Automatic stacking device for corrugated cardboard

Abstract

The present application relates to packing equipment technical field, especially to a kind of corrugated paper automatic stacking device, including mechanical arm, and the end of mechanical arm is provided with grabbing mechanism, and left clamping plate, right clamping plate and displacement mechanism are set on grabbing mechanism, and lead screw that moves left clamping plate is set on rack, and the end of right clamping plate away from mechanical arm is provided with moving plate, and inflatable cushion for carrying corrugated paper is set in right clamping plate, and pulley that can be received into right clamping plate is set on inflatable plate, and the side of right clamping plate away from left clamping plate is provided with air pump communicated with inflatable cushion, and push mechanism is set in right clamping plate, and through slot that is used in conjunction with push mechanism is set on right clamping plate, solve the gap between adjacent corrugated paper due to the thickness of clamping plate when existing corrugated paper is stacked, in turn, cause corrugated paper to shift when packing film is wound, affect its stacking stability technical problem, the present application has good use in corrugated paper processing factory.

Description

Technical Field

[0001] This invention belongs to the field of packaging equipment technology, and particularly relates to an automatic palletizing device for corrugated cardboard. Background Technology

[0002] After being packaged on the production line, corrugated paper is typically moved using a robotic arm and a gripping mechanism. A pallet is placed next to the production line to support the packaged corrugated paper. The gripping mechanism moves the corrugated paper above and close to the pallet, releasing the left and right clamps that hold it, allowing the paper to fall into its designated position. Each layer contains four stacks of corrugated paper arranged in a U-shape. Due to the thickness of the left and right clamps, the paper cannot be placed without gaps. Because of the gaps between adjacent pieces, wrapping is required after stacking. The wrapping film can cause the corrugated paper to shift, affecting the stability of the stacked pallets. Summary of the Invention

[0003] In order to overcome the defects of the prior art, the present invention provides an automatic stacking device for corrugated cardboard, which solves the problem that gaps exist between adjacent corrugated cardboard during stacking due to the thickness of the clamping plate, which causes the corrugated cardboard to shift when the packing film is wrapped, affecting its stacking stability.

[0004] The technical solution is an automatic palletizing device for corrugated cardboard, including a robotic arm. A gripping mechanism is located at the end of the robotic arm. The gripping mechanism includes a frame, on which are mounted a left and a right clamping plate that can move closer to or further away from each other. A displacement mechanism for controlling the movement of the left clamping plate is also mounted on the frame. A lead screw is mounted on the frame, and a slider cooperating with the lead screw is mounted on the frame of the displacement mechanism. A first motor for driving the lead screw to rotate is mounted on the frame, forming a structure where the rotation of the lead screw drives the slider and the left clamping plate to move. A movable plate is located at the end of the right clamping plate away from the robotic arm. An extendable airbag for supporting corrugated paper is located inside the right clamping plate. The airbag is glued to the movable plate, and a pulley that can be stored inside the right clamping plate is mounted on the airbag. The pulleys are multiple and arranged in an array. A material box for placing the pulleys is provided inside the right clamping plate. A sealing plate is provided on the moving plate. A roller is rotatably connected to the end of the sealing plate away from the moving plate. A base is provided on each pulley. Each base is connected by a rope. An air pump communicating with an airbag is provided on the side of the right clamping plate away from the left clamping plate. A pushing mechanism is provided inside the right clamping plate. The pushing mechanism includes a push rod motor electrically connected to the robotic arm. A rubber pad is sleeved on the output shaft of the push rod motor. A through groove is provided on the right clamping plate to cooperate with the rubber pad. This forms a structure in which the gripping mechanism moves the packaged corrugated paper to a set position. After the airbag is inflated, the output shaft of the push rod motor pushes the corrugated paper to the edge of the adjacent corrugated paper.

[0005] Preferably, the sealing plate structure has the same outline as the pulley, and there are multiple sealing plates that are evenly spaced along the length of the moving plate.

