A special machine for pre-palletizing turnover boxes

Abstract

This invention belongs to the field of turnover box palletizing technology, specifically a turnover box pre-palletizing machine. It includes a main frame, a centering and aligning mechanical gripper, a turnover box conveyor line, a stopping mechanism, a lifting drive mechanism, and a rejection detection mechanism. The turnover box conveyor line is mounted on the main frame, and the centering and aligning mechanical gripper is positioned above the conveyor line and slidably connected to the main frame. The lifting drive mechanism is mounted on the main frame and located below the conveyor line. The output end of the lifting drive mechanism is connected to the centering and aligning mechanical gripper, which drives the gripper to rise and fall. The gripper is used for aligning and palletizing the turnover boxes. The main frame has two sets of stopping mechanisms located on either side of the centering and aligning mechanical gripper. The rejection detection mechanism is located at the end of the main frame and is used to inspect the palletized turnover boxes and reject those that fail the palletizing test.

Description

Technical Field

[0001] This invention belongs to the field of turnover box palletizing technology, specifically a turnover box pre-palletizing machine. Background Technology

[0002] With the rapid development of industrial modernization, the demand for automation and intelligence in palletizing machinery is becoming increasingly urgent. Simple palletizing methods and efficiencies for tote boxes can no longer meet the needs of today's era. The market offers a comprehensive and diverse range of palletizing solutions for simple tote boxes, which are gradually replacing human labor, making palletizing more efficient, standardized, time-saving, and labor-saving, and improving production efficiency.

[0003] However, in the domestic market, most palletizing machines are currently used for stand-alone operations and as part of industrial production lines. They mainly use multi-axis robotic arms or gantry palletizing machines to complete the palletizing process. But compared to the chicken processing industry, there are higher requirements for the quantity of turnover boxes needed and the palletizing speed. Currently, simple robotic arms and gantry robots cannot meet the efficiency of normal production. Therefore, pre-palletizing is required before full palletizing. Three turnover boxes are stacked into a small stack before being transported to the gantry palletizing machine for final palletizing, which improves the overall palletizing efficiency. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a dedicated pre-palletizing machine for turnover boxes, which can pre-palletize turnover boxes and simultaneously detect the palletizing process. Unsuccessful palletizing can be promptly detected and removed with an alarm, reducing manual labor intensity, providing a palletizing carrier for subsequent gantry palletizing robots, and improving production efficiency.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] This invention provides a pre-palletizing machine for turnover boxes, comprising a main frame, an alignment and aligning mechanical gripper, a turnover box conveyor line, a stop mechanism, a lifting drive mechanism, and a rejection detection mechanism. The turnover box conveyor line is mounted on the main frame, and the alignment and aligning mechanical gripper is positioned above the conveyor line and slidably connected to the main frame. The lifting drive mechanism is mounted on the main frame and located below the conveyor line; its output end is connected to the alignment and aligning mechanical gripper, which is used for aligning and palletizing the turnover boxes. The main frame has two sets of stop mechanisms located on either side of the alignment and aligning mechanical gripper. The rejection detection mechanism is located at the end of the main frame and is used to inspect the palletized turnover boxes and reject those that fail the palletizing test.

[0007] The alignment mechanical gripper includes a falling guide mechanism, a mechanical gripper gripping head, an alignment drive mechanism, a mechanical gripper lifting and fixing plate, an alignment base plate, an alignment guide rail slider, and a mechanical gripper frame. The bottom two sides of the mechanical gripper frame are provided with alignment guide rail sliders, and the two alignment base plates are respectively connected to the alignment guide rail sliders on both sides. The alignment drive mechanism is located between the two alignment base plates and connected to the two alignment base plates. The alignment drive mechanism is used to drive the two alignment base plates to move closer or further apart.

[0008] Two mechanical gripper heads are provided on the top of the mechanical gripper frame. The two mechanical gripper heads are respectively connected to two aligned base plates. Each mechanical gripper head is provided with a falling guide mechanism.

[0009] The bottom of the mechanical gripper frame is connected to the lifting drive mechanism via a mechanical gripper lifting and fixing plate.

[0010] The mechanical gripper gripping head includes a gripping head support and a gripping plate assembly, wherein the lower end of the gripping head support is connected to the centering and abutting base plate, and the upper part of the gripping head support is provided with a set of gripping plate assemblies or multiple sets of gripping plate assemblies arranged along the height direction.

[0011] The gripper assembly includes a gripper head and a gripper origin sensor, a sensor bracket, a gripper rotating seat, a gripper, and a return spring. The gripper rotating seat is located on the upper part of the gripper head support. One end of the gripper has two coaxial rotating shafts. The two rotating shafts are connected to the gripper rotating seat through rotating bearings. Each of the two rotating shafts is fitted with a return spring.

[0012] The gripper head's gripper plate origin sensor is mounted on the gripper head support via a sensor bracket. When the gripper plate is in its original position, one end of the gripper head's gripper plate origin sensor is in contact with the gripper head's gripper plate origin sensor.

[0013] The upper part of the gripper head support is provided with a clearance hole for avoiding the gripper plate; both the upper and lower parts of the gripper head support are provided with air pipe cable clamps.

