A joint palletizer

Abstract

The present invention relates to the technical field of palletizing equipment, and particularly relates to a joint palletizing machine, which includes a robotic arm; a frame connected to the robotic arm and capable of moving under the drive of the robotic arm; a material receiving mechanism capable of receiving the material bags conveyed by a conveyor belt; a pressing mechanism arranged on the frame and located above the material receiving mechanism, capable of flattening the material bags after the material receiving mechanism receives the material bags conveyed by the conveyor belt; a pushing mechanism capable of pushing out the material bags after the pressing mechanism flattens the material bags; a discharge plate arranged opposite to the pushing mechanism and hinged to the frame, capable of being opened when the pushing mechanism pushes out the material bags; and a locking mechanism capable of restricting the rotation of the discharge plate when the discharge plate is closed and capable of releasing the restriction on the rotation of the discharge plate when the pushing mechanism pushes the material bags. The present invention has the effects of being able to reduce potential safety hazards during the palletizing process of the palletizing machine and being able to reduce waste caused by damage to the material bags.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizing equipment, and particularly relates to a joint palletizing machine. Background Art

[0002] After the products are produced by an enterprise, the products need to be packaged and palletized. Since manual handling has problems such as excessive labor intensity or slow handling, palletizing machines have come into being. A palletizing machine is a device that automatically stacks the bags, cartons or other packaging materials conveyed by a conveyor into stacks according to the working mode required by the customer's process. The robotic arm of a palletizing robot consists of multiple joints and is also called a joint palletizing machine, which has made important contributions to people's production.

[0003] When the goods are conveyed from the conveyor belt, the palletizing machine palletizes the goods such as cartons and bags on pallets, pallets, etc. in a certain arrangement order, so as to perform automatic stacking and can stack multiple layers, so as to be transported to the warehouse by a forklift for storage.

[0004] In view of the above related technologies, the inventor found that when the palletizing machine stacks the bags, since the goods in the bags are not fixed, the distribution of the goods in the bags will be uneven during the palletizing process. When the stacking height is too high, it may cause the stacked materials to tilt or even collapse. On the one hand, it may cause potential safety hazards, and on the other hand, it may cause packaging damage and thus waste. Summary of the Invention

[0005] In view of this, the present invention provides a joint palletizing machine, which can reduce potential safety hazards during the palletizing process on the one hand and reduce waste caused by packaging damage on the other hand.

[0006] To solve the above technical problems, the present invention provides a joint palletizing machine, including a robotic arm; a frame connected to the robotic arm and capable of moving under the drive of the robotic arm; a material receiving mechanism provided on the frame, the material receiving mechanism being capable of receiving the bags conveyed by a conveyor belt; a pressing mechanism provided on the frame and located above the material receiving mechanism, capable of flattening the bag after the material receiving mechanism receives the bag conveyed by the conveyor belt; a pushing mechanism provided on the frame, capable of pushing out the bag after the pressing mechanism flattens the bag; a discharging plate disposed opposite to the pushing mechanism and hinged to the frame, capable of opening when the pushing mechanism pushes out the bag; a locking mechanism capable of restricting the rotation of the discharging plate when the discharging plate is closed and capable of releasing the restriction on the rotation of the discharging plate when the pushing mechanism pushes the bag.

[0007] By adopting the above technical solution, when it is necessary to stack the material bags, first, the mechanical arm moves the rack, so that the material receiving mechanism arranged on the rack moves with the rack to a position directly opposite to the conveyor belt for transporting the material bags. The material bags are transported by the conveyor belt into the interior of the material receiving mechanism. Subsequently, the extrusion mechanism is started. After the material bags completely enter the interior of the material receiving mechanism, the material bags received by the material receiving mechanism are flattened. The pusher mechanism pushes out the material bags after flattening them. Among them, when the pusher mechanism pushes out the material bags, the locking mechanism can release the restriction on the rotation of the discharge plate, and the discharge plate is rotated by the material bags. The discharge plate applies pressure to the upper part of the material bags during the process of the material bags being pushed out, reducing the possibility of uneven materials inside the material bags after being pushed out by the pusher mechanism. After the material bags are completely pushed out, the discharge plate closes, and the locking mechanism restricts the rotation of the discharge plate. Subsequently, the next material receiving process is repeated. The discharge plate supports one side wall of the material bags during the extrusion process of the material bags, reducing the probability of deformation of the material bags during the extrusion process.

