Automatic stacking equipment for box-packed materials

Abstract

The invention discloses automatic stacking equipment for box-packed materials, and relates to the technical field of stacking machinery. The clamp comprises a base plate, the upper surface of the base plate is connected with an L-shaped movable plate through a telescopic air cylinder A, a rectangular hole is formed in the side, away from the base plate, of the L-shaped movable plate, and a rectangular clamping plate is arranged in the rectangular hole in a matched mode; a telescopic air cylinder B is installed on the bottom side of the L-shaped movable plate, and the end of the telescopic air cylinder B is connected to the rectangular clamping plate. The rectangular clamping plates are arranged on the two sides of the base plate and can move in the horizontal direction and the vertical direction, so that the two rectangular clamping plates are conveniently controlled to move to clamp box-packed materials during use, and when the box-packed materials are released, the rectangular clamping plate located between the two box-packed materials is controlled to slide out upwards, and then the box-packed materials are released. And the other rectangular clamping plate is controlled to move towards the inner side so as to drive one box of materials to approach the other box of materials, and then the width of a gap between every two adjacent packaging boxes after stacking due to the rectangular clamping plates is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of palletizing machinery, and in particular relates to automatic palletizing equipment for boxed materials. Background Art

[0002] In the field of industrial automation production, various special machines or robotic arms are often used to carry and stack materials to improve work efficiency and overall productivity. These devices have different shapes according to the type and conditions of the production line and the volume and weight of the materials. The box palletizing robot is also one of the common robots, because the boxes are generally rectangular paper boxes.

[0003] For example, CN110422618B discloses a packing box palletizing robot, comprising a horizontally arranged main beam plate, with a left clamping plate and a right clamping plate hinged at the left and right ends of the main beam plate respectively, an angle limit block is arranged on the main beam plate, and a hinge cylinder A and a hinge cylinder B are hinged, the hinge cylinder A is hinged to the upper end of the left clamping plate, and the hinge cylinder B is hinged to the upper end of the right clamping plate; when stacking, it is easy to cause a gap between two adjacent packing boxes due to the existence of the clamping plate, which makes it easy for some packing boxes to tilt or even fall over when the stacking is completed. Summary of the invention

[0004] The object of the present invention is to provide an automatic stacking device for boxed materials, by arranging rectangular clamps on both sides of a base plate, the rectangular clamps can move in the horizontal and vertical directions, so that when in use, the two rectangular clamps can be conveniently controlled to move to clamp the boxed materials, and when releasing the boxed materials, the rectangular clamp located between the two boxed materials is controlled to slide upward, and the other rectangular clamp is controlled to move inward to drive one boxed material to approach another boxed material, thereby solving the problems raised by the background technology.

[0005] To solve the above technical problems, the present invention is achieved through the following technical solutions: The present invention is an automatic palletizing device for boxed materials, comprising a first conveyor line, a second conveyor line and an automatic palletizing device; the first conveyor line is used to convey boxed materials to be palletized, and comprises a first conveying mechanism and a second conveying mechanism arranged at the end of the first conveying mechanism; the second conveyor line is equipped with a pallet for palletizing boxed materials, and controls the pallet to move along its length direction; the automatic palletizing device spans the junction of the second conveyor line and the first conveyor line, and is used to grab at least one boxed material on the second conveyor mechanism and stack it on the pallet of the second conveyor line; The automatic palletizing device comprises a three-axis moving mechanism, the output end of the three-axis moving mechanism is connected to a rotating seat, the rotating end of the rotating seat is connected to a clamp for grabbing boxed materials; the clamp comprises a base plate, the upper surface of the base plate is connected to an L-shaped movable plate through a telescopic cylinder A, a rectangular hole is arranged on the side of the L-shaped movable plate away from the base plate, and a rectangular clamp is arranged in the rectangular hole; the top end of the rectangular clamp is connected to an L-shaped folding edge, an inner wall of the L-shaped folding edge is against the outer wall of the L-shaped movable plate; a telescopic cylinder B is installed on the bottom side of the L-shaped movable plate located on the inner side of the L-shaped folding edge, and the end of the telescopic cylinder B is connected to the L-shaped folding edge; It also includes a controller, which is connected to the rotating seat, the telescopic cylinder B, the three-axis moving mechanism and the telescopic cylinder A.