[0014] The falling guide mechanism includes a falling guide plate, a guide plate base plate, a guide mechanism cylinder, a cylinder fixing plate, a guide fixing plate, and a guide rail slider. The guide plate base plate is fixed to the gripping head of the mechanical gripper. The guide rail slider is disposed on the guide plate base plate. The guide fixing plate is connected to the guide rail slider, and both ends of the guide fixing plate are respectively connected to the two falling guide plates. The cylinder fixing plate is connected to the upper end of the guide plate base plate. The guide mechanism cylinder is disposed on the cylinder fixing plate, and its output end is connected to the guide fixing plate.

[0015] The centering drive mechanism includes a centering cylinder and a centering linkage mechanism;

[0016] The centering linkage mechanism includes a swing rod and two connecting rods. The middle part of the swing rod is rotatably connected to the mechanical gripper frame, and the two ends of the swing rod are respectively hinged to the two centering abutment base plates through the two connecting rods. The output end of the centering cylinder is hinged to the swing rod and is used to drive the swing rod to rotate.

[0017] The main frame includes a main frame, a mechanical gripper lifting guide rail, a lower guard plate of the main frame, an upper guard plate of the main frame, and frame support legs. The bottom of the main frame is provided with frame support legs, and the outer side of the main frame is provided with a lower guard plate of the main frame. The top two sides of the main frame are provided with upper guard plates of the main frame, and the inner sides of the two upper guard plates of the main frame are provided with mechanical gripper lifting guide rails for sliding connection of the centering and aligning mechanical gripper.

[0018] The lifting drive mechanism includes a lifting cylinder mechanism and a lifting cylinder bracket, wherein the lifting cylinder bracket is located at the bottom center of the main frame, the lifting cylinder mechanism is located on the lifting cylinder bracket, and its output end is connected to the centering and aligning mechanical gripper.

[0019] The turnover box conveyor line includes a conveyor frame, a guardrail, a line drive, a speed change wheel I, a speed change wheel II, and conveyor rollers. A row of conveyor rollers is arranged on the conveyor frame, and the line drive is set on the conveyor frame to drive the conveyor rollers to rotate. Guardrails are provided at both ends of the conveyor frame.

[0020] Speed-changing wheel I and speed-changing wheel II are respectively located at the ends of two adjacent conveying rollers near the stop mechanism, and speed-changing wheel I and speed-changing wheel II are connected by chain drive; multiple stop sensor combinations are provided along the conveyor frame.

[0021] The stopping mechanism includes a stopping mechanism bracket, a stopping rod, a stopping block, a stopping cylinder support, a stopping cylinder, a stopping shaft guard plate, a stopping connecting rod, a stopping rotating bearing seat, and a stopping support. The stopping mechanism bracket is connected to the turnover box conveyor line. The stopping cylinder support and the stopping support are both mounted on the stopping mechanism bracket. Two stopping rotating bearing seats are mounted on the stopping support. A stopping rod passes through the middle of each stopping rotating bearing seat. The stopping shaft guard plate is located on the outside of the stopping rotating bearing seat.

[0022] The tail of the stop cylinder is fixed on the stop cylinder support, and the output end is hinged to the lower end of the two stop rotating rods through the stop connecting rod. The upper end of the two stop rotating rods is connected to the stop block. The stop cylinder drives the two stop rotating rods to swing, thereby driving the stop block to rise and fall.

[0023] The rejection and detection mechanism includes a rejection collection line, a rejection mechanism, and a detection mechanism. The rejection mechanism is located at the end of the turnover box conveyor line, and the rejection collection line and the detection mechanism are located on both sides of the turnover box conveyor line along the conveying direction perpendicular to the turnover box conveyor line.

[0024] The inspection mechanism includes an inspection fixing bracket, a camera fixing bracket, and an inspection camera. The inspection fixing bracket is connected to the turnover box conveyor line. The camera fixing bracket is set on the inspection fixing bracket, and the inspection camera is set on the camera fixing bracket. The inspection camera is used to collect and output image information of the turnover boxes conveyed to the inspection station.

[0025] The rejection mechanism is used to reject non-conforming turnover boxes into the rejection collection line.

[0026] The rejection mechanism includes a rejection cylinder, a cylinder cover, a rejection mechanism support, a rejection guide slider, and a rejection push plate. The rejection mechanism support is connected to the turnover box conveyor line. The rejection cylinder and the rejection guide slider are both mounted on the rejection mechanism support. The rejection push plate is connected to the rejection guide slider and to the output end of the rejection cylinder. The cylinder cover is located on the outside of the rejection cylinder.

[0027] The advantages and positive effects of this invention are as follows: This invention provides a special machine for pre-palletizing turnover boxes, which can realize the palletizing of three layers of turnover boxes. At the same time, it also adds a detection and rejection mechanism, which can promptly alarm, reject, and collect turnover boxes that are not neatly stacked, tilted, or misaligned. It adds a guarantee in front of the truss palletizer, ensuring the accuracy of truss palletizing, reducing the time spent manually handling the entire truss due to uneven stacking, reducing debugging time, reducing manual labor intensity, and improving palletizing production efficiency.

