cardboards 12 are transported to the designated location by the conveying system, they will be stacked together in large quantities. When a designated number of cardboards 12 need to be transported, the staff rotates the first threaded rod 106, and uses the screw principle to adjust the height of the lifting plate 108 on the side of the fixed plate 104 according to the scale ruler, thereby adjusting the height of the linkage plate 110. After measurement by the distance sensor 4, such as: (KJT-KELR-TE40, this is the prior art and will not be described in detail), the tooling for transporting and stacking will hover at the same height from the top cardboard 12 each time under the drive of the manipulator. According to the conversion of the thickness of each cardboard 12, adjusting the height of the linkage plate 110 can control the linkage plate 110 to clamp a designated number of cardboards 12. For example: 50 cardboards 12 are transported and stacked at a time, and the manipulator is started to drive the transporting and stacking tooling of the cardboard 12 to move to one side of the cardboard 12. After identification by the camera positioning device 7, it is ensured that the tooling reaches the designated position, and the tooling is suspended at the designated height by measuring the distance sensor 4.

[0057] Next, the two groups of first telescopic components 102 are started, and the two groups of first telescopic components 102 shrink and drive the first connecting frame 103 to move, so that the fixed plate 104 at the bottom of the first connecting frame 103 moves accordingly, and the fixed plate 104 drives the lifting plate 108 to move from one side of the cardboard 12 to the cardboard 12, and after positioning and identification by the camera positioning device 7, until the lifting plate 108 drives the linkage plate 110 to move and fit to one side of the cardboard 12, during the shrinkage of the first telescopic components 102, the second connecting frame 105 moves with the first connecting frame 103, and then The third connecting frame 201 installed on the top of the second connecting frame 105 moves accordingly, and the third connecting frame 201 will drive the rack 202 to mesh with the gear 203, and then the gear 203 rotates through the transmission belt assembly 205 to drive the worm 204 to rotate, and the worm 204 and the worm wheel 206 mesh and transmit, so that the worm wheel 206 drives the third telescopic assembly 207 to rotate 90°, so that the clamping rod 208 rotates 90°. Before each work of the handling and stacking tooling, the first telescopic assembly 102 is extended to the longest position to ensure that it can drive the operation of the second clamping mechanism 2 when it is retracted.

[0058] Next, the third telescopic component 207 is started, and the third telescopic component 207 contracts to drive the clamping rod 208 to approach the cardboard 12 from the other side of the cardboard 12. As the clamping rod 208 approaches the cardboard 12, the clamping rod 208 and the linkage plate 110 will clamp the 50 cardboards 12. Then the second telescopic component 109 is started, and the second telescopic component 109 contracts to drive the linkage plate 110 to slide and rise on the side of the lifting plate 108. At this time, the linkage plate 110 uses the rubber reinforcement layer 112 on the side to cooperate with the clamping rod 208 to clamp the 50 cardboards 12. When the linkage plate 110 rises, the friction force will be used to lift one side of the 50 cardboards 12, so that a gap will appear between the 50 cardboards 12 and the cardboard that is not clamped at the bottom, and then the lifting plate 109 is started. The dynamic driving device 505 drives the second threaded rod 504 to rotate, and utilizes the screw principle to drive the sliding seat 503 to slide outside the guide rod 502, so that the fourth telescopic component 506 and the lifting fork arm 507 at the bottom of the sliding seat 503 move accordingly, and the fourth telescopic component 506 drives the lifting fork arm 507 to rise and fall to adjust the height of the lifting fork arm 507, and the sliding seat 503 adjusts the position of the lifting fork arm 507 so that the lifting fork arm 507 is inserted into the raised gap, and ensures that 50 cardboards 12 move to the top of the lifting fork arm 507, and the gravity sensor on the top of the lifting fork arm 507 measures and further checks whether the number of cardboards 12 is qualified according to the weight (such as: XSGB, this is the prior art and will not be described in detail).

[0059] When an enterprise produces cardboard 12 and sells it to customers, in order to improve sales quality, the number of cardboards 12 can be more but not less. When the number of detected cardboards 12 is too large, the first suction cup group 3 and the second suction cup group 6 can be used to remove the cardboards 12 after the handling and stacking tooling unloads the cardboards 12, and put them into the storage area for the next cardboard 12. When the number of detected cardboards 12 is too small, after the gravity sensor measures, that is, before unloading the cardboards 12, the manipulator can be used to drive the handling and stacking tooling to move so that the second suction cup group 6 absorbs a piece of cardboard 12. Because the first suction cup group 3 is located at the bottom of the first clamping mechanism 1, it can pre-absorb a piece of cardboard 12 before carrying and clamping the cardboard 12, so as to fill the shortage of cardboards 12.