[0008] Through the arrangement of the material receiving mechanism and the extrusion mechanism, the flatness of the material bags when being received can be improved. Through the arrangement of the pusher mechanism, the discharge plate and the locking mechanism, on the one hand, the discharge plate can support one side wall of the material bags during the extrusion process of the material bags, and on the other hand, during the process of the material bags being pushed out, the discharge plate can apply pressure to the upper part of the material bags, thereby improving the flatness of the material bags when being pushed out and after being pushed out, thus improving the overall flatness of the material bags after being stacked, reducing the probability of the stacked materials tilting or even collapsing, and having the effects of reducing the potential safety hazards during the material stacking process of the stacker and reducing the waste caused by the damage of the material bags.

[0009] Preferably, the material receiving mechanism includes a material receiving chamber arranged on the rack. One end of the material receiving chamber facing the conveyor belt is set as an opening. A plurality of material receiving rollers rotatably connected to the inner wall of the material receiving chamber are arranged at the bottom of the material receiving chamber. The topmost parts of the plurality of material receiving rollers are on the same horizontal plane.

[0010] By adopting the above technical solution, when it is necessary to receive the material bags, first, the mechanical arm moves the rack, so that the material receiving mechanism arranged on the rack moves with the rack to a position directly opposite to the conveyor belt for transporting the material bags. One end of the material receiving chamber on the rack is set as an opening and faces one end of the conveyor belt, enabling the material bags transported from the conveyor belt to enter the material receiving chamber. A plurality of material receiving rollers are arranged at the bottom of the material receiving chamber, and the tops of the plurality of material receiving rollers are on the same horizontal plane. The material bags can move onto the material receiving rollers and can move on the material receiving rollers. One end of the material receiving chamber being set as an opening facilitates the material receiving mechanism to receive the material bags transported by the conveyor belt. The arrangement of the plurality of material receiving rollers facilitates the material bags transported by the conveyor belt to enter the material receiving chamber, thus facilitating the subsequent work.

[0011] Preferably, the extrusion mechanism includes: a placement chamber which is arranged on the frame and above the material receiving chamber; a first linear driver fixedly installed in the placement chamber;

[0012] a pressing plate which is arranged in the material receiving chamber, and the driving rod of the first linear driver passes through the bottom wall of the placement chamber and is connected to the upper surface of the pressing plate; wherein, the pressing plate is horizontally arranged and can move vertically under the drive of the driving rod of the first linear driver so as to flatten the material bag received in the material receiving chamber.

[0013] By adopting the above technical solution, when it is necessary to extrude the material bag on the material receiving roller, first start the first linear driver horizontally arranged at the bottom of the placement chamber. The driving rod of the first linear driver passes through the bottom wall of the placement chamber and can drive the horizontally arranged pressing plate connected to the driving rod of the first linear driver to move vertically. When the driving rod of the first linear driver drives the horizontal pressing plate to move vertically downward, the pressing plate applies pressure to the upper part of the material bag so as to flatten the material bag on the material receiving roller, thereby improving the flatness of the material bag after being stacked. When the driving rod of the first linear driver drives the pressing plate to move vertically upward, the extrusion mechanism returns to the initial state to facilitate the next working process, thus reducing the safety hazard in the material stacking process of the stacker.

[0014] Preferably, the material pushing mechanism includes: a second linear driver horizontally arranged in the placement chamber; a connecting rod fixedly connected to the driving rod of the second linear driver; a push rod fixedly connected to the end of the connecting rod far from the second linear driver and capable of moving horizontally under the drive of the driving rod of the second linear driver; a push plate arranged at one end of the material receiving chamber, the push rod is fixedly connected to the side of the push plate far from the material receiving chamber, and the push plate can limit the position of the material bag when the material bag is received in the material receiving chamber, and can move horizontally under the drive of the push rod after the pressing plate flattens the material bag to push out the material bag.