[0028] This invention separates the turnover boxes in an orderly manner through a speed-changing wheel mechanism, achieving the stopping and stopping mechanism and the continuity of palletizing; the centering and aligning mechanical gripper uses a rotation and spring reset mechanism to effectively and quickly restore the gripper plate to its original position; the falling guide mechanism can center and align the turnover boxes, greatly improving the accuracy of palletizing.

[0029] All actions of this invention are achieved by cylinders, and all moving parts adopt a guide rail slider structure, which is simple in structure and runs smoothly and reliably. Through multiple centering, alignment, gripping and lifting, the turnover boxes are stacked. The detection system can accurately detect unqualified products and provide signals to the rejection mechanism to complete effective rejection. Attached Figure Description

[0030] Figure 1 This is a three-dimensional structural diagram of a pre-palletizing machine for turnover boxes according to the present invention;

[0031] Figure 2 This is a three-dimensional structural diagram of the main frame in this invention;

[0032] Figure 3 This is a three-dimensional structural diagram of the centering and alignment mechanical gripper in this invention;

[0033] Figure 4This is a three-dimensional structural diagram of the falling guide mechanism in this invention;

[0034] Figure 5 This is a three-dimensional structural diagram of the mechanical gripper head in this invention;

[0035] Figure 6 This is a three-dimensional structural diagram of the turnover box conveyor line in this invention;

[0036] Figure 7 This is a three-dimensional structural diagram of the removal and collection line in this invention;

[0037] Figure 8 This is a three-dimensional structural diagram of the rejection mechanism in this invention;

[0038] Figure 9 This is a three-dimensional structural diagram of the stopping mechanism in this invention;

[0039] Figure 10 This is a three-dimensional structural diagram of the detection mechanism in this invention;

[0040] In the diagram: 1 is the main frame, 101 is the main frame, 102 is the mechanical gripper lifting guide rail, 103 is the lifting cylinder mechanism, 104 is the lifting cylinder bracket, 105 is the lower guard plate of the main frame, 106 is the upper guard plate of the main frame, and 107 is the frame support leg.

[0041] 2 is the centering and alignment mechanical gripper; 201 is the falling guide mechanism; 201-1 is the falling guide plate; 201-2 is the guide plate base plate; 201-3 is the guide mechanism cylinder; 201-4 is the cylinder fixing plate; 201-5 is the guide fixing plate; 201-6 is the guide rail slider; 202 is the mechanical gripper gripping head; 202-1 is the gripping head support; 202-2 is the air pipe wiring clamp; 202-3 is the gripping head gripping plate origin. Sensor, 202-4 is sensor bracket, 202-5 is gripper rotating seat, 202-6 is rotating bearing, 202-7 is gripper, 202-8 is return spring, 203 is centering cylinder, 204 is lifting slider, 205 is centering linkage mechanism, 206 is mechanical gripper lifting fixing plate, 207 is centering and aligning base plate, 208 is lifting slider bracket, 209 is centering guide rail slider, 210 is mechanical gripper frame;

[0042] 3 is the turnover box conveyor line, 301 is the conveyor side plate, 302 is the stop sensor assembly I, 303 is the alignment guardrail, 304 is the turnover box, 305 is the line drive, 306 is the line support leg, 307 is the stop sensor assembly II, 308 is the stop sensor assembly III, 309 is the speed change wheel I, 310 is the speed change wheel II, and 311 is the conveyor roller;

[0043] 4 is the rejection collection line, 401 is the collection stop bar, 402 is the collection line side plate, 403 is the turnover box, 404 is the non-powered roller, 405 is the position sensor bracket, and 406 is the collection line bracket leg.

[0044] 5 is the rejection mechanism, 501 is the rejection cylinder, 502 is the cylinder cover, 503 is the rejection mechanism support, 504 is the rejection guide slide, and 505 is the rejection push plate.

[0045] 6 is the stop mechanism, 601 is the stop mechanism support, 602 is the stop rotating rod, 603 is the stop block, 604 is the stop cylinder support, 605 is the stop cylinder, 606 is the stop rotating shaft guard plate, 607 is the stop connecting rod, 608 is the stop rotating bearing seat, and 609 is the stop support.

[0046] 7 represents the pneumatic assembly;

[0047] 8 represents the testing mechanism, 801 represents the testing mounting bracket, 802 represents the camera mounting bracket, and 803 represents the testing camera. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0049] like Figure 1 As shown, this invention provides a pre-palletizing machine for turnover boxes, including a main frame 1, an alignment and aligning mechanical gripper 2, a turnover box conveyor line 3, a stop mechanism 6, a lifting drive mechanism, and a rejection detection mechanism. The turnover box conveyor line 3 is mounted on the main frame 1, and the alignment and aligning mechanical gripper 2 is positioned above the turnover box conveyor line 3 and slidably connected to the main frame 1. The lifting drive mechanism is mounted on the main frame 1 and located below the turnover box conveyor line 3. The output end of the lifting drive mechanism is connected to the alignment and aligning mechanical gripper 2, which is used to drive the alignment and aligning mechanical gripper 2 to move up and down. The alignment and aligning mechanical gripper 2 is used for aligning and palletizing turnover boxes. The main frame 1 has two sets of stop mechanisms 6 located on either side of the alignment and aligning mechanical gripper 2. The rejection detection mechanism is located at the end of the main frame 1 and is used to inspect the palletized turnover boxes and reject those that are not palletized correctly.

