Carton stacking equipment with automatic alignment function for box type goods

Abstract

The invention relates to the technical field of stacking, in particular to carton stacking equipment with an automatic alignment function for box type cargos, and the stacking equipment comprises a transition conveying mechanism, a main conveying mechanism, a tail end conveying mechanism, a mounting seat, a multi-connecting-rod mechanism and a chassis, compared with an existing stacking device, the stacking device is provided with the transition conveying mechanism, the main conveying mechanism and the tail end conveying mechanism, so that the stacking device can cope with cartons of different specifications, stacking is neat and compact, and the stacking efficiency is improved. The covering capacity and the bearing capacity are both improved compared with those of existing stacking equipment, meanwhile, the special tail end conveying mechanism has the capacity of enabling the cartons to rotate by 90 degrees around the Z axis, the stacked cartons can be tightly attached and flush as much as possible, it is guaranteed that the cartons stacked on each face in a carriage are neat and not loose, and the space of the carriage is fully utilized.

Description

Technical Field

[0001] The invention relates to the technical field of palletizing, in particular to a carton palletizing device with an automatic alignment function for box-type goods. Background Art

[0002] At present, the work of loading cartons into carriages is mainly done manually. In order to reduce labor intensity, forklifts, pallets, belt lines and roller lines are often used to assist. However, these auxiliary tools can only reduce the manual handling distance as much as possible. In the end, manual work is still required to stack the goods one box at a time.

[0003] For the 2.8m high container carriages on the market, when workers are stacking goods on the top floor, their height is very close to the 1.8m high-altitude work demarcation line. Limited by the size of the site, workers cannot be provided with sufficient safety measures. In order to increase the loading speed, there is a pallet stacking method on the market. Although this is fast, the utilization rate of the carriage volume is too low. Some equipment manufacturers have begun to develop unmanned loading equipment assisted by six-axis robots, which can improve the utilization rate of the carriage volume. However, due to the movement speed and handling capacity of the six-axis robot itself, the loading speed is between 400 and 600 pcs / h, which is far lower than the current market requirement of manual ≥800 pcs / h. Some manufacturers are also developing some multi-axis unmanned equipment, but there are still pain points such as loose stacking of cartons, single carton specifications and inability to change the posture of cartons that have not been overcome, and these have not yet entered the commercial stage. Finally, the existing carton stacking equipment does not have the function of automatic alignment and sorting during the transfer of cartons, which makes the cartons not neat during the stacking process, resulting in tipping problems as the stacking height of the cartons increases, and it is inconvenient to continue stacking on the cartons, which in turn affects the loading capacity of the goods. Summary of the invention

[0004] The object of the present invention is to provide a carton stacking device with an automatic alignment function for box-type goods, so as to solve the problems raised in the above-mentioned background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a carton stacking device with automatic alignment function for box-type cargo, the stacking device comprising a transition conveying mechanism, a main conveying mechanism, a terminal conveying mechanism, a mounting seat, a multi-link mechanism and a chassis, the mounting seat is arranged above the chassis through a slewing mechanism, the transition conveying mechanism and the main conveying mechanism are relatively arranged at the two ends above the mounting seat, the mounting seat is connected to the transition conveying mechanism and the main conveying mechanism through a multi-link mechanism, the transition conveying mechanism and the main conveying mechanism are connected through a universal joint, the terminal conveying mechanism is arranged at one end of the main conveying mechanism away from the transition conveying mechanism, the main conveying mechanism and the terminal conveying mechanism are connected through a positioning component, and the terminal conveying mechanism is controlled to move left and right and up and down through the positioning component. The working scenario of the present invention is to stack box-type cargo in a carriage. Before work, The transition conveying mechanism needs to be connected with the external telescopic roller line and the telescopic belt line, so as to conveniently transfer the goods in the warehouse to the present invention. The transition conveying mechanism and the main conveying mechanism arranged in the present invention both adopt electric rollers as power sources. Compared with the conventional speed regulating motor and reducer structure used in the current palletizing equipment, the structure of the present invention is relatively compact and space-saving. When the present invention is working, the cartons will flow through the transition conveying mechanism and the main conveying mechanism in sequence, and finally pass through the terminal conveying mechanism to stack a car cross section from bottom to top layer by layer. When the car cross section at the working position is stacked, the present invention needs to retreat the distance of a carton, and then repeat the above operation to stack the second car cross section, and so on to stack the entire car. Compared with the current palletizing equipment, the present invention can cope with cartons of different specifications, and the stacking is neat and tight, and the covering capacity and carrying capacity are improved compared with the existing palletizing equipment.