[0015] By adopting the above technical solution, when it is necessary to push out the material bag on the material receiving roller, first start the second linear driver at the bottom of the placement chamber, so that the driving rod of the second linear driver drives the connecting rod connected to the driving rod of the second linear driver to move, and then the connecting rod drives the push rod connected to the connecting rod to move horizontally. Finally, the push rod can push the push plate to move horizontally. After the pressing plate flattens the material bag on the material receiving roller, the push rod pushes the push plate to push out the material bag on the material receiving roller. After the push plate pushes out the material bag on the material receiving roller, the first linear driver drives the connecting rod and the push rod to restore the push plate to the initial state, so that the push plate returns to one end of the material receiving chamber, thereby limiting the position of the material bag in the material receiving chamber. The setting of the material pushing mechanism also facilitates the subsequent work.

[0016] Preferably, the locking mechanism includes: a sliding groove formed in the inner wall of the material receiving chamber away from the opening of the material receiving chamber and in the horizontal direction; a sliding rod slidably disposed in the sliding groove and fixedly connected to the side wall of the pushing plate; a blocking rod fixedly connected to one end of the sliding rod away from the pushing plate; wherein, the blocking rod abuts against the outer side wall of the discharge plate when the discharge plate is closed, thereby restricting the rotation of the discharge plate, and can release the abutment against the outer side wall of the discharge plate when the sliding rod moves.

[0017] By adopting the above technical solution, when it is necessary to restrict the rotation of the discharge plate and release the rotation restriction, when the material receiving mechanism receives the material bag conveyed from the conveyor belt and the pressing mechanism flattens the material bag on the material receiving roller, the blocking rod abuts against the outer side wall of the discharge plate, and the discharge plate plays a limiting role on the material bag in the material receiving chamber. At the same time, the locking mechanism can restrict the rotation of the discharge plate. When the pushing mechanism pushes the material bag on the material receiving roller out, the blocking rod will move in the direction of the movement of the baffle when the pushing plate pushes the material bag out, so as to release the restriction on the rotation of the discharge plate, so that the pushing plate can push the material bag out of the material receiving chamber, thus facilitating the stacking of the material bags.

[0018] Through the arrangement of the sliding rod and the blocking rod, when the pushing plate moves horizontally, it can drive the sliding rod to move together with the baffle. When the pushing plate pushes the material bag on the material receiving roller out and returns to the initial state, the pushing plate can drive the blocking rod to restrict the rotation of the discharge plate. When the pushing plate pushes the material bag on the material receiving roller out, the baffle can drive the blocking rod to move away from the discharge plate, so as to release the restriction of the locking mechanism on the rotation of the discharge plate, thus facilitating the improvement of work efficiency.

[0019] Preferably, a limiting hole is formed in the side wall of the discharge plate close to the sliding rod, and a limiting pin is threadedly connected in the limiting hole; wherein, a plurality of the limiting holes are provided.

[0020] By adopting the above technical solution, when it is necessary to limit the opening angle of the discharge plate, after the discharge plate starts to rotate a certain angle, the side wall of the limiting pin abuts against the bottom wall of the sliding rod, so that the discharge plate cannot continue to rotate. The arrangement of a plurality of limiting holes can adjust the position of the limiting pin according to the thickness of the material bag, so as to adjust the opening angle of the discharge plate, which facilitates the pushing out of the material bag.

[0021] Since the thicknesses of the material bags conveyed by the conveyor belt are different, through the arrangement of a plurality of limiting holes and limiting pins, the appropriate limiting hole can be selected according to the material bags of different thicknesses, and the limiting pin can be installed in the corresponding limiting hole, so that the discharge plate stops rotating after rotating a certain angle, thus facilitating the pushing mechanism to push out the material bag and improving the work efficiency.

[0022] Preferably, a guiding mechanism for guiding the rotation of the discharge plate is provided on the frame.

[0023] By adopting the above technical solution, the provision of the guiding mechanism can guide the rotation of the discharge plate, thereby making the rotation of the discharge plate more stable.

[0024] Preferably, the guiding mechanism includes: a support rod fixedly connected to the outer side wall of the placement chamber away from the connecting rod, and a hinge ball fixedly connected to one end of the support rod away from the placement chamber; a connecting block ball-jointed on the hinge ball; a support seat installed on the outer side wall of the discharge plate, and a rotating rod rotatably connected to the side wall of the support seat; a guiding cylinder rotatably connected to the rotating rod; a guiding rod disposed between the guiding cylinder and the connecting block, and the guiding rod is fixedly connected to the side wall of the connecting block, and the guiding rod is slidably connected to the guiding cylinder.