[0006] Preferably, there are multiple material boxes that are evenly spaced along the length of the right clamping plate, and each of the pulleys is arranged sequentially along the height of the material box. A through hole is provided in the middle of the base, and a rope is installed in the through hole. One end of the rope is connected to the sealing plate, and the other end is connected to a take-up reel.

[0007] Preferably, each of the through holes is fixed with a retaining ring, and the radius of each retaining ring increases sequentially along the direction away from the moving plate from the base. The rope is provided with a retaining bead that cooperates with the retaining ring. There are multiple retaining beads that are evenly spaced along the length of the rope, forming a structure in which the base moves with the moving plate after the rope moves with the moving plate, and each base moves with the moving plate in cooperation with the retaining ring inside the base and the retaining beads on the rope, and is arranged on the airbag cushion at a set interval.

[0008] Preferably, a support frame is provided inside the right clamping plate. The support frame is rotatably connected to a rotating shaft via a spring mechanism. The rotating shaft is located near the material box, and a take-up reel for storing the rope is engaged on the rotating shaft. There are multiple take-up reels, each corresponding to a rope, forming a structure in which the rope is stored on the take-up reel by the rotating shaft driven by the spring mechanism when it is not under stress.

[0009] Preferably, a slot is provided on one side of the pulley, and an iron block is placed in the slot. A belt mechanism is provided in the right clamping plate near the material box. The belt mechanism includes a drive wheel and a belt. A second hub motor is provided in the drive wheel and is electrically connected to the robotic arm. A magnet is provided on the belt to cooperate with the iron block. A long groove is provided on the material box to cooperate with the magnet, forming a structure in which the magnet attracts the iron block on the pulley by magnetic force under the drive of the belt mechanism, and drives the pulley to move.

[0010] Preferably, the material box is provided with a storage box on both sides. A vertical shaft is rotatably connected to the middle position of the storage box via a spring mechanism. A limiting band with one end connected to the sealing plate is wound on the vertical shaft. The limiting band includes multiple limiting strips, which are sequentially hinged together at their ends to form a structure in which the limiting band is fixed to both sides of each pulley after it moves out of the storage box along with the sealing plate, thus preventing the pulleys from shifting to the side.

[0011] Preferably, the right clamp is provided with an air seat for connecting the airbag cushion. The air seat is connected to the air pump through an air pipe. An elastic net connected to the moving plate is provided on the air seat. The elastic net has a "U" shaped structure and covers the outer wall of the airbag cushion. An elastic rope is also provided between the air seat and the moving plate. Multiple elastic ropes are provided and evenly distributed on the outer wall of the airbag cushion.

[0012] The beneficial effect of the present invention is that a left clamping plate that can move up and down is provided on the gripping mechanism, and an airbag cushion for carrying corrugated paper is provided in the right clamping plate. The airbag cushion is provided with pulleys that follow the movement of the airbag cushion. In conjunction with the pushing mechanism on the right clamping plate, it is ensured that after the gripping mechanism moves the corrugated paper to the top of the stacked corrugated paper, the airbag cushion is inflated and moves up the left clamping plate. The pushing mechanism moves the packaged corrugated paper to the set position, and the airbag cushion retracts back into the right clamping plate.

[0013] A lead screw is installed vertically on the frame. The left clamping plate is moved by a slider that is connected to the displacement mechanism and works in cooperation with the lead screw, and under the action of the first motor.

[0014] An extendable and retractable airbag is installed inside the right clamp, and a material box for placing pulleys is also installed inside the right clamp. The pulleys are powered by the tension of a rope. One end of the rope is connected to the moving plate and the other end is connected to a reel that can automatically reset. This ensures that when the airbag pushes the moving plate, the pulley moves out of the right clamp along with the airbag, greatly reducing friction when the packaged corrugated paper is pushed.