[0006] Furthermore, the terminal conveying mechanism includes a conveying frame, a conveying belt assembly, a conveying roller assembly, a carton side assembly, a carton blocking and rotating assembly, a conveying synchronous belt assembly and a box pushing assembly. The conveying belt assembly is provided with an end of the conveying frame close to the main conveying mechanism, the conveying roller assembly, the carton blocking and rotating assembly and the conveying synchronous belt assembly are sequentially arranged at the end of the conveying belt assembly away from the main conveying mechanism, and the carton side assembly is arranged at the middle position of the conveying roller assembly. When conveying cartons in the present invention, the cartons will pass through the conveying belt assembly, the conveying roller assembly, the carton blocking and rotating assembly, and the conveying synchronous belt assembly in sequence. The box pushing assembly is arranged at the middle position of the conveying synchronous belt assembly. The box pushing assembly is provided with three groups. The assembly consists of a parallelogram, rollers and a folding motor. When the box-pushing assembly is not in use, the box-pushing assembly is folded and hidden between the conveying synchronous belt assemblies to prevent the box-pushing assembly from interfering with the movement of the carton on the terminal conveying mechanism. When the carton leaves the terminal conveying mechanism, the folding motor drives the four-link to unfold. At this time, the roller will protrude to the front end of the box-pushing assembly. The inertia force and the torque of the folding motor can exert a group of forward-moving forces on the carton, thereby making the carton close together front and back. When the carton is close together front and back with the previously stacked cartons, the parallelogram is folded by the folding motor (the functions achieved by the folding motor and the folding of the parallelogram belong to conventional technical means in this field, and the specific structure is not described) for the next use.

[0007] Furthermore, the carton side assembly includes a first conveyor belt and a first lifting element, and the first lifting element is used to control the first conveyor belt to perform lifting and lowering movements at the middle position of the conveying roller assembly. The carton blocking and rotating assembly includes a second conveyor belt, a second lifting element, a blocking roller and an offset motor, and the blocking roller is arranged inside the second conveyor belt, and the offset motor and the second lifting element are both arranged below the second conveyor belt. The second conveyor belt is driven to move by the offset motor, and the second conveyor belt and the blocking roller are driven to perform lifting and lowering movements by the second lifting element. When the carton moves normally on the terminal conveying mechanism, the height of the carton side assembly and the carton blocking and rotating assembly does not exceed the conveying roller assembly. When the staff needs the carton to shift to the left or right, the staff only needs to open the second lifting element, and drive the second conveyor belt and the blocking roller to move up through the second lifting element. At this time, the carton flowing from the conveying roller assembly will be blocked by the second conveyor belt and the blocking roller, and stay On the conveying roller assembly, the staff can then drive the first conveyor belt to move up through the first lifting element, so that the first conveyor belt can lift the carton and detach from the conveying roller assembly. When the first conveyor belt is transported to the left, the carton can be offset to the left as a whole. When the first conveyor belt is transported to the right, the carton can be offset to the right as a whole. After the carton is offset to the target position, the first conveyor belt is driven down by the first lifting element. At this time, the carton will fall back onto the roller assembly and wait for forward transportation. Finally, if the staff needs the carton to turn ninety degrees around the Z axis, they only need to turn on the offset motor to rotate the second conveyor belt. Because the front of the carton is close to the second conveyor belt at this time, the friction between the second conveyor belt and the carton can make the carton deflect to one side. At the same time, the friction between the bottom of the carton and the roller assembly can assist the carton to complete the ninety-degree rotation. The present invention can automatically adjust the position of the carton through the above scheme, thereby improving work efficiency and reducing the labor intensity of the staff.

[0008] Furthermore, the terminal conveying mechanism also includes an adjustment component, which is provided with two groups. The two groups of adjustment components are relatively arranged at the left and right ends of the conveying frame. The adjustment component includes a dial frame, a slide rail, a shell, a slide seat, a positioning synchronous belt assembly and a servo motor. The shell is fixedly installed on the side end of the conveying frame, and the slide rail and the positioning synchronous belt assembly are both arranged inside the shell and fixedly connected to the conveying frame. One end of the slide seat is fixedly installed on the positioning synchronous belt assembly, and the other end of the slide seat is connected to the slide rail through a slider. The dial frame is arranged at the end of the slide seat away from the main conveying mechanism, and the servo motor is arranged below the shell. The servo motor is connected to the positioning synchronous belt assembly through a gear box. The present invention drives the slide and the transfer frame to move through the servo motor and the positioning synchronous belt assembly, so that the staff can adjust the size of the transfer frame extending out of the shell according to the needs. In the actual stacking process, there may be a certain gap between the cartons. When encountering this situation, the present invention drives the transfer frame to extend to a suitable length through the servo motor and the positioning synchronous belt assembly, and then drives the terminal conveying mechanism to move left or right horizontally as a whole through the positioning assembly. At this time, the transfer frame can push the carton to the left and right to fit tightly, so as to avoid the carton shaking due to loose fit during transportation.