[0025] By adopting the above technical solution, when the discharge plate is pushed by the material bag to rotate, the connecting block and the rotating rod can rotate with the rotation of the discharge plate, and finally the sliding rod can slide in the sliding cylinder, thereby making the rotation of the discharge plate more stable and guiding the rotation of the discharge plate.

[0026] In summary, compared with the prior art, the present application includes at least one of the following beneficial technical effects:

[0027] 1. By providing the material receiving mechanism and the squeezing mechanism, the flatness of the material bag when being received can be improved. By providing the material pushing mechanism, the discharge plate and the locking mechanism, on the one hand, the discharge plate can support one side wall of the material bag during the squeezing process of the material bag, and on the other hand, during the process of the material bag being pushed out, the discharge plate can apply pressure to the upper part of the material bag, thereby improving the flatness of the material bag when being pushed out and after being pushed out, thereby improving the overall flatness of the material bag after being stacked, reducing the probability of the stacked materials tilting or even collapsing, and having the effect of reducing the potential safety hazards during the material stacking process of the stacker and reducing the waste caused by the damage of the material bag.

[0028] 2. By providing the sliding rod and the stop rod, when the push plate moves horizontally, it can drive the sliding rod to move together with the baffle. When the push plate pushes out the material bag on the receiving roller and returns to the initial state, the push plate can drive the stop rod to limit the rotation of the discharge plate. When the push plate pushes out the material bag on the receiving roller, the baffle can drive the stop rod to move away from the discharge plate, thereby releasing the restriction of the locking mechanism on the rotation of the discharge plate, thus facilitating the improvement of work efficiency.

[0029] 3. Since the thicknesses of the material bags conveyed by the conveyor belt are different, by providing a plurality of limiting holes and limiting pins, the appropriate limiting holes can be selected according to the thickness of different material bags, and the limiting pins can be installed in the corresponding limiting holes, so that the discharge plate stops rotating after rotating a certain angle, thereby facilitating the material pushing mechanism to push out the material bag and improving work efficiency. Description of the Drawings

[0030] Figure 1 is a schematic structural diagram of an embodiment of the present application;

[0031] Figure 2 is a schematic structural diagram highlighting the extrusion mechanism and the material pushing mechanism of an embodiment of the present application;

[0032] Figure 3 is a schematic structural diagram highlighting the locking mechanism of an embodiment of the present application;

[0033] Figure 4 is a schematic structural diagram highlighting the guiding mechanism of an embodiment of the present application;

[0034] Figure 5 is a schematic structural diagram highlighting the limit pin and the limit hole of an embodiment of the present application;

[0035] Figure 6 is an embodiment of the present application Figure 5 is a partial enlarged view of A in the figure.

[0036] Explanation of reference numerals: 1. robotic arm; 2. frame; 3. material receiving mechanism; 31. material receiving chamber; 32. material receiving roller; 4. extrusion mechanism; 41. placement chamber; 42. first linear driver; 421. first U-shaped push rod; 422. first nut; 43. pressing plate; 5. material pushing mechanism; 51. second linear driver; 52. connecting rod; 521. second nut; 522 third nut; 53. push rod; 531. second U-shaped push rod; 532. fourth nut; 54. push plate; 6. discharge plate; 61. guiding roller; 62. limit hole; 63. limit pin; 7. locking mechanism; 71. sliding groove; 72. sliding rod; 73. blocking rod; 8. guiding mechanism; 81. support rod; 811. articulated ball; 82. connecting block; 83. support seat; 84. rotating rod; 85. guiding cylinder; 86. guiding rod. Detailed implementation manners

[0037] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention fall within the scope of protection of the present invention.

[0038] Refer to Figure 1, A joint palletizer, comprising a robotic arm 1 and a frame 2 connected to the robotic arm 1. A receiving mechanism 3, a pressing mechanism 4, a pushing mechanism 5, and a locking mechanism 7 are provided on the frame 2. An unloading plate 6 is hinged on the frame 2. The receiving mechanism 3 can receive the bags conveyed by the conveyor belt. The pressing mechanism 4 can flatten the bag after the receiving mechanism 3 receives the bag. The pushing mechanism 5 can push out the bag after the pressing mechanism 4 flattens the bag. The locking mechanism 7 can restrict the rotation of the unloading plate 6 when the unloading plate 6 is closed, and can release the restriction on the rotation of the unloading plate 6 when the pushing mechanism 5 pushes the bag.