[0006] Furthermore, a plurality of guide holes A are provided at equal intervals at both ends of the substrate, a protrusion bent toward the side away from the substrate is provided at the end of the L-shaped movable plate, and a guide rod A inserted into the guide hole A is connected to the protrusion; rectangular openings cooperating with the guide rod A are provided at equal intervals on the rectangular splint along its length direction; an opening for avoiding the telescopic cylinder A is provided on the inner side of the L-shaped folded edge.

[0007] Furthermore, two bosses are provided on the top side surface of the substrate, and guide holes B are provided at both ends of the bosses. A guide rod B inserted into the guide hole B is fixed to the inner wall of the L-shaped movable plate located at the opening; the tops of the two bosses are connected to a U-shaped connecting frame, and the U-shaped connecting frame is connected to the output end of the rotating seat.

[0008] Furthermore, the three-axis moving mechanism includes two longitudinal beams supported by pillars, and a guide rail A is arranged on the upper surface of the longitudinal beam along its length direction, and two sliders A are arranged on any of the guide rails A, and a support seat A is connected to the top side surface of the two sliders A, and two cross beams are connected between the two support seats A, and a guide rail B is arranged on the upper surface of the cross beam along its length direction, and two sliders B are arranged on any of the guide rails B, and four sliders B are connected with a support plate; a mounting plate that can move up and down is arranged below the support plate, and a rotating seat is connected to the bottom side surface of the mounting plate.

[0009] Furthermore, a motor A is installed on the support seat A through an installation bracket A, the output end of the motor A is connected to the gear A, and a rack A that cooperates with the gear A is provided on one side of the longitudinal beam along its length direction; a motor B is installed on one side of the upper surface of the support plate through an installation bracket B, the output end of the motor B is connected to the gear B, and a rack B that cooperates with the gear B is provided on one side of the crossbeam along its length direction.

[0010] Furthermore, the upper surface of the mounting plate is connected to the top plate through four guide rods distributed in a rectangular shape, and the support plate is located between the top plate and the mounting plate; a guide sleeve is installed on the support plate to cooperate with the guide rod, and a wire rod is also rotatably connected to the upper surface of the mounting plate, and a wire rod sleeve is provided on the support plate to cooperate with the wire rod; a rectangular plate is fixed to the upper surface of the top plate through a connecting column, and a driving motor with an output end passing through the rectangular plate is installed on the upper surface of the rectangular plate, and the output end of the driving motor is connected to the end of the wire rod through a coupling.

[0011] Furthermore, the second conveying mechanism is a roller-type conveying mechanism; a stop structure and an adjustment structure are respectively arranged on both sides of the frame of the second conveying mechanism; the stop structure includes a base installed on one side of the frame, a stop plate is arranged on one side of the base, and a guide plate is arranged at one end of the stop plate; a plurality of rollers are arranged on the frame; the adjustment structure includes an L-shaped side plate installed on one side of the frame, a plurality of telescopic cylinders C are arranged on the inner wall of the L-shaped side plate, and movable push plates A are arranged at the ends of the plurality of telescopic cylinders C.

[0012] Furthermore, a supporting structure is provided directly below the second conveying mechanism, which moves up and down in the vertical direction and is supported on the bottom side of the boxed material; the supporting structure includes a supporting frame fixed by a plurality of lifting columns, and a plurality of horizontally arranged rectangular base plates are connected to the upper surface of the supporting frame through vertical rods, and a plurality of ball bearings are embedded in the upper surface of the rectangular base plate at equal gaps along its length direction; the rectangular base plate passes through the gap formed by any two adjacent rollers.

[0013] Furthermore, a connecting beam is connected to the end of the frame of the second conveying mechanism, and a movable push plate B is connected to the inner side of the connecting beam through a telescopic cylinder D.