[0009] Furthermore, the transfer frame is connected to the slide seat through a fixed seat, the fixed seat is fixedly installed in the slide seat, a reversing motor is arranged in the fixed seat, a turntable is arranged at one end of the transfer frame close to the fixed seat, the working end of the reversing motor is connected to the turntable, the turntable is connected to the fixed seat through an annular slider, an active chamber and a vacuum pump are arranged in the transfer frame, the active chamber is connected to the vacuum pump, and a plurality of groups of fixing holes are arranged at the side end of the active chamber. When the transfer frame in the present invention pushes the carton to be close to the left and right, the pushing mode can be selected according to the degree of damage and weight of the carton. When the weight of the carton is too large and it is easy to be damaged, the staff can select the pushing mode according to the degree of damage and weight of the carton. When the weight of the carton is too large and it is easy to be damaged, the staff can select the pushing mode according to the reversing motor. The motor drives the transfer rack and the turntable to rotate until several groups of fixing holes are located at the lower end of the transfer rack, and then the positioning component drives the terminal conveying mechanism to move up, so that after the transfer rack is extended, the transfer rack can be located above the carton. When several groups of fixing holes are in contact with the upper end of the carton, the vacuum pump makes the active chamber in a negative pressure state, and then the positioning component drives the terminal conveying mechanism to move the carton up a certain distance, and then move horizontally to make the carton close to each other. Compared with directly pushing the carton to the left and right, the above technical solution can effectively avoid scratches between cartons due to friction, and at the same time, it can also prevent the problem of tape warping.

[0010] Furthermore, several groups of sealing frames are arranged in the movable cavity, each group of the sealing frames is aligned with a group of fixed holes, a group of second electromagnets is arranged on the side of each group of sealing frames away from the fixed holes, each group of the sealing frames is movably installed in the movable cavity through guide rods, each group of the guide rods is wound with induction springs, and a piezoelectric sheet is arranged on the end of each group of sealing frames close to the induction springs. When the carton leaves the terminal conveying mechanism, the staff can first extend the transfer frame out of the shell and contact the side of the carton. At this time, the staff can judge whether the carton has bulging problems by comparing the electrical signals generated by several groups of piezoelectric sheets. If the carton has bulging, the electrical signals generated by several groups of piezoelectric sheets will have different values. Through the above technical solution, it is convenient for the staff to handle unqualified goods evenly. When the carton is detected to be a qualified product, the second electromagnet generates a magnetic field to attract the sealing frame, so that the sealing frame is away from the fixed hole, which is convenient for the subsequent suction of the carton to the transfer frame by a vacuum pump.

[0011] Furthermore, the positioning assembly includes a cylinder, a movable seat, a horizontal motor, a worm gear assembly and a rotating shaft, the rotating shaft is arranged at one end of the main conveying mechanism close to the end conveying mechanism, the movable seat is movably installed on the rotating shaft and is connected with the conveying mechanism at the end of the bracket, the working end of the cylinder is connected with the rotating shaft through a connecting frame, the horizontal motor and the worm gear assembly are both arranged at the end of the rotating shaft away from the connecting frame, a telescopic shaft and a screw are arranged in the rotating shaft, a connecting block is arranged at the end of the telescopic shaft close to the screw, a connecting seat is arranged at the end of the screw close to the telescopic shaft, the connecting block is slidably installed in the connecting seat, the screw is connected to the worm wheel in the worm gear assembly, and the telescopic shaft is connected to the movable seat through a transmission assembly. The present invention drives the rotating shaft to swing up and down by the telescopic drive of the cylinder, drives the telescopic shaft and the screw to move horizontally by the horizontal motor and the worm gear assembly, and the movable seat moves synchronously on the rotating shaft when the telescopic shaft moves horizontally.

[0012] Furthermore, the transmission assembly includes a transmission slot and a positioning block, the positioning block is fixedly mounted on the telescopic shaft, the left and right ends of the positioning block are provided with positioning slots, the transmission slots are provided with two groups, the two groups of transmission slots are relatively arranged at the two ends inside the movable seat, each group of the transmission slots is provided with a group of positioning frames at one end close to the positioning block, the positioning frames are connected to the transmission slot through a reset spring rod, and each group of the transmission slots is provided with a group of first electromagnets at one end away from the positioning block, the positioning frames cooperate with the positioning slots, and when the present invention is working normally, the first electromagnet generates a group of magnetic fields that repel the positioning frames, at this time the positioning frames are inserted into the positioning slots, the movable seat and the positioning blocks are in a fixed state, so as to facilitate the subsequent driving of the terminal conveying mechanism to move up and down and horizontally, when the transfer frame is pushing the carton to the left and right, if a power outage occurs suddenly, the positioning frame will automatically extend from the positioning slot under the action of the reset spring rod, so as to facilitate the subsequent staff to push the terminal conveying mechanism away from the carton, and prevent the transfer frame from rubbing against the side wall of the carton when the present invention is taken out from the carriage.