[0039] Among them, the robotic arm 1 is a type of robotic arm. The connecting rods of this robotic arm 1 are connected by joints and can achieve rotational motion and linear movement, so as to be able to simulate human actions to complete work.

[0040] When it is necessary to palletize the bags conveyed by the conveyor belt, first, the robotic arm 1 drives the frame 2 to move, so that the receiving mechanism 3 moves with the frame 2 to the end facing the conveyor belt, so that the bag enters the receiving mechanism 3. Then, the pressing mechanism 4 above the receiving mechanism 3 is started, and the bag in the receiving mechanism 3 is flattened after the bag completely enters the inside of the receiving mechanism 3. After the pressing mechanism 4 flattens the bag, the pushing mechanism 5 pushes out the bag. Among them, when the pushing mechanism 5 pushes out the bag, the locking mechanism 7 can release the restriction on the rotation of the unloading plate 6, and the bag pushes the unloading plate 6 to rotate. The unloading plate 6 applies pressure to the upper part of the bag during the process of the bag being pushed out, reducing the possibility of uneven materials inside the bag after the bag is pushed out by the pushing mechanism 5. After the bag is completely pushed out, the unloading plate 6 closes, and the locking mechanism 7 restricts the rotation of the unloading plate. Subsequently, the next receiving process is repeated. The unloading plate supports one side wall of the bag during the process of the bag being pressed, reducing the probability of the bag deforming during the pressing process.

[0041] Refer to Figure 1 and Figure 2 , The receiving mechanism 3 includes a receiving chamber 31 provided on the frame 2. One end of the receiving chamber 31 is set as an opening and faces the end of the conveyor belt. A plurality of receiving rollers 32 located at the bottom of the receiving chamber 31 are rotatably connected to the two inner walls of the receiving chamber 31 near the opening of the receiving chamber 31. Among them, the tops of the plurality of receiving rollers 32 are located on the same horizontal plane.

[0042] When a material bag needs to be received, first, the mechanical arm 1 moves the rack 2, so that the material receiving mechanism 3 arranged on the rack 2 moves to the position of the conveyor belt for transporting the material bag along with the rack 2. One end of the material receiving chamber 31 on the rack 2 is set to be open and faces one end of the conveyor belt, so that the material bag conveyed from the conveyor belt enters the material receiving chamber 31. A plurality of material receiving rollers 32 are arranged at the bottom of the material receiving chamber 31, and the tops of the plurality of material receiving rollers 32 are on the same horizontal plane. The material bag can move onto the material receiving rollers 32 and can move on the material receiving rollers 32. One end of the material receiving chamber 31 is set to be open to facilitate the material receiving mechanism 3 to receive the material bag conveyed from the conveyor belt. The arrangement of the plurality of material receiving rollers 32 facilitates the material bag conveyed from the conveyor belt to enter the material receiving chamber 31, thus facilitating the subsequent work.

[0043] Refer to Figure 1 and Figure 2 As shown in FIGS. and, the pressing mechanism 4 includes a placement chamber 41 arranged on the rack 2, and the placement chamber 41 is located above the material receiving chamber 31. A first linear driver 42 is fixedly installed on the bottom wall of the placement chamber 41. One end of the driving rod of the first linear driver 42 away from the first linear driver 42 is threadedly connected with a first U-shaped pushing rod 421, and the driving rod of the first linear driver 42 passes through the bottom wall of the material receiving chamber 31. Both ends of the first U-shaped pushing rod 421 are fixedly connected with a horizontally arranged pressing plate 43.

[0044] Wherein, one end of the driving rod of the first linear driver 42 away from the first linear driver 42 is set as a threaded end, and a first nut 422 that can fasten the first U-shaped pushing rod 421 to the driving rod of the first linear driver 42 is threadedly connected to one end of the driving rod of the first linear driver 42 away from the first linear driver 42.