[0050] like Figure 2As shown, in an embodiment of the present invention, the main frame 1 includes a main frame 101, a mechanical gripper lifting guide rail 102, a lower guard plate 105, an upper guard plate 106, and frame support legs 107. The bottom of the main frame 101 is provided with frame support legs 107, and the outer side of the main frame 101 is provided with the lower guard plate 105. The top two sides of the main frame 101 are provided with upper guard plates 106, and the inner sides of the two upper guard plates 106 are provided with mechanical gripper lifting guide rails 102 for sliding connection to the centering and aligning mechanical gripper 2. The lifting drive mechanism includes a lifting cylinder mechanism 103 and a lifting cylinder bracket 104. The lifting cylinder bracket 104 is located at the bottom center of the main frame 101, and the lifting cylinder mechanism 103 is mounted on the lifting cylinder bracket 104, with its output end connected to the centering and aligning mechanical gripper 2. The lifting cylinder mechanism 103 drives the centering and aligning mechanical gripper 2 to rise and fall along the mechanical gripper lifting guide rail 102.

[0051] like Figure 3 As shown in the embodiment of the present invention, the centering and aligning mechanical gripper 2 includes a falling guide mechanism 201, a mechanical gripper gripping head 202, a centering drive mechanism, a mechanical gripper lifting and fixing plate 206, a centering and aligning base plate 207, a centering guide rail slider 209, and a mechanical gripper frame 210. The mechanical gripper frame 210 has centering guide rail sliders 209 on both sides of its bottom, and two centering and aligning base plates 207 are respectively connected to the centering guide rail sliders 209 on both sides. The centering drive mechanism is disposed between the two centering and aligning base plates 207. It is connected to two centering and aligning substrates 207. The centering drive mechanism is used to drive the two centering and aligning substrates 207 to move closer or further apart from each other. Two mechanical gripper heads 202 are provided on the top of the mechanical gripper frame 210. The two mechanical gripper heads 202 are respectively connected to the two centering and aligning substrates 207. Each mechanical gripper head 202 is provided with a falling guide mechanism 201. The bottom of the mechanical gripper frame 210 is connected to the lifting cylinder mechanism 103 in the lifting drive mechanism through the mechanical gripper lifting and fixing plate 206.

[0052] like Figure 5As shown in the embodiment of the present invention, the mechanical gripper gripping head 202 includes a gripping head support 202-1 and a gripping plate assembly. The lower end of the gripping head support 202-1 is connected to the centering and abutting base plate 207. The upper part of the gripping head support 202-1 is provided with a set of gripping plate assemblies or multiple sets of gripping plate assemblies arranged along the height direction. Specifically, the gripping plate assembly includes a gripping head and gripping plate origin sensor 202-3, a sensor bracket 202-4, a gripping plate rotating seat 202-5, a gripping plate 202-7, and a return spring 202-8. The plate rotating seat 202-5 is located on the upper part of the gripping head support 202-1. One end of the gripping plate 202-7 has two coaxial rotating shafts, which are connected to the gripping plate rotating seat 202-5 via a rotating bearing 202-6. Each rotating shaft is fitted with a return spring 202-8. The gripping head gripping plate origin sensor 202-3 is mounted on the gripping head support 202-1 via a sensor bracket 202-4. When the gripping plate 202-7 is in its original position, one end contacts the gripping head gripping plate origin sensor 202-3. The gripping plate 202-7 returns to its origin around the bearing under the combined action of the return spring 202-8 and gravity.

[0053] Furthermore, the upper part of the gripper head support 202-1 is provided with a clearance hole for avoiding the gripper plate 202-7; both the upper and lower parts of the gripper head support 202-1 are provided with air pipe cable clamps 202-2. The lifting slider 204 is fixed to the middle position of both sides of the mechanical gripper frame 210 by the lifting slider bracket 208.

[0054] like Figure 4 As shown, in an embodiment of the present invention, the falling guide mechanism 201 includes a falling guide plate 201-1, a guide plate base plate 201-2, a guide mechanism cylinder 201-3, a cylinder fixing plate 201-4, a guide fixing plate 201-5, and a guide rail slider 201-6. The guide plate base plate 201-2 is fixed on the gripping head support 202-1 of the mechanical gripper gripping head 202. The guide rail slider 201-6 is disposed on the guide plate base plate 201-2. The guide fixing plate 201-5 is connected to the guide rail slider 201-6. The front ends of the guide fixing plate 201-5 are respectively connected to two falling guide plates 201-1, and the two sides are symmetrical. The cylinder fixing plate 201-4 is connected to the upper end of the guide plate base plate 201-2. The guide mechanism cylinder 201-3 is disposed on the cylinder fixing plate 201-4, and its output end is connected to the guide fixing plate 201-5. The guide mechanism cylinder 201-3 drives the cylinder fixing plate 201-4 and the falling guide plates 201-1 on both sides to fall or rise along the guide rail slider 201-6. When the guide mechanism cylinder 201-3 is working, the falling guide plates 201-1 straighten the turnover box, so that the upper and lower turnover boxes can be accurately stacked together.