[0013] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: compared with the current palletizing equipment, the present invention is provided with a transition conveying mechanism, a main conveying mechanism and a terminal conveying mechanism, so that it can cope with cartons of different specifications, and the cartons are stacked neatly and tightly, and the covering capacity and the carrying capacity are improved compared with the existing palletizing equipment. At the same time, the special terminal conveying mechanism provided by the present invention can adapt to cartons of different sizes, and has the ability to rotate the cartons ninety degrees around the Z axis, and can also make the stacked cartons as close and flush as possible, ultimately ensuring that the stacked cartons on each side of the carriage are neat and not loose, and making full use of the carriage space. In addition, the present invention can also be interconnected with the information of the stereoscopic warehouse to realize the sharing of shipping information, reduce the number of manual interventions, and reduce the probability of errors. The present invention is also provided with an adjustment component, which drives the slide and the transfer frame to move through a servo motor and a positioning synchronous belt component, so as to facilitate the staff to adjust the size of the transfer frame extending out of the shell according to needs. In the actual stacking process, there may be a certain gap between the cartons. When encountering this When the carton is in a state of being pressed against the load, the servo motor and the synchronous belt assembly are used to drive the transfer frame to extend to a suitable length, and then the positioning assembly is used to drive the terminal conveying mechanism to move horizontally to the left or right as a whole. At this time, the transfer frame can push the carton to fit tightly to the left and right, so as to avoid the carton from shaking due to loose fit during transportation. When the carton is heavy and easily damaged, the transfer frame can move the carton up a certain distance and then move horizontally, so as to effectively avoid the carton from being scratched due to friction, and also prevent the problem of tape warping. Finally, the present invention is also provided with a transmission assembly. During normal operation, the movable seat and the positioning block are fixed in a fixed state through the transmission assembly, so as to facilitate the subsequent driving of the terminal conveying mechanism to move up and down and horizontally. When the transfer frame is pushing the carton to fit tightly to the left and right, if a power failure occurs suddenly, the transmission assembly will automatically separate the movable seat and the positioning block, so as to facilitate the subsequent staff to push the terminal conveying mechanism away from the carton, and prevent the transfer frame from rubbing against the side wall of the carton when the present invention is taken out of the carriage. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 It is a schematic diagram of the structure of the terminal conveying mechanism of the present invention;

[0017] Figure 3 is a schematic diagram of the structure of the adjustment component of the present invention;

[0018] Figure 4 It is a schematic diagram of the structure of the transfer rack of the present invention;

[0019] Figure 5 The present invention Figure 4 Schematic diagram of the structure of the middle A part;

[0020] Figure 6 It is a schematic diagram of the structure of the transfer rack of the present invention when sucking and fixing cartons;

[0021] Figure 7 It is a schematic diagram of the structure of the connection between the main conveying mechanism and the terminal conveying mechanism of the present invention;

[0022] Figure 8 It is a schematic diagram of the internal structure of the rotating shaft of the present invention;

[0023] Fig. 9 The present invention Figure 8 Schematic diagram of the structure of part B.

[0024] In the figure: 1, transition conveying mechanism; 2, main conveying mechanism; 21, cylinder; 22, connecting frame; 23, movable seat; 231, positioning frame; 232, transmission groove; 233, first electromagnet; 24, horizontal motor; 25, worm gear assembly; 26, rotating shaft; 261, telescopic shaft; 2611, positioning block; 262, connecting seat; 263, lead screw; 264, connecting block; 27, bracket; 3, terminal conveying mechanism; 31, conveying frame; 32, conveying belt assembly; 33, conveying roller assembly; 34, carton side assembly; 35, carton blocking assembly gear and rotating assembly; 36, conveying synchronous belt assembly; 37, pushing box assembly; 38, adjusting assembly; 381, dial frame; 3811, movable chamber; 3812, vacuum pump; 3813, turntable; 3814, second electromagnet; 3815, sealing frame; 3816, fixing hole; 382, ​​slide rail; 383, housing; 384, slide seat; 385, adjusting synchronous belt assembly; 386, fixing seat; 3861, reversing motor; 387, gear box; 388, servo motor; 4, mounting seat; 5, multi-link mechanism; 6, chassis; 7, carton. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] See also Figure 1-Figure 9The present invention provides a technical solution: a carton palletizing device with an automatic alignment function for box-type goods, the palletizing device comprising a transition conveying mechanism 1, a main conveying mechanism 2, a terminal conveying mechanism 3, a mounting seat 4, a multi-link mechanism 5 and a chassis 6, the mounting seat 4 is arranged above the chassis 6 through a slewing mechanism, the transition conveying mechanism 1 and the main conveying mechanism 2 are relatively arranged at the two ends above the mounting seat 4, the mounting seat 4 is connected to the transition conveying mechanism 1 and the main conveying mechanism 2 through a multi-link mechanism 5, the transition conveying mechanism 1 and the main conveying mechanism 2 are connected through a universal joint, the terminal conveying mechanism 3 is arranged at one end of the main conveying mechanism 2 away from the transition conveying mechanism 1, the main conveying mechanism 2 and the terminal conveying mechanism 3 are connected through a positioning component, and the terminal conveying mechanism 3 is controlled to move left and right and up and down through the positioning component. The working scene of the present invention is to stack box-type goods in a carriage. Before work, the transition conveying mechanism 1 It needs to be connected with the external telescopic roller line and the telescopic belt line, so as to conveniently transfer the goods in the warehouse to the present invention. The transition conveying mechanism 1 and the main conveying mechanism 2 provided in the present invention both adopt electric rollers as power sources. Compared with the conventional speed regulating motor and reducer structure used in the current palletizing equipment, the structure of the present invention is relatively compact and space-saving. When the present invention is working, the carton 7 will flow through the transition conveying mechanism 1 and the main conveying mechanism 2 in sequence, and finally pass through the terminal conveying mechanism 3 to stack a car cross section from bottom to top layer by layer. When the car cross section at the working position is stacked, the present invention needs to retreat the distance of a carton, and then repeat the above operation to stack the second car cross section, and so on to stack the entire car. Compared with the current palletizing equipment, the present invention can cope with cartons of different specifications, and stack them neatly and tightly, and the covering capacity and carrying capacity are improved compared with the existing palletizing equipment.