[0014] Furthermore, the inner walls of the movable push plate A, the movable push plate B and the stop plate are respectively installed with several detection modules A, detection modules B and detection modules C along their length directions; several of the detection modules A are connected in series, several of the detection modules B are connected in series, and several of the detection modules C are connected in series; the detection module A includes a cylinder A and a cylinder B, and the end of the cylinder B is provided with a step portion that cooperates with the cylinder A; a plurality of elastic telescopic rods are connected between the cylinder A and the cylinder B, and a convex column A made of ceramic material is provided on the bottom side surface of the cylinder A, and a groove is provided on the end of the convex column A, and a T-shaped ceramic rod is connected to the bottom side surface of the groove through a spring, and the end of the T-shaped ceramic rod is connected to the contact block A, the bottom side surface of the cylinder B is provided with a convex column B made of ceramic material, and the end of the convex column B is provided with a contact block B; a gasket made of rubber material is provided on the end face of the cylinder A.

[0015] The present invention has the following beneficial effects: The present invention provides rectangular clamps on both sides of a base plate, and the rectangular clamps can move in horizontal and vertical directions, so that when in use, the two rectangular clamps can be conveniently controlled to move to clamp the boxed materials. When releasing the boxed materials, the rectangular clamp between the two boxed materials is controlled to slide out upward, and the other rectangular clamp is controlled to move inward to drive one boxed material to approach the other boxed material, thereby reducing the gap width between two adjacent packaging boxes after stacking due to the presence of the rectangular clamps.

[0016] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0018] Figure 1 This is a schematic diagram of the structure of the automatic palletizing equipment for boxed materials of the present invention; Figure 2 for Figure 1 Side view of Figure 3 It is a schematic diagram of the structure of the three-axis moving mechanism of the present invention; Figure 4 for Figure 3 Main view; Figure 5 for Figure 4 Sectional view at AA; Figure 6 for Figure 5 A partial enlarged view of the middle part; Figure 7 The clamp structure of the present invention is shown in FIG. Figure 1 ; Figure 8 The clamp structure of the present invention is shown in FIG. Figure 2 ; Fig. 9 The second conveying mechanism structure of the present invention is schematically shown in FIG. Figure 1 ; Fig.10 The second conveying mechanism structure of the present invention is schematically shown in FIG. Figure 2 ; Fig.11 This is a schematic diagram of the structure of the detection module A of the present invention; Fig.12 The state of the clamp of the present invention during the stacking process Figure 1 ; Fig.13The state of the clamp of the present invention during the stacking process Figure 2 . DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "all around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0021] In order to solve the problem raised by the above background technology, that is, due to the certain thickness of the splint of the existing palletizing robot, such as Fig.12 As shown, the presence of the splint may easily cause a gap between two adjacent boxed materials 100 after palletizing. As a result, due to the presence of the gap, some boxed materials 100 located on the edge side may be tilted or even topple over after palletizing.

[0022] Based on this demand, in order to reduce or avoid the above-mentioned "tilting or even tipping phenomenon", the present invention provides a clamp 2 for grabbing boxed materials 100, such as Figure 7-8 As shown, the clamp 2 includes a base plate 20, the upper surface of which is connected to an L-shaped movable plate 22 via a telescopic cylinder A21, a rectangular hole 220 is provided on the side of the L-shaped movable plate 22 away from the base plate 20, and a rectangular clamp 23 is provided in the rectangular hole 220; an L-shaped folded edge 232 is connected to the top of the rectangular clamp 23, and an inner wall of the L-shaped folded edge 233 is against the outer wall of the L-shaped movable plate 22; a telescopic cylinder B24 is installed on the bottom side of the L-shaped movable plate 22 located on the inner side of the L-shaped folded edge 232, and the end of the telescopic cylinder B24 is connected to the L-shaped folded edge 232, so that when in use, Fig.13 As shown, when the clamp 2 grabs the boxed material 100 and controls the boxed material 100 to be placed on the support surface, the rectangular clamp 23 located on the inner side of the support surface is first controlled to move upward until its bottom end is higher than the upper end surface of the boxed material 100, and then the rectangular clamp 23 located on the other side is controlled to move inward toward the boxed material 100, thereby controlling the two adjacent boxed materials 100 to be pressed tightly together.