[0055] Specifically, the centering drive mechanism includes a centering cylinder 203 and a centering linkage mechanism 205. The centering linkage mechanism 205 includes a swing rod and two connecting rods. The middle part of the swing rod is rotatably connected to the mechanical gripper frame 210, and the two ends of the swing rod are respectively hinged to two centering abutment base plates 207 through the two connecting rods. The output end of the centering cylinder 203 is hinged to the swing rod and is used to drive the swing rod to rotate. The swing rod drives the two centering abutment base plates 207 to move in opposite directions or towards each other through the two connecting rods. Under the action of the centering cylinder 203, the mechanical gripper gripping head 202 can move back and forth along the centering guide rail slider 209.

[0056] like Figure 6 As shown in the embodiment of the present invention, the turnover box conveyor line 3 includes a conveyor frame, an alignment guardrail 303, a line drive 305, a variable speed wheel I 309, a variable speed wheel II 310, and conveyor rollers 311. A row of conveyor rollers 311 are arranged on the conveyor frame, and the conveyor rollers 311 are connected by chains. The line drive 305 is set on the conveyor frame to drive the conveyor rollers 311 to rotate. Alignment guardrails 303 are provided at both ends of the conveyor frame. Variable speed wheel I 309 and variable speed wheel II 310 are respectively set at the ends of two adjacent conveyor rollers 311 near the stop mechanism 6, and variable speed wheel I 309 and variable speed wheel II 310 are connected by chain drive. Multiple stop sensor combinations are provided along the conveyor frame.

[0057] Specifically, the conveyor frame includes two conveyor side plates 301 and a line support leg 306 disposed at the bottom of the conveyor side plates 301. The conveyor roller 311 is connected between the two conveyor side plates 301. In this embodiment, the stop sensor assembly includes stop sensor assembly I 302, stop sensor assembly II 307, and stop sensor assembly III 308, which are respectively disposed at the detection station, the palletizing station, and the conveying station. The turnover box 304 is placed on the conveyor roller 311 and is conveyed as the conveyor roller 311 rotates. The speed-changing wheel I 309 and the speed-changing wheel II 310 are fixed to the conveyor side plate 301 through bearing seats. During operation, the speed-changing wheel I 309 and the speed-changing wheel II 310 separate the two turnover boxes 304 by a certain distance, which facilitates the stop mechanism 6 to stop, the detection mechanism 8 to detect, and the rejection mechanism 5 to reject.

[0058] like Figure 9As shown in the embodiment of the present invention, the stop mechanism 6 includes a stop mechanism bracket 601, a stop rotating rod 602, a stop block 603, a stop cylinder support 604, a stop cylinder 605, a stop rotating shaft guard plate 606, a stop connecting rod 607, a stop rotating bearing seat 608, and a stop support 609. The stop mechanism bracket 601 is connected to the turnover box conveyor line 3. The stop cylinder support 604 and the stop support 609 are both mounted on the stop mechanism bracket 601. Two stop rotating bearing seats 608 are mounted on the stop support. A stop-stop rotating rod 602 passes through the middle of each stop-stop rotating bearing seat 608, and a stop-stop rotating shaft guard plate 606 is set on the outside of the stop-stop rotating bearing seat 608 for protection. The tail of the stop-stop cylinder 605 is fixed on the stop-stop cylinder support 604, and the output end is hinged to the lower end of the two stop-stop rotating rods 602 through the stop-stop connecting rod 607. The upper end of the two stop-stop rotating rods 602 is connected to the stop block 603. The stop-stop cylinder 605 drives the two stop-stop rotating rods 602 to swing, thereby driving the stop block 603 to rise and fall. The stop block 603 rises, passes through the conveyor roller 311, and stops the turnover box 304, thus achieving the stop.

[0059] like Figure 1 As shown, in an embodiment of the present invention, the rejection detection mechanism includes a rejection collection line 4, a rejection mechanism 5, and a detection mechanism 8. The rejection mechanism 5 is disposed at the end of the turnover box conveyor line 3. The rejection collection line 4 and the detection mechanism 8 are disposed on both sides of the turnover box conveyor line 3 along the conveying direction perpendicular to the turnover box conveyor line 3. The rejection mechanism 5 is used to reject turnover boxes that are not stacked properly into the rejection collection line 4.

[0060] like Figure 7 As shown, in an embodiment of the present invention, the collection line 4 includes a collection stop bar 401, a collection line side plate 402, a non-powered roller 404, a positioning sensor bracket 405, and a collection line support leg 406. The collection stop bar 401 is fixed to the upper rear of the collection line side plate 402, the collection line side plate 402 is fixed to both ends of the non-powered roller 404, the collection line support leg 406 is fixed to the bottom of the collection line side plate 402, the positioning sensor bracket 405 is fixed to the front end of one side of the collection line side plate 402, and the turnover box 403 is above the non-powered roller 404, serving a collection function.