[0027] like Figure 1-Figure 2As shown, the terminal conveying mechanism 3 includes a conveying frame 31, a conveying belt assembly 32, a conveying roller assembly 33, a carton side assembly 34, a carton blocking and rotating assembly 35, a conveying synchronous belt assembly 36 and a box pushing assembly 37. The conveying belt assembly 32 is provided with an end of the conveying frame 31 close to the main conveying mechanism 2, the conveying roller assembly 33, the carton blocking and rotating assembly 35 and the conveying synchronous belt assembly 36 are sequentially arranged at the end of the conveying belt assembly 32 away from the main conveying mechanism 2, and the carton side assembly 34 is arranged at the middle position of the conveying roller assembly 33. When the carton 7 is conveyed, the carton will follow the The push box assembly 37 is arranged at the middle position of the conveying synchronous belt assembly 36. The push box assembly 37 is provided with three groups. The push box assembly 37 is composed of a parallel four-link, a roller and a folding motor. When the push box assembly 37 is not in use, the push box assembly 37 is folded and hidden between the conveying synchronous belt assembly 36 to prevent the push box assembly 37 from interfering with the movement of the carton 7 on the terminal conveying mechanism 3. When the carton 7 leaves the terminal conveying mechanism 3, the folding motor drives the four-link to unfold (such as Figure 2 As shown), at this time, the roller will protrude to the front end of the box pushing assembly 37, and the inertial force and the torque of the folding motor can be used to apply a group of forward moving forces to the carton 7, so that the carton 7 can be pressed tightly together front and back. When the carton 7 is pressed tightly together front and back with the previously stacked cartons 7, the folding motor is used to fold the parallelepiped linkage (the functions achieved by the folding motor and the parallelepiped linkage belong to conventional technical means in the field, and the specific structure is not described) for next use.

[0028] like Figure 2As shown, the carton side assembly 34 includes a first conveyor belt and a first lifting element, and the first lifting element is used to control the first conveyor belt to perform lifting and lowering movements at the middle position of the conveying roller assembly 33. The carton blocking and rotating assembly 35 includes a second conveyor belt, a second lifting element, a blocking roller and an offset motor, and the blocking roller is arranged inside the second conveyor belt, and the offset motor and the second lifting element are both arranged below the second conveyor belt. The second conveyor belt is driven to move by the offset motor, and the second conveyor belt and the blocking roller are driven to perform lifting and lowering movements by the second lifting element. When the carton 7 moves normally on the terminal conveying mechanism 3, the heights of the carton side assembly 34 and the carton blocking and rotating assembly 35 do not exceed the conveying roller assembly 33. When the staff needs the carton 7 to shift to the left or right, the staff only needs to turn on the second lifting element, and drive the second conveyor belt and the blocking roller to move up through the second lifting element. At this time, the carton flowing from the conveying roller assembly 33 will be blocked by the second conveyor belt and the blocking roller, and stay on the conveying roller assembly 33. Then the staff can drive the first conveyor belt to move up through the first lifting element, so that the first conveyor belt can lift the carton 7 and disengage from the conveying roller assembly 33. When the first conveyor belt is transported to the left, the carton 7 can be offset to the left as a whole. When the first conveyor belt is transported to the right, the carton 7 can be offset to the right as a whole. After the carton 7 is offset to the target position, the first conveyor belt is driven down by the first lifting element. At this time, the carton 7 will fall back onto the roller assembly 33 and wait for forward transportation. Finally, if the staff needs the carton 7 to turn ninety degrees around the Z axis, they only need to turn on the offset motor to rotate the second conveyor belt. Because the front of the carton 7 is close to the second conveyor belt at this time, the friction between the second conveyor belt and the carton 7 can make the carton deflect to one side. At the same time, the friction between the bottom of the carton 7 and the roller assembly 33 can assist the carton 7 to complete the rotation of ninety degrees. The present invention can automatically adjust the position of the carton 7 through the above scheme, thereby improving work efficiency and reducing the labor intensity of the staff.