[0023] Please note that in the appendix to this application manual Fig.13 In the figure, “→” represents the moving direction of the rectangular clamping plate 23 and the boxed material 100.

[0024] Specifically, in the above, the expansion and contraction of the telescopic cylinder B24 is controlled to drive the rectangular clamp 23 to move up and down, and the expansion and contraction of the telescopic cylinder A21 is controlled to drive the rectangular clamp 23 to move left and right in the horizontal direction. It is convenient to use the two rectangular clamps 23 to clamp the boxed material 100 located therebetween. It is also convenient to use any of the rectangular clamps 23 to drive the boxed material 100 to move in the horizontal direction under the contraction action of the telescopic cylinder A21 when in use.

[0025] In order to improve the stability of the rectangular clamping plate 23 in the horizontal movement, the present invention provides a plurality of guide holes A at equal intervals on both ends of the base plate 20, and the end of the L-shaped movable plate 22 is provided with a protrusion 221 bent toward the side away from the base plate 20, and the protrusion 221 is connected with a guide rod A222 inserted into the guide hole A; rectangular openings 231 cooperating with the guide rod A222 are provided on the rectangular clamping plate 23 at equal intervals along its length direction; and an opening 233 for avoiding the telescopic cylinder A21 is provided on the inner side of the L-shaped folded edge 232.

[0026] It is known that if Figure 1-2 As shown, in order to facilitate the stacking of boxed materials 100, the present invention provides an automatic palletizing device for boxed materials based on the clamp 2, which includes a first conveyor line and a second conveyor line 1c with the same conveying direction, and an automatic palletizing device 1a is arranged at the junction of the first conveyor line and the second conveyor line 1c. The automatic palletizing device 1a is used to grab at least one boxed material 100 located on the second conveying mechanism 1d and stack it on the pallet of the second conveyor line 1c.

[0027] Specifically, the first conveyor line is used to convey boxed materials 100 to be palletized, and it includes a first conveying mechanism 1b and a second conveying mechanism 1d arranged at the end of the first conveying mechanism 1b; at the same time, the second conveyor line 1c is equipped with a pallet for palletizing the boxed materials 100, and the pallet is controlled to move along its length direction; and the automatic palletizing device 1a spans the junction of the second conveyor line 1c and the first conveyor line.

[0028] In order to facilitate the control of grabbing and stacking the boxed materials 100 located on the second conveying mechanism 1d onto the pallet of the second conveying line 1c, the automatic palletizing device 1a provided by the present invention includes a three-axis moving mechanism, the output end of the three-axis moving mechanism is connected to a rotating seat 143, and the rotating end of the rotating seat 143 is connected to a clamp 2 for grabbing the boxed materials 100; through the cooperation of the three-axis moving mechanism and the rotating seat 143, it is convenient to control the clamp 2 to move in the horizontal and vertical directions during use, and at the same time control the clamp 2 to rotate.

[0029] In order to facilitate automated production during use, the rotating seat 143, telescopic cylinder B24, three-axis moving mechanism and telescopic cylinder A21 provided by the present invention are all connected to a controller.

[0030] It can be known that in order to facilitate the connection between the clamp 2 and the rotating seat 143 during use, two bosses 201 are provided on the top side of the provided base plate 20, and guide holes B are provided at both ends of the bosses 201. The inner wall of the L-shaped movable plate 22 located at the opening 233 is fixed with a guide rod B223 inserted into the guide hole B; the tops of the two bosses 201 are connected to the U-shaped connecting frame 202, and the U-shaped connecting frame 202 is connected to the output end of the rotating seat 143.