[0015] The base has an inner retaining ring and a bead on the rope. The retaining ring and the bead diameter are designed to facilitate the pulley and base moving out of the right clamp with the rope. The limiting belt works in conjunction with the rope to position the base and pulley. When the rope is being stored, the limiting belt and belt mechanism work together to store the pulley under the push of the moving plate. Attached Figure Description

[0016] Figure 1 This is a structural diagram of an automatic palletizing device for corrugated cardboard according to the present invention;

[0017] Figure 2 This is an enlarged view of section A of the structural diagram of an automatic palletizing device for corrugated cardboard according to the present invention;

[0018] Figure 3 This is a structural diagram of the right clamp of an automatic palletizing device for corrugated cardboard according to the present invention;

[0019] Figure 4 This is an enlarged view of section B of the right clamping plate structure diagram of the automatic palletizing device for corrugated cardboard according to the present invention;

[0020] Figure 5 This is a structural diagram of the pulley of an automatic palletizing device for corrugated cardboard according to the present invention;

[0021] Figure 6 This is a structural diagram of the right clamp plate in use of an automatic palletizing device for corrugated cardboard according to the present invention.

[0022] The components include: 1. gripping mechanism; 2. frame; 3. left clamping plate; 4. right clamping plate; 5. displacement mechanism; 6. lead screw; 7. slider; 8. first motor; 9. moving plate; 10. airbag cushion; 11. pulley; 12. material box; 13. sealing plate; 14. base; 15. rope; 16. air pump; 17. push rod motor; 18. rubber pad; 19. through groove; 20. through hole; 21. take-up reel; 22. retaining ring; 23. retaining bead; 24. support frame; 25. rotating shaft; 26. slot; 27. iron block; 28. drive wheel; 29. ​​belt; 30. magnet; 31. storage box; 32. limit belt; 33. elastic rope; 34. elastic net; and 35. long groove. Detailed Implementation

[0023] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0024] Example 1: As shown in the accompanying drawings, an automatic palletizing device for corrugated cardboard includes a robotic arm with a gripping mechanism 1 at its end. The gripping mechanism 1 includes a frame 2, on which a left clamping plate 3 and a right clamping plate 4 are mounted, which can move closer to or further away from each other. A displacement mechanism 5 for controlling the movement of the left clamping plate 3 and the right clamping plate 4 is also mounted on the frame 2. All of the above are prior art. Two lead screws 6 are bolted vertically to the frame 2. One end of the lead screw 6 near the frame 2 is bolted to the frame 2 via a U-shaped buckle, and the other end is bolted to the frame 2 via a diagonal bar. A slider 7, which works with the lead screw 6, is bolted to the frame of the displacement mechanism 5. One end of the lead screw 6 is connected to a short shaft via a coupling. A first motor 8 for driving the lead screw 6 to rotate is mounted on the frame 2. The output shaft of the first motor 8 and the short shaft are driven by gears, forming a structure where the rotation of the lead screw 6 drives the slider 7 and the left clamping plate 3 to move. The right clamping plate 4 has a hollow structure. A rectangular opening is located at the end of the right clamping plate 4 furthest from the robotic arm. A movable plate 9, with the same length as the right clamping plate 4, is housed within the rectangular opening. An extendable airbag 10, designed to support corrugated paper, is located inside the right clamping plate 4. The airbag 10 is existing technology and is glued to the movable plate 9. Multiple pulleys 11, arranged in an array, are mounted on the airbag 10 and can be stored within the right clamping plate 4. A material box 12 for holding the pulleys 11 is located inside the right clamping plate 4. The material box 12 is connected to the inner wall of the right clamping plate 4 by screws via support legs. The number of material boxes 12 is equal to the number of rows of pulleys 11. A sealing plate 13 is fixed to the movable plate 9 by screws. A roller is rotatably connected to the end of the sealing plate 13 furthest from the movable plate 9. The sealing plate 13 has the same structure and contour as the pulleys 11. Multiple sealing plates 13 are evenly spaced along the length of the movable plate 9. A base 14 is screwed onto the pulley 11. The base 14 has a rectangular block structure, and the bases 14 are connected by ropes 15. The pulley 11 has grooves that cooperate with the ropes 15. An air pump 16 connected to the airbag cushion 10 is provided on the side of the right clamping plate 4 away from the left clamping plate 3. An air seat for connecting the airbag cushion 10 is screwed into the right clamping plate 4. The air seat is prior art. The air seat is connected to the air pump 16 through an air tube. An elastic net 34 connected to the moving plate 9 is screwed onto the air seat. The elastic net 34 has a "U" shape and covers the outer wall of the airbag cushion 10. An elastic rope 33 is also fixed between the air seat and the moving plate 9 by screws. Multiple elastic ropes 33 are provided and evenly distributed on the outer wall of the airbag cushion 10. The right clamping plate 4 is equipped with a pushing mechanism, which includes a push rod motor 17 electrically connected to the robotic arm. A rubber pad 18 is fitted on the output shaft of the push rod motor 17. The right clamping plate 4 is equipped with a through groove 19 that works with the rubber pad 18. This forms a structure in which the gripping mechanism 1 moves the packaged corrugated paper to a set position. After the airbag 10 is inflated, the output shaft of the push rod motor 17 pushes the corrugated paper to the edge of the adjacent corrugated paper.