[0029] like Figure 2-Figure 3As shown, the terminal conveying mechanism 3 also includes an adjustment component 38, which is provided with two groups. The two groups of adjustment components 38 are relatively arranged at the left and right ends of the conveying frame 31. The adjustment component 38 includes a dial frame 381, a slide rail 382, ​​a shell 383, a slide seat 384, a position adjustment synchronous belt assembly 385 and a servo motor 388. The shell 383 is fixedly installed on the side end of the conveying frame 31. The slide rail 382 and the position adjustment synchronous belt assembly 385 are both arranged inside the shell 383 and fixedly connected to the conveying frame 31. One end of the slide seat 384 is fixedly installed on the position adjustment synchronous belt assembly 385, and the other end of the slide seat 384 is connected to the slide rail 382 through a slider. The dial frame 381 is arranged at one end of the slide seat 384 away from the main conveying mechanism 2, and the servo motor 388 is arranged on the shell 383. Below, the servo motor 388 is connected to the positioning timing belt assembly 385 through the gear box 387. The present invention drives the slide 384 and the dial frame 381 to move through the servo motor 388 and the positioning timing belt assembly 385, so as to facilitate the staff to adjust the size of the dial frame 381 extending out of the shell 383 according to needs. In the actual stacking process, there may be a certain gap between the cartons 7 and the cartons 7. When encountering this situation, the present invention drives the dial frame 381 to extend to an appropriate length through the servo motor 388 and the positioning timing belt assembly 385, and then drives the terminal conveying mechanism 3 to move left or right horizontally as a whole through the positioning assembly. At this time, the dial frame 381 can push the carton 7 to fit tightly to the left and right, so as to avoid shaking of the carton 7 due to loose fit during transportation.

[0030] like Figure 4-Figure 6As shown, the transfer frame 381 is connected to the slide 384 through a fixed seat 386, and the fixed seat 386 is fixedly installed in the slide 384. A reversing motor 3861 is arranged in the fixed seat 386. A turntable 3813 is arranged at one end of the transfer frame 381 close to the fixed seat 386. The working end of the reversing motor 3861 is connected to the turntable 3813, and the turntable 3813 is connected to the fixed seat 386 through an annular slider. An active chamber 3811 and a vacuum pump 3812 are arranged in the transfer frame 381. The active chamber 3811 is connected to the vacuum pump 3812, and a plurality of groups of fixing holes 3816 are arranged at the side end of the active chamber 3811. When the transfer frame 381 in the present invention pushes the carton 7 to be close to the left and right, the pushing method can be selected according to the degree of damage and weight of the carton 7. When the weight of the carton 7 is too large and it is easy to be damaged, then The staff can drive the transfer frame 381 and the turntable 3813 to rotate through the reversing motor 3861 until the several groups of fixing holes 3816 are located at the lower end of the transfer frame 381, and then drive the end conveying mechanism 3 to move up through the positioning component to facilitate the transfer frame 381 to be located above the carton 7 after it is extended. When the several groups of fixing holes 3816 are in contact with the upper end of the carton 7, the active chamber 3811 is put into a negative pressure state through the vacuum pump 3812, and then the end conveying mechanism 3 is driven by the positioning component to move the carton 7 up a certain distance, and then move horizontally to make the carton 7 close to the left and right. Compared with directly pushing the carton 7 close to the left and right, the above technical solution can effectively avoid the phenomenon of scratches between cartons 7 due to friction, and at the same time, it can also prevent the problem of tape warping.

[0031] like Figure 4-Figure 6 As shown, a plurality of sealing frames 3815 are arranged in the movable cavity 3811, each sealing frame 3815 is aligned with a fixed hole 3816, a second electromagnet 3814 is arranged on the side of each sealing frame 3815 away from the fixed hole 3816, each sealing frame 3815 is movably installed in the movable cavity 3811 through a guide rod, each guide rod is wound with an induction spring, and a piezoelectric sheet is arranged at one end of each sealing frame 3815 close to the induction spring. When the carton 7 leaves the terminal conveying mechanism 3, the staff can first extend the transfer frame 381 out of the housing 383 and contact the side of the carton 7. At this time, the staff can judge whether the carton 7 has bulging or other problems by comparing the electrical signals generated by the plurality of piezoelectric sheets. If the carton 7 has bulging (such as Figure 4 As shown), the electrical signals generated by several groups of piezoelectric sheets will have different values. Through the above technical solution, it is convenient for the staff to deal with unqualified goods even if they are filled. When the carton 7 is detected to be a qualified product, the second electromagnet 3814 generates a set of magnetic fields to attract the sealing frame 3815, so that the sealing frame 3815 is away from the fixing hole 3816, thereby facilitating the subsequent suction of the carton 7 to the transfer frame 381 through the vacuum pump 3812.