[0031] like Figure 3-6 As shown, a specific implementation method of a three-axis moving mechanism is provided as follows, the three-axis moving mechanism includes two longitudinal beams 10 supported by pillars 101, and the two longitudinal beams 10 are parallel to each other, and at the same time, a guide rail A102 is arranged on the upper surface of the two longitudinal beams 10 along the length direction thereof, and two sliders A103 are arranged on any guide rail A102, and a support seat A11 is connected to the top side surface of the two sliders A103, and two cross beams 13 are connected between the two support seats A11, and the two cross beams 13 are parallel to each other, and a guide rail B131 is arranged on the upper surface of the cross beam 13 along the length direction thereof, and two sliders B132 are arranged on any guide rail B131, and four sliders B132 are connected with support plates 133; a mounting plate 14 that can move up and down is arranged below the support plate 133, and a rotating seat 143 is connected to the bottom side surface of the mounting plate 14.

[0032] Specifically, the upper surface of the mounting plate 14 is connected to the top plate 15 through four guide rods 141 distributed in a rectangular shape, and the support plate 133 is located between the top plate 15 and the mounting plate 14; a guide sleeve 134 cooperating with the guide rod 141 is installed on the support plate 133, and a screw rod 142 is rotatably connected to the upper surface of the mounting plate 14, and a screw sleeve 135 cooperating with the screw rod 142 is provided on the support plate 133; a rectangular plate 152 is fixed to the upper surface of the top plate 15 through a connecting column 151, and a driving motor 153 with an output end passing through the rectangular plate 152 is installed on the upper surface of the rectangular plate 152, and the output end of the driving motor 153 is connected to the end of the screw rod 142 through a coupling 154, and then when the driving motor 153 rotates during use, the mounting plate 14 is driven to move in a direction away from the support plate 133 under the cooperation of the screw rod 142 and the screw sleeve 135.

[0033] When in use, in order to facilitate the control of the support plate 133 to move in the horizontal direction to the left and right directions, as well as the front and back directions, a motor A121 is installed on a support seat A11 through an installation bracket A12, and the output end of the motor A121 is connected to the gear A122, and a rack A104 cooperating with the gear A122 is provided on one side of a longitudinal beam 10 along its length direction; a motor B161 is installed on one side of the upper surface of the support plate 133 through an installation bracket B16, and the output end of the motor B161 is connected to the gear B162, and a rack B130 cooperating with the gear B162 is provided on one side of a cross beam 13 along its length direction, and then in the above, the motor A121 and the motor B161 are used to drive the support plate 133 to move in the horizontal direction to the left and right directions, as well as the front and back directions.

[0034] It can be known that, when in use, in order to clean the dust that may remain on the top surface of the boxed material 100 during the palletizing stage, a soot blowing nozzle is provided on one edge side of the support plate 133, and the soot blowing nozzle is used to blow out air to take away the dust remaining on the top surface of the boxed material 100.

[0035] In a possible implementation, in order to facilitate the arrangement of the boxed materials 100 moving on the second conveying mechanism 1d, and then to facilitate the use of the clamp 2 to grab the boxed materials 100 located on the second conveying mechanism 1d; Figure 9-10The second conveying mechanism 1d provided by the present invention is a roller conveying mechanism, and a stop structure and an adjustment structure are respectively arranged on both sides of the frame of the second conveying mechanism 1d for use therewith, and a connecting beam 38 is connected to the end of the frame of the second conveying mechanism 1d, and the inner side of the connecting beam 38 is connected to a movable push plate B39 through a telescopic cylinder D381; when in use, the movable push plate B39, the stop structure and the adjustment structure are used to organize the boxed materials 100 located on the second conveying mechanism 1d, keep the three boxed materials 100 arranged as a whole and move them to the specified position of the second conveying mechanism 1d, so as to facilitate the control of the clamp 2 to accurately grasp the boxed materials 100 located on the second conveying mechanism 1d.