[0060] After the robot drives the transporting and stacking tooling to move the cardboard 12 to the designated position, the cardboard 12 can be unloaded by performing the above steps in reverse order.

[0061] Although an embodiment of the present invention has been shown and described, this specific embodiment is merely an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiments without creative contributions as needed without departing from the principles and purpose of the present invention. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. An automatic corrugated cardboard stacking system, comprising a fixing mechanism (8) and cardboard (12), characterized in that: The fixing mechanism (8) is externally connected to a manipulator for moving the tooling, and a lifting mechanism (5) is installed at the bottom of the fixing mechanism (8), and a first clamping mechanism (1) is arranged at one end of the lifting mechanism (5), the first clamping mechanism (1) comprises a mounting plate (101), and two groups of first telescopic components (102) are installed on the top of the mounting plate (101), and the ends of the two groups of first telescopic components (102) are connected to a first connecting frame (103), a fixing plate (104) is installed at the bottom of the first connecting frame (103), and a lifting plate (108) is arranged on the side of the fixing plate (104), and a second telescopic component (109) is installed on the top of the lifting plate (108), and a linkage plate (110) is connected to the end of the second telescopic component (109), and a second slide rail assembly (111) is arranged between the linkage plate (110) and the lifting plate (108) to be movably mounted.

2. The automatic corrugated cardboard stacking system according to claim 1, characterized in that: The lifting mechanism (5) comprises a crossbeam (501) connected to a fixing mechanism (8), one end of the crossbeam (501) is connected to a mounting plate (101), a driving device (505) is installed on the top of the crossbeam (501), a guide rod (502) is arranged inside the crossbeam (501), a sliding seat (503) is movably installed outside the guide rod (502), and a photo positioning device (7) is installed on the bottom of the crossbeam (501), a second threaded rod (504) is rotatably connected inside the crossbeam (501), the second threaded rod (504) is connected to an output of the driving device (505), and the second threaded rod (504) is threadedly connected to the sliding seat (503), a fourth telescopic assembly (506) is arranged at the bottom of the sliding seat (503), and a lifting fork arm (507) is installed at the end of the fourth telescopic assembly (506).

3. The automatic corrugated cardboard stacking system according to claim 2, characterized in that: A limiting frame (11) is installed on the side of the lifting plate (108), and the limiting frame (11) is sleeved on the outside of the lifting fork arm (507).

4. The automatic corrugated cardboard stacking system according to claim 3, characterized in that: A rubber reinforcement layer (112) is installed on the side of the linkage plate (110), and the rubber reinforcement layer (112) is made of rubber material with a large friction coefficient.

5. The automatic corrugated cardboard stacking system according to claim 4, characterized in that: A second connecting frame (105) is mounted on the side of the first connecting frame (103); a second clamping mechanism (2) is arranged on the top of the mounting plate (101); the second clamping mechanism (2) comprises a third connecting frame (201) mounted on the top of the second connecting frame (105); a rack (202) is mounted on the side of the third connecting frame (201); the second clamping mechanism (2) comprises a gear (203) and a worm (204) rotatably connected to the top of the mounting plate (101); the gear (203) and the worm (204) are transmission-connected via a transmission belt assembly (205); the second clamping mechanism (2) comprises a third telescopic assembly (207) rotatably connected to the top of the mounting plate (101); a worm wheel (206) is arranged at one end of the third telescopic assembly (207); and a clamping rod (208) is arranged at the other end of the third telescopic assembly (207).

6. The automatic corrugated cardboard stacking system according to claim 5, characterized in that: The rack (202) and the gear (203) are meshed with each other for transmission, and the worm (204) and the worm wheel (206) are meshed with each other for transmission.

7. The automatic corrugated cardboard stacking system according to claim 6, characterized in that: A clamping plate (9) is installed on the top of the mounting plate (101), and a slide groove (10) is provided on the top of the mounting plate (101) below the clamping plate (9), and the clamping plate (9) and the slide groove (10) limit the third connecting frame (201).

8. The automatic corrugated cardboard stacking system according to claim 7, characterized in that: A first threaded rod (106) is rotatably connected between the second connecting frame (105) and the fixed plate (104), and a first slide rail assembly (107) is movably installed between the fixed plate (104) and the lifting plate (108), and the lifting plate (108) and the first threaded rod (106) are threadedly connected.

9. The automatic corrugated cardboard stacking system according to claim 8, characterized in that: A first suction cup group (3) is installed at the bottom of the mounting plate (101), and a distance sensor (4) is provided at the bottom of the first suction cup group (3); and a second suction cup group (6) is installed at the bottom of the lifting fork arm (507).

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