[0032] like Figure 7-Figure 8 As shown, the positioning assembly includes a cylinder 21, a movable seat 23, a horizontal motor 24, a worm gear assembly 25 and a rotating shaft 26. The rotating shaft 26 is arranged at one end of the main conveying mechanism 2 close to the terminal conveying mechanism 3. The movable seat 23 is movably mounted on the rotating shaft 26 and is connected to the terminal conveying mechanism 3 through a bracket 27. The working end of the cylinder 21 is connected to the rotating shaft 26 through a connecting frame 22. The horizontal motor 24 and the worm gear assembly 25 are both arranged at one end of the rotating shaft 26 away from the connecting frame 22. A telescopic shaft 261 and a lead screw 263 are arranged in the rotating shaft 26. A connecting rod 263 is arranged at one end of the telescopic shaft 261 close to the lead screw 263. Block 264, a connecting seat 262 is provided at one end of the lead screw 263 close to the telescopic shaft 261, the connecting block 264 is slidably installed in the connecting seat 262, the lead screw 263 is connected to the worm gear in the worm gear assembly 25, and the telescopic shaft 261 is connected to the movable seat 23 through a transmission assembly. The present invention drives the movable seat 23, the bracket 27 and the conveying mechanism 3 to swing up and down through the telescopic driving shaft 26 of the cylinder 21, and drives the telescopic shaft 261 and the lead screw 263 to move horizontally through the horizontal motor 24 and the worm gear assembly 25. When the telescopic shaft 261 moves horizontally, the movable seat 23 moves synchronously on the shaft 26.

[0033] like Figure 7-Figure 9 As shown, the transmission assembly includes a transmission groove 232 and a positioning block 2611, the positioning block 2611 is fixedly installed on the telescopic shaft 261, and the left and right ends of the positioning block 2611 are provided with positioning grooves. There are two groups of transmission grooves 232, and the two groups of transmission grooves 232 are relatively arranged at the two ends inside the movable seat 23. One end of each group of transmission grooves 232 close to the positioning block 2611 is provided with a group of positioning frames 231, and the positioning frames 231 are connected to the transmission grooves 232 through a reset spring rod. One end of each group of transmission grooves 232 away from the positioning block 2611 is provided with a group of first electromagnets 233, and the positioning frames 231 cooperate with the positioning grooves. When the present invention is working normally, the first electromagnet 233 generates a set of magnetic fields that repel the positioning frame 231. At this time, the positioning frame 231 is inserted into the positioning groove, and the movable seat 23 and the positioning block 2611 are in a fixed state, so as to facilitate the subsequent driving of the terminal conveying mechanism 3 to move up and down and horizontally. When the transfer frame 381 is pushing the carton 7 to the left and right, if there is a sudden power outage, the positioning frame 231 will automatically extend from the positioning groove under the action of the reset spring rod, so as to facilitate the subsequent staff to push the terminal conveying mechanism 3 away from the carton 7 and prevent the transfer frame 381 from rubbing against the side wall of the carton 7 when the present invention is taken out from the carriage.

[0034] The working principle of the present invention is as follows: before working, the transition conveying mechanism 1 needs to be connected with the external telescopic roller line and the telescopic belt line, so as to conveniently transfer the goods in the warehouse to the present invention. When working, the carton 7 will flow through the transition conveying mechanism 1, the main conveying mechanism 2, and finally pass through the conveying belt assembly 32, the conveying roller assembly 33, the carton blocking and rotating assembly 35, and the conveying synchronous belt assembly 36. When the carton 7 leaves the terminal conveying mechanism 3, the folding motor drives the four-link to unfold. At this time, the roller will protrude to the front end of the box pushing assembly 37, and the inertia is used to push the carton 7 to the front end of the box pushing assembly 37. The force and torque of the folding motor can exert a set of forward moving forces on the carton 7, so that the carton 7 can be pressed tightly together front and back, and then the servo motor 388 and the positioning synchronous belt assembly 385 drive the shifting frame 381 to extend to a suitable length, and then the positioning assembly drives the terminal conveying mechanism 3 to move horizontally left or right as a whole. At this time, the shifting frame 381 can push the carton 7 to the left or right. When the staff needs the carton 7 to shift to the left or right, the staff only needs to open the second lifting element. At this time, the carton flowing from the conveying roller assembly 33 will be moved by the second The carton 7 is blocked by the conveyor belt and the blocking roller and stays on the conveyor roller assembly 33. Then the staff can drive the first conveyor belt to move up through the first lifting element, so that the first conveyor belt can lift the carton 7 and separate from the conveyor roller assembly 33. When the first conveyor belt is transported to the left, the carton 7 can be shifted to the left as a whole. When the first conveyor belt is transported to the right, the carton 7 can be shifted to the right as a whole. When the carton 7 is offset to the target position, the first conveyor belt is driven to move down through the first lifting element. At this time, the carton 7 will fall back onto the roller assembly 33 and wait for forward transportation. The staff If the staff needs the carton 7 to turn 90 degrees around the Z axis, they only need to start the offset motor to rotate the second conveyor belt. Because the front of the carton 7 is close to the second conveyor belt at this time, the friction between the second conveyor belt and the carton 7 can make the carton deflect to one side. At the same time, the friction between the bottom of the carton 7 and the roller assembly 33 can assist the carton 7 to complete the 90-degree rotation. When the cross-section of the carriage at the working position is stacked, the present invention needs to retreat the distance of one carton, and then repeat the above operation to stack the second cross-section of the carriage, and so on to complete the stacking of the entire carriage.