[0036] Specifically, the stop structure includes a base 34 installed on one side of the frame, a stop plate 33 is arranged on one side of the base 34, and a guide plate 331 is arranged at one end of the stop plate 33; a plurality of rollers are arranged on the frame; the adjustment structure includes an L-shaped side plate 35 installed on one side of the frame, a plurality of telescopic cylinders C351 are arranged on the inner wall of the L-shaped side plate 35, and a movable push plate A36 is arranged at the end of the plurality of telescopic cylinders C351, so that when in use, the boxed material 100 is moved toward the side close to the stop plate 33 by controlling the movable push plate A36.

[0037] When in use, in order to prevent the movable push plate A36 from controlling the boxed material 100 to move toward the side close to the stop plate 33, since the bottom side of the boxed material 100 slides along the top surface of the roller of the second conveying mechanism 1d, a support structure that moves up and down in the vertical direction and is supported on the bottom side of the boxed material 100 is provided directly below the second conveying mechanism 1d. By utilizing the setting of the support structure, it is convenient to control the boxed material 100 to move toward the side close to the stop plate 33 under the action of the movable push plate A36 when in use; the support structure provided by the present invention includes a support frame 32 fixed by a plurality of lifting columns 31, and a plurality of horizontally arranged rectangular base plates 322 are connected to the upper surface of the support frame 32 through vertical rods 321, and a plurality of balls are embedded with equal gaps on the upper surface of the rectangular base plate 322 along its length direction; the rectangular base plate 322 passes through the gap formed by any two adjacent rollers.

[0038] In order to facilitate the control of the movement of multiple boxed materials 100 during use, and to drive the multiple boxed materials 100 to be close to each other and synchronously against the stop structure; the present invention installs a plurality of detection modules A37, detection modules B and detection modules C on the inner wall of the movable push plate A36, the movable push plate B39 and the stop plate 33 respectively along their length directions; a plurality of detection modules A37 are connected in series to the detection circuit A, a plurality of detection modules B are connected in series to the detection circuit B, and a plurality of detection modules C are connected in series to the detection circuit C; then, when the plurality of detection modules A37 are connected in series to the detection circuit A, When several detection modules B are turned on, the detection circuit A detects a signal, which indicates that one side of multiple boxed materials 100 is against the inner wall of the movable push plate A36; at the same time, when several detection modules B are turned on, the detection circuit B detects a signal, which indicates that one side of multiple boxed materials 100 is against one side of the stop plate 33; at the same time, when several detection modules C are turned on, the detection circuit C detects a signal, which indicates that one side of a boxed material 100 is against one side of the movable push plate B39, and further indicates that one side of the boxed material 100 is perpendicular to the vertical direction of the second conveying mechanism 1d.

[0039] The specific detection module A37, detection module B and detection module C have the same structure. Fig.11 As shown, the detection module A37 includes a cylinder A372 and a cylinder B370, and the end of the cylinder B370 is provided with a step portion 371 that is sleeved with the cylinder A372; a plurality of elastic telescopic rods 374 are connected between the cylinder A372 and the cylinder B370, and a convex column A376 made of ceramic material is provided on the bottom side of the cylinder A372, and a groove 3761 is provided on the end of the convex column A376, and a T-shaped ceramic rod 38 is connected to the bottom side of the groove 3761 through a spring 3762, and the end of the T-shaped ceramic rod 38 is connected to the contact block A38 1. A convex column B375 made of ceramic material is arranged on the bottom side surface of the cylinder B370, and an electric shock block B3751 is arranged on the end of the convex column B375; a gasket 373 made of rubber material is arranged on the end surface of the cylinder A372; when the box-packed material 100 hits the inner wall of the movable push plate A36, the box-packed material 100 hits the end of the detection module A37, thereby driving the cylinder A372 and the cylinder B370 to approach each other, and then the electric shock block A381 and the electric shock block B3751 are in contact, which indicates that the detection module A is in the on state.

[0040] Meanwhile, in the present invention, the first conveying mechanism 1b and the second conveying line 1c can be chain plate conveyors, belt conveyors, roller conveyors or roller conveyors.