[0025] In one embodiment, as shown in the accompanying drawings, the material bins 12 are evenly spaced along the length of the right clamping plate 4, and the pulleys 11 are sequentially arranged along the height of the material bins 12. A through hole 20 is provided in the middle of the base 14. The through hole 20 has a circular cross-section, and a rope 15 is installed inside the through hole 20. One end of the rope 15 is connected to the sealing plate 13, and the other end is connected to a take-up reel 21. A retaining ring 22 is fixed inside each through hole 20. The radius of each retaining ring 22 increases sequentially along the direction away from the moving plate 9 from the base 14. Multiple retaining beads 23 are glued to the rope 15 to cooperate with the retaining rings 22. These retaining beads 23 are evenly spaced along the length of the rope 15, forming a structure where, after the rope 15 moves with the moving plate 9, each base 14 moves with the moving plate 9 under the cooperation of the retaining rings 22 inside the rope 15 and the retaining beads 23 on the rope 15, and are arranged on the airbag cushion 10 at a set interval. Two support frames 24 are fixed with screws inside the right clamping plate 4 and are symmetrically arranged about the center line of the right clamping plate 4. The support frame 24 is rotatably connected to the rotating shaft 25 via a spring mechanism. The rotating shaft 25 is located near the material box 12. A take-up reel 21 for storing the rope 15 is snapped onto the rotating shaft 25. The take-up reel 21 is existing technology. There are multiple take-up reels 21, and each one corresponds to a rope 15. This forms a structure in which the rope 15 is stored on the take-up reel 21 by rotating the rotating shaft 25 under no stress, driven by the spring mechanism.

[0026] In one embodiment, as shown in the accompanying drawings, a slot 26 is provided on one side of the pulley 11. The slot 26 has a rectangular structure, and an iron block 27 is glued into the slot 26. A belt 29 mechanism is provided in the right clamping plate 4 near the material box 12. The belt 29 mechanism includes a drive wheel 28, a belt 29, and a support body. The support body is bolted to the inner wall of the right clamping plate. A hub motor is provided in the drive wheel 28 and is electrically connected to the robotic arm. A magnet 30 that cooperates with the iron block 27 is glued onto the belt 29. The material box 12 has a long groove 35 recessed inside it that cooperates with the magnet 30. This forms a structure in which the magnet 30, driven by the belt 29 mechanism, attracts the iron block 27 on the pulley 11 by magnetic force and drives the pulley 11 to move.