[0061] like Figure 10As shown in the embodiment of the present invention, the detection mechanism 8 includes a detection fixing bracket 801, a camera fixing bracket 802, and a detection camera 803. The detection fixing bracket 801 is connected to the turnover box conveyor line 3, the camera fixing bracket 802 is disposed on the detection fixing bracket 801, and the detection camera 803 is disposed on the camera fixing bracket 802. The detection camera 803 is used to collect and output image information of the turnover boxes conveyed to the detection station. When the turnover boxes 304 are arranged and conveyed to the stop mechanism 6, the detection mechanism 8 performs detection. If the stacking is not neat, a feedback signal is sent to the rejection mechanism 5 to achieve effective rejection.

[0062] like Figure 8 As shown in the embodiment of the present invention, the rejection mechanism 5 includes a rejection cylinder 501, a cylinder cover 502, a rejection mechanism support 503, a rejection guide slider 504, and a rejection push plate 505. The rejection mechanism support 503 is connected to the turnover box conveyor line 3. Both the rejection cylinder 501 and the rejection guide slider 504 are mounted on the rejection mechanism support 503. The rejection push plate 505 is connected to the rejection guide slider 504 and to the output end of the rejection cylinder 501. The cylinder cover 502 is fixed to the rejection mechanism support 503 and is located outside the rejection cylinder 501. Through the action of the rejection cylinder 501, the rejection push plate 505 moves back and forth, effectively rejecting the turnover box 403 on the turnover box conveyor line 3.

[0063] In this embodiment of the invention, the centering and aligning mechanical gripper 2 is located inside the main frame 1, with both ends connected to the mechanical gripper lifting guide rails 102 on both sides of the main frame 1. The centering and aligning mechanical gripper 2 is fixed in the middle to the lifting cylinder mechanism 103. Simultaneously, the turnover box conveyor line 3 is fixed to the main frame 1 via a connector, and the other end is fixed to the line support leg 306. The gripping head support member 202-1 passes through the gap between the conveying rollers 311, ensuring that the up-and-down movement of the centering and aligning mechanical gripper 2 does not interfere with the conveying rollers 311. The rejection and collection line 4 is fixed to the side of the turnover box conveyor line 3 with screws and corresponds to the rejection mechanism 5. The rejection mechanism 5 is fixed directly below the turnover box conveyor line 3. The rejection push plate 505 slides back and forth on the rejection guide rail slider 504 via the gap between the conveying rollers 311 and the connector. The stop mechanism 6 is fixed at a designated position in the middle of the turnover box conveyor line 3 via the stop mechanism bracket 601. The detection mechanism 8 is fixed on the side of the turnover box conveyor line 3 and corresponds to the rejection mechanism 5, facilitating the rejection of turnover boxes that are not qualified for stacking. The pneumatic assembly 7 is fixed on the side of the crossbeam of the main frame 1. The pneumatic assembly 7 mainly includes a pneumatic fixing box, control solenoid valve, regulating valve, fixing box cover, etc., and is mainly used to control the action of all cylinders.

[0064] The present invention provides a pre-palletizing machine for turnover boxes, the working principle of which is as follows:

[0065] The turnover boxes 304 conveyed by the turnover box conveyor line 3 are divided at the first set of stopping mechanisms 6. The two turnover boxes 304 are separated by a certain distance by the speed change wheel I 309 and speed change wheel II 310 and stopped. The turnover boxes 304 are then conveyed to the second set of stopping mechanisms 6 and stop. The stopping sensor combination II 307 transmits the signal to the centering cylinder 203 to control the solenoid valve, which controls the centering and aligning mechanical gripper 2 to move. Under the action of the falling guide mechanism 201, the turnover boxes 304 are centered and aligned. The gripping plate 202-7 on the gripper gripping head 202 is embedded into the handle of the turnover box 304. The lifting cylinder mechanism 103 on the main frame 1 moves to slide the centering and aligning mechanical gripper 2 upward along the mechanical gripper lifting guide rail 102, completing the first layer of turnover box stacking. After the second layer of turnover boxes 304 are in place, the guide cylinder 201-3 of the falling guide mechanism 201 actuates first, the lifting cylinder mechanism 103 retracts, and the falling guide plate 201-1 of the falling guide mechanism 201 guides the second layer of turnover boxes 304 directly below the first layer of turnover boxes 304. Meanwhile, the gripping plate 202-7 of the mechanical gripper gripping head 202 rotates upward under mechanical force, disengaging from the turnover box handle, thus completing the stacking of two turnover boxes 304. The aligning mechanical gripper 2 opens outward, stabilizes, and then grips the turnover box 304 again. The lifting cylinder mechanism 103 actuates, sequentially completing the stacking task of three layers of turnover boxes 304. After palletizing, the turnover box 304 is conveyed to the third set of blocking mechanisms 6 and inspected by the detection mechanism 8. If there is a tilted or unevenly stacked turnover box, the signal is sent directly to the rejection mechanism 5 for rejection. The unqualified products will be rejected and sent to the rejection collection line 4. If the products pass the inspection, they are directly conveyed to the truss palletizer buffer line, and the pre-palletizing of the turnover box is finally completed.