[0041] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0042] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. Automatic palletizing equipment for boxed materials, It is characterized in that include: A first conveying line, which is used to convey boxed materials (100) to be palletized, and comprises a first conveying mechanism (1b) and a second conveying mechanism (1d) arranged at the end of the first conveying mechanism (1b); A second conveyor line (1c) is provided with a pallet for stacking boxed materials (100) and controls the pallet to move along its length direction; An automatic palletizing device (1a) spanning the junction of the second conveyor line (1c) and the first conveyor line and used to grab at least one box of materials (100) located on the second conveyor mechanism (1d) and stack them on a pallet of the second conveyor line (1c); The automatic palletizing device (1a) comprises a three-axis moving mechanism, the output end of the three-axis moving mechanism is connected to a rotating seat (143), and the rotating end of the rotating seat (143) is connected to a clamp (2) for grabbing boxed materials (100); The clamp (2) comprises a base plate (20), the upper surface of the base plate (20) is connected to an L-shaped movable plate (22) via a telescopic cylinder A (21), a rectangular hole (220) is provided on a side of the L-shaped movable plate (22) away from the base plate (20), a rectangular clamping plate (23) is provided in the rectangular hole (220); the top end of the rectangular clamping plate (23) is connected to an L-shaped folded edge (232), an inner wall of the L-shaped folded edge (233) abuts against an outer wall of the L-shaped movable plate (22); A telescopic cylinder B (24) is installed on the bottom side of the L-shaped movable plate (22) located inside the L-shaped folded edge (232), and an end of the telescopic cylinder B (24) is connected to the L-shaped folded edge (232); It also includes a controller, which is connected to the rotating seat (143), the telescopic cylinder B (24), the three-axis moving mechanism and the telescopic cylinder A (21).

2. The automatic palletizing equipment for boxed materials according to claim 1, It is characterized in that A plurality of guide holes A are provided at equal intervals at both ends of the base plate (20); a protrusion (221) bent toward a side away from the base plate (20) is provided at the end of the L-shaped movable plate (22); a guide rod A (222) inserted into the guide hole A is connected to the protrusion (221); The rectangular clamping plate (23) is provided with rectangular openings (231) that cooperate with the guide rods A (222) at equal intervals along its length direction; An opening (233) for avoiding the telescopic cylinder A (21) is provided on the inner side of the L-shaped folded edge (232).

3. The automatic palletizing equipment for boxed materials according to claim 2, It is characterized in that Two bosses (201) are arranged on the top side of the base plate (20), guide plug holes B are arranged at both ends of the bosses (201), and a guide plug rod B (223) inserted into the guide plug hole B is fixed to the inner wall of the L-shaped movable plate (22) located at the opening (233); The tops of the two bosses (201) are connected to a U-shaped connecting frame (202), and the U-shaped connecting frame (202) is connected to the output end of the rotating seat (143).

4. The automatic palletizing equipment for boxed materials according to any one of claims 1 to 3, It is characterized in that The three-axis moving mechanism comprises two longitudinal beams (10) supported by pillars (101), a guide rail A (102) is arranged on the upper surface of the longitudinal beam (10) along the length direction thereof, two sliders A (103) are arranged on any of the guide rails A (102), a support seat A (11) is connected to the top side surface of the two sliders A (103), two cross beams (13) are connected between the two support seats A (11), a guide rail B (131) is arranged on the upper surface of the cross beam (13) along the length direction thereof, two sliders B (132) are arranged on any of the guide rails B (131), and four sliders B (132) are connected to support plates (133); A mounting plate (14) that can move up and down is provided below the support plate (133), and a rotating seat (143) is connected to the bottom side of the mounting plate (14).

5. The automatic palletizing equipment for boxed materials according to claim 4, It is characterized in that A motor A (121) is mounted on the support seat A (11) via a mounting bracket A (12), an output end of the motor A (121) is connected to a gear A (122), and a rack A (104) cooperating with the gear A (122) is provided on one side of the longitudinal beam (10) along its length direction; A motor B (161) is mounted on one side of the upper surface of the support plate (133) via a mounting bracket B (16); an output end of the motor B (161) is connected to a gear B (162); and a rack B (130) cooperating with the gear B (162) is disposed along a length direction of one side of the crossbeam (13).