[0027] In one embodiment, as shown in the accompanying drawings, a storage box 31 is screwed to both sides of the material box 12. A vertical shaft is rotatably connected to the middle position of the storage box 31 via a spring mechanism. A limiting band 32, with one end connected to the sealing plate 13, is wound around the vertical shaft. The limiting band 32 includes multiple limiting strips, which are sequentially hinged together at their ends, forming a structure in which the limiting band 32 is fixed to both sides of each pulley 11 after moving out of the storage box 31 along with the sealing plate 13, preventing the pulley 11 from shifting laterally.

[0028] This invention features a left clamping plate that can move vertically on the gripping mechanism, and an airbag cushion for supporting corrugated paper housed within the right clamping plate. The airbag cushion has pulleys that move with it. In conjunction with a pushing mechanism on the right clamping plate, the gripping mechanism moves the corrugated paper above a stack of corrugated paper. At this point, the airbag cushion inflates and moves the left clamping plate upwards. The pushing mechanism then moves the packaged corrugated paper to a set position, and the airbag cushion retracts into the right clamping plate. A lead screw is vertically mounted on the frame. A slider connected to and cooperating with the lead screw, along with a first motor, ensures the movement of the left clamping plate. The right clamping plate houses an extendable and retractable airbag cushion. Furthermore, a material box for placing pulleys is set inside the right clamping plate. The pulleys are powered by the tension of the rope. One end of the rope is connected to the moving plate, and the other end is connected to the automatically resetting take-up reel. This ensures that when the airbag pushes the moving plate, the pulleys follow the movement of the airbag and move out of the right clamping plate, greatly reducing friction when the packaged corrugated paper is pushed. The setting of the retaining ring inside the base and the retaining bead on the rope, and the setting of the retaining ring and the inner diameter of the retaining bead and the diameter of the retaining bead, facilitate the movement of the pulleys and the base out of the right clamping plate with the rope. The use of the limiting belt and the rope to cooperate in positioning the base and the pulleys, and when the rope is stored, the pulleys are stored in conjunction with the limiting belt and belt mechanism under the push of the moving plate.

[0029] The present invention has been described in detail above through specific embodiments and examples, but these are not intended to limit the invention. Many modifications and improvements can be made by those skilled in the art without departing from the principles of the invention, and these should also be considered within the scope of protection of the present invention.

Claims

1. An automatic palletizing device of corrugated board, comprising a robot arm, the end of which is provided with a gripping mechanism (1), characterized in that, The grabbing mechanism (1) comprises a rack (2), the rack (2) is provided with a left clamping plate (3) and a right clamping plate (4) which can approach or move away from each other, the rack (2) is further provided with a displacement mechanism (5) for controlling the movement of the left clamping plate (3), the rack (2) is provided with a lead screw (6), the rack body of the displacement mechanism (5) is provided with a sliding block (7) matched with the lead screw (6), the rack (2) is provided with a first motor (8) for driving the lead screw (6) to rotate, forming a structure that the lead screw (6) rotates, drives the sliding block (7) and the left clamping plate (3) to move, the right clamping plate (4) is provided with a moving plate (9) at the end away from the mechanical arm, the right clamping plate (4) is provided with an air bag pad (10) which can be extended and used for carrying corrugated paper, the air bag pad (10) is glued with the moving plate (9), the air bag pad (10) is provided with a pulley (11) which can be accommodated in the right clamping plate (4), the pulley (11) is arranged in an array, the right clamping plate (4) is provided with a material box (12) for placing the pulley (11), the moving plate (9) is provided with a sealing plate (13), the sealing plate (13) is rotatably connected with a roller at the end away from the moving plate (9), the pulley (11) is provided with a base (14), each base (14) is connected by a rope (15), the right clamping plate (4) is provided with an air pump (16) communicated with the air bag pad (10) at the side away from the left clamping plate (3), the right clamping plate (4) is provided with a pushing mechanism, the pushing mechanism comprises a push rod motor (17) electrically connected with the mechanical arm, a rubber pad (18) is sleeved on the output shaft of the push rod motor (17), the right clamping plate (4) is provided with a through groove (19) matched with the rubber pad (18), forming a structure that the grabbing mechanism (1) drives the packaged corrugated paper to move to the designated position, after the air bag pad (10) is inflated, the output shaft of the push rod motor (17) pushes the corrugated paper to move to the position adjacent to the edge of the corrugated paper.