[0045] When it is necessary to press the material bag on the material receiving rollers 32, first, start the first linear driver 42 on the bottom wall of the placement chamber 41. Then, the driving rod of the first linear driver 42 drives the first U-shaped pushing rod 421 to move in the vertical direction. Then, the first U-shaped pushing rod 421 drives the pressing plate 43 to move in the vertical direction. When the pressing plate 43 moves vertically downward, it can flatten the material bag on the material receiving rollers 32. After the material bag on the material receiving rollers 32 is flattened by the pressing plate 43, the driving rod of the first linear driver 42 drives the first U-shaped pushing rod 421 to move vertically upward, and the first U-shaped pushing rod 421 drives the pressing plate 43 to move vertically upward to return to the initial state, so as to facilitate the smooth progress of the subsequent work. The flattening of the material bag is beneficial to the stacking of the material bags, thus reducing the safety hazard.

[0046] Refer to Figure 1 and Figure 2, the pusher mechanism 5 includes a second linear driver 51 horizontally arranged in the placement chamber 41, and the second linear driver 51 is fixedly installed on the bottom wall of the placement chamber 41. The driving rod of the second linear driver 51 is threadedly connected with a connecting rod 52, and one end of the connecting rod 52 away from the second linear driver 51 is threadedly connected with a push rod 53. One end of the push rod 53 away from the connecting rod 52 is threadedly connected with a second U-shaped push rod 531, and both ends of the second U-shaped push rod 531 are fixedly connected with a push plate 54 arranged at one end of the receiving chamber 31.

[0047] Among them, the end of the driving rod of the second linear driver 51 away from the second linear driver 51 is set as a threaded end. A second nut 521 that can fasten the connecting rod 52 and the driving rod of the second linear driver 51 is threadedly connected to the end of the driving rod of the second linear driver 51 away from the second linear driver 51. Both ends of the push rod 53 are set as threaded ends. A third nut 522 that can fasten the connecting rod 52 and the push rod 53 is threadedly connected to one end of the push rod 53 away from the push plate 54. A fourth nut 532 that can fasten the push rod 53 and the second U-shaped push rod 531 is threadedly connected to one end of the push rod 53 close to the push plate 54.

[0048] When it is necessary to push out the material bag on the receiving roller 32, first start the second linear driver 51 located at the bottom of the placement chamber 41, so that the driving rod of the second linear driver 51 drives the connecting rod 52 connected to it to move together. Then the connecting rod 52 drives the push rod 53 and the second U-shaped push rod 531 to move together, thereby driving the push plate 54 to move horizontally together. When the push plate 54 is in the initial state, it can play a limiting role for the material bag when the receiving chamber 31 receives the material bag. When the push plate 54 moves, it can push out the material bag in the receiving chamber 31, thus facilitating the stacking of the material bags and improving the work efficiency.

[0049] Refer to Figure 1 and Figure 3 , the locking mechanism 7 includes a sliding groove 71 opened on the inner wall of the receiving chamber 31 away from the opening of the receiving chamber 31. A sliding rod 72 fixedly connected to the side wall of the push plate 54 is slidably connected in the sliding groove 71, and a stop rod 73 is fixedly connected to one end of the sliding rod 72 away from the push plate 54.

[0050] When it is necessary to limit and release the rotation of the discharge plate 6, when the push plate 54 pushes out the material bag on the receiving roller 32, the sliding rod 72 fixedly connected to the side wall of the push plate 54 can move together with the push plate 54, thereby driving the stop rod 73 fixedly connected to the sliding rod 72 to move together. The sliding rod 72 and the stop rod 73 move together to release the abutment of the stop rod 73 against the discharge plate 6, so that the discharge plate 6 can rotate to facilitate the push plate 54 to push out the material bag. When the push plate 54 returns to its original position, the stop rod 73 abuts against the outer side wall of the discharge plate 6, thereby restricting the rotation of the discharge plate 6. On the one hand, it ensures the progress of the stacking work, and on the other hand, it improves the work efficiency.

[0051] Refer to Figure 1 , a guiding mechanism 8 for guiding the rotation of the discharge plate 6 is provided on the frame 2.