6. The automatic palletizing equipment for boxed materials according to claim 4, It is characterized in that The upper surface of the mounting plate (14) is connected to a top plate (15) via four guide rods (141) distributed in a rectangular shape, and the support plate (133) is located between the top plate (15) and the mounting plate (14); A guide sleeve (134) cooperating with the guide rod (141) is mounted on the support plate (133); a threaded rod (142) is rotatably connected to the upper surface of the mounting plate (14); a threaded rod sleeve (135) cooperating with the threaded rod (142) is arranged on the support plate (133); a rectangular plate (152) is fixed to the upper surface of the top plate (15) via a connecting column (151); a driving motor (153) whose output end passes through the rectangular plate (152) is mounted on the upper surface of the rectangular plate (152); and the output end of the driving motor (153) is connected to the end of the threaded rod (142) via a coupling (154).

7. The automatic palletizing equipment for boxed materials according to claim 1, It is characterized in that The second conveying mechanism (1d) is a roller-type conveying mechanism; A stop structure and an adjustment structure are respectively provided on both sides of a frame of the second conveying mechanism (1d); The stop structure comprises a base (34) mounted on one side of the frame, a stop plate (33) is arranged on one side of the base (34), and a guide plate (331) is arranged on one end of the stop plate (33); a plurality of rollers are arranged on the frame; The adjustment structure comprises an L-shaped side plate (35) mounted on one side of the frame, a plurality of telescopic cylinders C (351) are arranged on the inner wall of the L-shaped side plate (35), and movable push plates A (36) are arranged at the ends of the plurality of telescopic cylinders C (351).

8. The automatic palletizing equipment for boxed materials according to claim 7, It is characterized in that A support structure is arranged directly below the second conveying mechanism (1d), which moves up and down in the vertical direction and is supported on the bottom side of the boxed material (100); the support structure comprises a support frame (32) fixed by a plurality of lifting columns (31); the upper surface of the support frame (32) is connected to a plurality of horizontally arranged rectangular base plates (322) via vertical rods (321); the upper surface of the rectangular base plate (322) is embedded with a plurality of balls at equal intervals along its length direction; The rectangular substrate (322) passes through a gap formed by any two adjacent rollers.

9. The automatic palletizing equipment for boxed materials according to claim 8, It is characterized in that The end of the frame of the second conveying mechanism (1d) is connected to a connecting beam (38), and the inner side surface of the connecting beam (38) is connected to a movable push plate B (39) via a telescopic cylinder D (381).

10. The automatic palletizing equipment for boxed materials according to claim 9, It is characterized in that The inner wall surfaces of the movable push plate A (36), the movable push plate B (39) and the stop plate (33) are respectively provided with a plurality of detection modules A (37), a detection module B and a detection module C along their length directions; a plurality of the detection modules A (37) are connected in series, a plurality of the detection modules B are connected in series, and a plurality of the detection modules C are connected in series; The detection module A (37) comprises a cylinder A (372) and a cylinder B (370), and the end of the cylinder B (370) is provided with a step portion (371) that is sleeved with the cylinder A (372); A plurality of elastic telescopic rods (374) are connected between the cylinder A (372) and the cylinder B (370); a convex column A (376) made of ceramic material is arranged on the bottom side surface of the cylinder A (372); a groove (3761) is arranged at the end of the convex column A (376); a T-shaped ceramic rod (38) is connected to the bottom side surface of the groove (3761) via a spring (3762); the end of the T-shaped ceramic rod (38) is connected to a contact block A (381); a convex column B (375) made of ceramic material is arranged on the bottom side surface of the cylinder B (370); a contact block B (3751) is arranged at the end of the convex column B (375); and a gasket (373) made of rubber material is arranged on the end surface of the cylinder A (372).

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