[0066] This invention provides a pre-palletizing machine for turnover boxes, capable of pre-palletizing turnover boxes layer by layer. It simultaneously detects the stacking, promptly alarming and removing unsuccessfully stacked boxes to ensure the accuracy of gantry palletizing, improve debugging efficiency, and reduce debugging time. This invention can operate as a standalone machine or be integrated with a production line. This pre-palletizing machine can stack turnover boxes one, two, or three layers at a time, replacing manual stacking, reducing labor intensity, providing a palletizing carrier for subsequent gantry palletizing robots, and improving production efficiency.

[0067] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A pre-stacking machine for turnover boxes, characterized in that, The device comprises a main frame (1), a centering and aligning mechanical gripper (2), a turnover box conveying line (3), a stopping mechanism (6), a lifting driving mechanism and a rejection detection mechanism, wherein the turnover box conveying line (3) is arranged on the main frame (1), the centering and aligning mechanical gripper (2) is arranged above the turnover box conveying line (3) and is slidably connected with the main frame (1); The lifting driving mechanism is arranged on the main frame (1) and below the turnover box conveying line (3), the output end of the lifting driving mechanism is connected with the centering and aligning mechanical gripper (2), the lifting driving mechanism is used for driving the centering and aligning mechanical gripper (2) to lift, and the centering and aligning mechanical gripper (2) is used for aligning and stacking the turnover boxes; two groups of stopping mechanisms (6) are arranged on the main frame (1) and located on the two sides of the centering and aligning mechanical gripper (2) respectively; the rejection detection mechanism is arranged on the end of the main frame (1) and is used for detecting and rejecting the turnover boxes that fail to meet the stacking requirements; The centering and aligning mechanical gripper (2) comprises a falling guide mechanism (201), a mechanical gripper grabbing head (202), a centering driving mechanism, a mechanical gripper lifting fixed plate (206), a centering and aligning base plate (207), a centering guide rail sliding block (209) and a mechanical gripper frame (210), wherein the bottom of the mechanical gripper frame (210) is provided with the centering guide rail sliding blocks (209) on the two sides, and the two centering and aligning base plates (207) are connected with the centering guide rail sliding blocks (209) on the two sides respectively; the centering driving mechanism is arranged between the two centering and aligning base plates (207) and is connected with the two centering and aligning base plates (207), and is used for driving the two centering and aligning base plates (207) to move close to or away from each other; The upper portion of the mechanical gripper frame (210) is provided with the two mechanical gripper grabbing heads (202), the two mechanical gripper grabbing heads (202) are connected with the two centering and aligning base plates (207) respectively, and the falling guide mechanism (201) is arranged on each mechanical gripper grabbing head (202); The bottom of the mechanical gripper frame (210) is connected with the lifting driving mechanism through the mechanical gripper lifting fixed plate (206); The mechanical gripper grabbing head (202) comprises a grabbing head support (202-1) and a grabbing plate assembly, wherein the lower end of the grabbing head support (202-1) is connected with the centering and aligning base plate (207), and the upper portion of the grabbing head support (202-1) is provided with a group of grabbing plate assemblies or a plurality of groups of grabbing plate assemblies arranged in the height direction; The grabbing plate assembly comprises a grabbing head grabbing plate origin sensor (202-3), a sensor support (202-4), a grabbing plate rotating seat (202-5), a grabbing plate (202-7) and a reset spring (202-8), wherein the grabbing plate rotating seat (202-5) is arranged on the upper portion of the grabbing head support (202-1), one end of the grabbing plate (202-7) is provided with two coaxial rotating shafts, the two rotating shafts are connected with the grabbing plate rotating seat (202-5) through rotating bearings (202-6), and the reset spring (202-8) is sleeved on the two rotating shafts; The grab head grab plate origin sensor (202-3) is arranged on the grab head support (202-1) through a sensor support (202-4), and one end of the grab plate (202-7) is in contact with the grab head grab plate origin sensor (202-3) when the grab plate (202-7) is in the original position; The upper portion of the grab head support (202-1) is provided with an avoiding hole for avoiding the grab plate (202-7); and the upper and lower portions of the grab head support (202-1) are both provided with an air pipe wiring clamp (202-2); The falling guide mechanism (201) comprises a falling guide plate (201-1), a guide plate bottom plate (201-2), a guide mechanism air cylinder (201-3), an air cylinder fixing plate (201-4), a guide fixing plate (201-5) and a guide rail sliding block (201-6), wherein the guide plate bottom plate (201-2) is fixed on the mechanical gripper grab head (202), the guide rail sliding block (201-6) is arranged on the guide plate bottom plate (201-2), the guide fixing plate (201-5) is connected with the guide rail sliding block (201-6), and the two ends of the guide fixing plate (201-5) are respectively connected with two falling guide plates (201-1); the air cylinder fixing plate (201-4) is connected to the upper end of the guide plate bottom plate (201-2), the guide mechanism air cylinder (201-3) is arranged on the air cylinder fixing plate (201-4), and the output end is connected with the guide fixing plate (201-5).