[0052] Refer to Figure 1 and Figure 4 , the guiding mechanism 8 includes a support rod 81 fixedly connected to the outer side wall of the placing chamber 41 away from the connecting rod 52. One end of the support rod 81 away from the placing chamber 41 is fixedly connected with a hinge ball 811. The hinge ball 811 is ball-jointed with a connecting block 82. A support seat 83 is fixedly installed on the outer side wall of the discharge plate 6. A rotating rod 84 is rotatably connected to the side wall of the support seat 83. One end of the rotating rod 84 away from the support seat 83 is rotatably connected with a guiding cylinder 85. A guiding rod 86 is arranged between the guiding cylinder 85 and the connecting block 82. One end of the guiding rod 86 is fixedly connected to the side wall of the connecting block 82. The end of the guiding rod 86 away from the connecting block 82 is slidably connected to the guiding cylinder 85. A guiding roller 61 is rotatably connected to the bottom of the discharge plate 6.

[0053] When it is necessary to guide the rotation of the discharge plate 6, when the discharge plate 6 rotates, the connecting block 82 and the rotating rod 84 can rotate, and the guiding rod 86 slides in the guiding cylinder 85, so that the rotation of the discharge plate 6 can be more stable. The setting of the guiding mechanism 8 and the guiding roller 61 can play a guiding role in the rotation of the discharge plate 6.

[0054] Refer to Figure 5 , a limiting hole 62 is formed in the side wall of the discharge plate 6 close to the sliding rod 72. A limiting pin 63 is threadedly connected in the limiting hole. Among them, a plurality of limiting holes 62 are provided.

[0055] When it is necessary to limit the opening angle of the discharge plate 6, first install the limiting pin 63 into a suitable limiting hole 62 according to the thickness of the material bag. When the discharge plate 6 is opened, the setting of the limiting pin 63 can make the side wall of the limiting pin 63 abut against the bottom wall of the sliding rod 72 after the discharge plate 6 is opened at a certain angle, so as to limit the rotation of the discharge plate 6 and facilitate the pushing out of the material bag.

[0056] The implementation principle of an articulated palletizer in an embodiment of this application is as follows: First, control the movement of the robotic arm 1 so that the opening end of the receiving chamber 31 faces one end of the conveyor belt. The material bag on the conveyor belt enters the receiving roller 32 at the bottom of the receiving chamber 31. Then, start the first linear driver 42. The driving rod of the first linear driver 42 drives the first U-shaped push rod 421 to push the pressing plate 43 downward, thereby flattening the material bag on the receiving roller 32. After the pressing plate 43 flattens the material bag on the receiving roller 32, the first linear driver 42 drives the first U-shaped push rod 421 and the pressing plate 43 to move upward to return to the initial state. Then, start the second linear driver 51. The driving rod of the second linear driver 51 drives the connecting rod 52 and the push rod 53 to move together, thereby driving the push plate 54 to move. The push plate 54 pushes the material bag on the receiving roller 32 to push out the material bag. The discharge plate 6 opens as the push plate 54 pushes. Then, the connecting block 82 rotates, and the guide rod 86 slides in the guide cylinder 85 to guide the rotation of the discharge plate 6. The guide roller 61 at the bottom of the discharge plate 6 also guides the rotation of the discharge plate 6. Install the limit pin 63 into the appropriate limit hole 62 according to the thickness of the material bag. When the discharge plate 6 opens, after the discharge plate 6 opens a certain angle, the side wall of the limit pin 63 abuts against the bottom wall of the slide rod 72, thereby restricting the opening angle of the discharge plate 6. After pushing out the material bag on the receiving roller 32, the discharge plate 6 falls by its own gravity. At the same time, the push plate 54 drives the slide rod 72 and the stop rod 73 to move. When the stop rod 73 abuts against the outer side wall of the discharge plate 6, the rotation of the discharge plate 6 is restricted. Subsequently, repeat the above process to complete the palletizing of the material bags.