2. The automatic stacking device for corrugated board according to claim 1, characterized in that, The sealing plate (13) has the same outline as the pulley (11), and the sealing plate (13) is arranged uniformly along the length direction of the moving plate (9).

3. The automatic stacking device for corrugated board according to claim 1, characterized in that, The material box (12) is arranged uniformly along the length direction of the right clamping plate (4), and each pulley (11) is arranged in sequence along the height direction of the material box (12), the base (14) is provided with a through hole (20) at the middle position, the through hole (20) is provided with a rope (15), one end of the rope (15) is connected with the sealing plate (13), and the other end is connected with a take-up reel (21).

4. The automatic stacking device for corrugated board according to claim 3, characterized in that, Each of the through holes (20) is fixed with a snap ring (22), the radius of each of the snap rings (22) increases in sequence along the direction away from the base (14) of the moving plate (9), the rope (15) is provided with snap beads (23) matched with the snap rings (22), the snap beads (23) are multiple and are uniformly arranged along the length direction of the rope (15), and the base (14) moves along with the moving plate (9) under the cooperation of the snap ring (22) in the base (14) and the snap bead (23) on the rope (15), and the base (14) is arranged on the air bag cushion (10) at a set interval.

5. The automatic stacking device for corrugated board according to claim 3, characterized in that, The right clamping plate (4) is provided with a support frame (24), the support frame (24) is rotatably connected with a rotating shaft (25) through a clockwork mechanism, the rotating shaft (25) is arranged close to the material box (12), the rotating shaft (25) is clamped with a take-up reel (21) for accommodating the rope (15), the take-up reel (21) is multiple and is arranged one-to-one with the rope (15), and the rope (15) is accommodated on the take-up reel (21) under the driving of the clockwork mechanism in a force-free state.

6. The automatic stacking device for corrugated board according to claim 1, characterized in that, One side of the pulley (11) is provided with a clamping groove (26), the clamping groove (26) is provided with an iron block (27), the right clamping plate (4) is provided with a belt (29) mechanism at a position close to the material box (12), the belt (29) mechanism comprises a driving wheel (28) and a belt (29), the driving wheel (28) is provided with a second hub motor, the second hub motor is electrically connected with the mechanical arm, the belt (29) is provided with a magnet (30) matched with the iron block (27), the material box (12) is provided with a long groove (35) matched with the magnet (30), and the magnet (30) is driven to move the iron block (27) on the pulley (11) and drive the pulley (11) to move under the driving of the belt (29) mechanism.

7. The automatic stacking device for corrugated board according to claim 1, characterized in that, The material box (12) is provided with an accommodation box (31) on both sides, a vertical shaft is rotatably connected to the middle position of the accommodation box (31) through a clockwork mechanism, a limiting belt (32) having one end connected to the sealing plate (13) is wound on the vertical shaft, the limiting belt (32) comprises a limiting strip, the limiting strip is multiple and is connected in sequence, and the limiting belt (32) is fixed on both sides of each pulley (11) after being moved out of the accommodation box (31) along with the sealing plate (13), so that the pulley (11) is prevented from moving sideways.

8. The automatic stacking device for corrugated board according to claim 1, characterized in that, The right clamping plate (4) is provided with an air seat for communicating with the air bag cushion (10), the air seat is communicated with the air pump (16) through an air pipe, the air seat is provided with an elastic net (34) connected to the moving plate (9), the elastic net (34) is in a "U" type structure and covers the outer wall of the air bag cushion (10), and the air seat and the moving plate (9) are further provided with an elastic rope (33), the elastic rope (33) is multiple and is uniformly distributed on the outer wall of the air bag cushion (10).

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