2. The tote pre-staging machine of claim 1, wherein, The centering driving mechanism comprises a centering air cylinder (203) and a centering linkage mechanism (205); The centering linkage mechanism (205) comprises a swing rod and two linkages, wherein the middle portion of the swing rod is rotationally connected with the mechanical gripper frame (210), the two ends of the swing rod are respectively connected with two centering alignment base plates (207) through two linkages; the output end of the centering air cylinder (203) is hingedly connected with the swing rod, and is used for driving the swing rod to rotate.

3. The tote pre-staging machine of claim 1, wherein, The main frame body (1) comprises a main frame (101), a mechanical gripper lifting guide rail (102), a main frame body lower guard plate (105), a main frame body upper guard plate (106) and a frame support leg (107), wherein the bottom of the main frame (101) is provided with the frame support leg (107), and the outer side of the main frame (101) is provided with the main frame body lower guard plate (105); the top of the main frame (101) is provided with the main frame body upper guard plate (106) on both sides, and the inner sides of the two main frame body upper guard plates (106) are provided with the mechanical gripper lifting guide rail (102) used for sliding connection of the centering alignment mechanical gripper (2); The lifting driving mechanism comprises a jacking cylinder mechanism (103) and a jacking cylinder support (104), wherein the jacking cylinder support (104) is arranged at the bottom center position of the main frame (101), the jacking cylinder mechanism (103) is arranged on the jacking cylinder support (104), and the output end is connected with the centering alignment mechanical gripper (2).

4. The tote pre-staging machine of claim 1, wherein, The turnover box conveying line body (3) comprises a conveying frame body, a lining guardrail (303), a line body drive (305), a variable speed wheel I (309), a variable speed wheel II (310) and a conveying roller (311), wherein a row of conveying rollers (311) are arranged on the conveying frame body, the line body drive (305) is arranged on the conveying frame body for driving the conveying roller (311) to rotate, and the two ends of the conveying frame body are provided with the lining guardrail (303); The variable speed wheel I (309) and the variable speed wheel II (310) are respectively arranged at the end portions of two adjacent conveying rollers (311) close to the stop mechanism (6), and the variable speed wheel I (309) and the variable speed wheel II (310) are connected through chain transmission; a plurality of stop sensors are arranged along the conveying frame body.

5. The tote pre-stacking specialist of claim 1, wherein, The stop mechanism (6) comprises a stop mechanism support (601), a stop rotating rod (602), a stop block (603), a stop cylinder support (604), a stop cylinder (605), a stop rotating shaft guard plate (606), a stop connecting rod (607), a stop rotating bearing seat (608) and a stop support (609), wherein the stop mechanism support (601) is connected with the turnover box conveying line body (3), the stop cylinder support (604) and the stop support (609) are arranged on the stop mechanism support (601), the two stop rotating bearing seats (608) are arranged on the stop support (609), the stop rotating rod (602) penetrates through the middle of each stop rotating bearing seat (608), and the stop rotating shaft guard plate (606) is arranged on the outer side of the stop rotating bearing seat (608); The tail of the stop cylinder (605) is fixed on the stop cylinder support (604), and the output end is hinged with the lower ends of the two stop rotating rods (602) through the stop connecting rod (607), the upper ends of the two stop rotating rods (602) are connected with the stop block (603); the stop cylinder (605) drives the two stop rotating rods (602) to swing, thereby driving the stop block (603) to ascend and descend.

6. The tote pre-staging machine of claim 1, wherein, The rejection detection mechanism comprises a rejection collection line body (4), a rejection mechanism (5) and a detection mechanism (8), wherein the rejection mechanism (5) is arranged at the end of the turnover box conveying line body (3), and the rejection collection line body (4) and the detection mechanism (8) are arranged on the two sides of the turnover box conveying line body (3) along the conveying direction perpendicular to the turnover box conveying line body (3); The detection mechanism (8) comprises a detection fixed support (801), a camera fixed support (802) and a detection camera (803), wherein the detection fixed support (801) is connected with the turnover box conveying line body (3), the camera fixed support (802) is arranged on the detection fixed support (801), and the detection camera (803) is arranged on the camera fixed support (802); the detection camera (803) is used for collecting image information of the turnover box conveyed to the detection station and outputting; The rejection mechanism (5) is used for rejecting the stacking unqualified turnover box into the rejection collection line body (4).

7. The tote pre-staging machine of claim 6, wherein, The rejecting mechanism (5) comprises a rejecting cylinder (501), a cylinder cover (502), a rejecting mechanism support (503), a rejecting guide rail slider (504) and a rejecting push plate (505), wherein the rejecting mechanism support (503) is connected with the turnover box conveying line body (3), the rejecting cylinder (501) and the rejecting guide rail slider (504) are both arranged on the rejecting mechanism support (503), the rejecting push plate (505) is connected with the rejecting guide rail slider (504) and connected with the output end of the rejecting cylinder (501); and the cylinder cover (502) is arranged outside the rejecting cylinder (501).

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