[0057] In addition, it should be noted that in the description of the present invention, unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0058] The above is the preferred implementation manner of the present invention. It should be pointed out that for those of ordinary skill in the art of this technology, without departing from the principle described in the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A joint palletizer, comprising a robotic arm (1), characterized in that, Further included are: A frame (2), connected to the robotic arm (1) and capable of moving under the drive of the robotic arm (1); A material receiving mechanism (3), which is arranged on the frame (2), and the material receiving mechanism (3) can receive the material bags conveyed by the conveyor belt; the material receiving mechanism (3) includes a material receiving chamber (31) arranged on the frame (2), the material receiving chamber (31) faces one end of the conveyor belt and is arranged to be open, and a plurality of material receiving rollers (32) rotatably connected to the inner wall of the material receiving chamber (31) are arranged at the bottom of the material receiving chamber (31), and the topmost parts of the plurality of material receiving rollers (32) are on the same horizontal plane; An extrusion mechanism (4), arranged on the frame (2) and located above the material receiving mechanism (3), capable of flattening the material bag after the material receiving mechanism (3) receives the material bag conveyed by the conveyor belt; The extrusion mechanism (4) includes: a placement chamber (41), which is arranged on the frame (2) and located above the material receiving chamber (31); a first linear driver (42), the first linear driver (42) is fixedly installed in the placement chamber (41); a pressing plate (43), which is arranged in the material receiving chamber (31), and the driving rod of the first linear driver (42) passes through the bottom wall of the placement chamber (41) and is connected to the upper surface of the pressing plate (43); wherein, the pressing plate (43) is horizontally arranged and can move in the vertical direction under the drive of the driving rod of the first linear driver (42) so as to flatten the material bag received in the material receiving chamber (31); A material pushing mechanism (5), arranged on the frame (2), capable of pushing out the material bag after the extrusion mechanism (4) flattens the material bag; the material pushing mechanism (5) includes: a second linear driver (51), which is horizontally arranged in the placement chamber (41); a connecting rod (52), detachably connected to the driving rod of the second linear driver (51); a push rod (53), detachably connected to one end of the connecting rod (52) away from the second linear driver (51), capable of moving in the horizontal direction under the drive of the driving rod of the second linear driver (51); a push plate (54), which is arranged at one end of the material receiving chamber (31), the push rod (53) is fixedly connected to the side of the push plate (54) away from the material receiving chamber (31), the push plate (54) can limit the material bag when the material bag is received in the material receiving chamber (31), and can move in the horizontal direction under the drive of the push rod (53) after the pressing plate (43) flattens the material bag, and push out the material bag; A discharge plate (6), which is arranged opposite to the material pushing mechanism (5) and is hinged to the frame (2), and can be opened when the material pushing mechanism (5) pushes out the material bag; A locking mechanism (7), the locking mechanism (7) can limit the rotation of the discharge plate (6) when the discharge plate (6) is closed, and can release the restriction on the rotation of the discharge plate (6) when the material pushing mechanism (5) pushes the material bag.

2. The articulated palletizer according to claim 1, characterized in that, The locking mechanism (7) includes: A sliding groove (71), which is opened on the inner wall of the material receiving chamber (31) away from the opening of the material receiving chamber (31) and is in the horizontal direction; The sliding rod (72) is slidably arranged in the sliding groove (71) and fixedly connected to the side wall of the push plate (54); The stop rod (73) is fixedly connected to one end of the sliding rod (72) away from the push plate (54); Wherein, the stop rod (73) abuts against the outer side wall of the discharge plate (6) when the discharge plate (6) is closed, so as to limit the rotation of the discharge plate (6), and can release the abutment against the outer side wall of the discharge plate (6) when the sliding rod (72) moves.

3. The articulated palletizer according to claim 2, wherein: A limiting hole (62) is formed in the side wall of the discharge plate (6) close to the sliding rod (72), and a limiting pin (63) is threadedly connected in the limiting hole (62); Wherein, a plurality of the limiting holes (62) are provided.

4. The articulated palletizer according to claim 1, characterized in that: A guiding mechanism (8) for guiding the rotation of the discharge plate (6) is arranged on the frame (2).

5. The articulated palletizer according to claim 4, wherein The guiding mechanism (8) includes: The support rod (81) is fixedly connected to the outer side wall of the placement chamber (41) away from the connecting rod (52), and a hinge ball (811) is fixedly connected to one end of the support rod (81) away from the placement chamber (41); The connecting block (82) is ball-jointed on the hinge ball (811); The support seat (83) is installed on the outer side wall of the discharge plate (6), and a rotating rod (84) is rotatably connected to the side wall of the support seat (83); The guiding cylinder (85) is rotatably connected to the rotating rod (84); The guiding rod (86) is arranged between the guiding cylinder (85) and the connecting block (82), and the guiding rod (86) is fixedly connected to the side wall of the connecting block (82), and the guiding rod (86) is slidably connected to the guiding cylinder (85).

Images