[0035] Although the embodiments of the present invention have been shown and described, it is to be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, substitute and vary the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention.

Claims

1. A carton palletizing device with automatic alignment function for box-type goods, characterized in that: The stacking device comprises a transition conveying mechanism (1), a main conveying mechanism (2), a terminal conveying mechanism (3), a mounting seat (4), a multi-link mechanism (5) and a chassis (6); the mounting seat (4) is arranged above the chassis (6) through a slewing mechanism; the transition conveying mechanism (1) and the main conveying mechanism (2) are relatively arranged at the two ends above the mounting seat (4); the mounting seat (4) is connected to the transition conveying mechanism (1) and the main conveying mechanism (2) through a multi-link mechanism (5); the transition conveying mechanism (1) and the main conveying mechanism (2) are connected through a universal joint; the terminal conveying mechanism (3) is arranged at one end of the main conveying mechanism (2) away from the transition conveying mechanism (1); the main conveying mechanism (2) and the terminal conveying mechanism (3) are connected through a positioning assembly; and the positioning assembly controls the left-right movement and the up-and-down movement of the terminal conveying mechanism (3).

2. The carton stacking device with automatic alignment function for box-type goods according to claim 1, characterized in that: The terminal conveying mechanism (3) comprises a conveying frame (31), a conveying belt assembly (32), a conveying roller assembly (33), a carton side assembly (34), a carton blocking and rotating assembly (35), a conveying synchronous belt assembly (36) and a box pushing assembly (37); the conveying belt assembly (32) is provided with an end of the conveying frame (31) close to the main conveying mechanism (2); the conveying roller assembly (33), the carton blocking and rotating assembly (35) and the conveying synchronous belt assembly (36) are sequentially arranged at an end of the conveying belt assembly (32) away from the main conveying mechanism (2); the carton side assembly (34) is arranged at a middle position of the conveying roller assembly (33); the box pushing assembly (37) is arranged at a middle position of the conveying synchronous belt assembly (36); and the box pushing assembly (37) has a folding function.

3. The carton palletizing device with automatic alignment function for box-type goods according to claim 2, characterized in that: The carton side assembly (34) includes a first conveyor belt and a first lifting element, and the first conveyor belt is controlled by the first lifting element to perform lifting and lowering movements at the middle position of the conveyor roller assembly (33). The carton blocking and rotating assembly (35) includes a second conveyor belt, a second lifting element, a blocking roller and an offset motor, and the blocking roller is arranged inside the second conveyor belt. The offset motor and the second lifting element are both arranged below the second conveyor belt. The second conveyor belt is driven to move by the offset motor, and the second conveyor belt and the blocking roller are driven to perform lifting and lowering movements by the second lifting element.

4. The carton stacking device with automatic alignment function for box-type goods according to claim 2, characterized in that: The terminal conveying mechanism (3) further comprises an adjustment assembly (38), wherein the adjustment assembly (38) comprises two groups, and the two groups of the adjustment assembly (38) are relatively arranged at the left and right ends of the conveying frame (31), and the adjustment assembly (38) comprises a shifting frame (381), a slide rail (382), a housing (383), a slide seat (384), a position adjustment synchronous belt assembly (385) and a servo motor (388), wherein the housing (383) is fixedly mounted on the side end of the conveying frame (31), and the slide rail (382) and the position adjustment synchronous belt assembly (385) are arranged on the side end of the conveying frame (31). Both are arranged inside the housing (383) and fixedly connected to the conveying frame (31); one end of the slide (384) is fixedly mounted on the positioning synchronous belt assembly (385); the other end of the slide (384) is connected to the slide rail (382) through a slider; the adjustment frame (381) is arranged at one end of the slide (384) away from the main conveying mechanism (2); the servo motor (388) is arranged below the housing (383); and the servo motor (388) is connected to the positioning synchronous belt assembly (385) through a gear box (387).

5. The carton stacking device with automatic alignment function for box-type goods according to claim 4, characterized in that: The shifting frame (381) is connected to the slide (384) via a fixed seat (386); the fixed seat (386) is fixedly installed in the slide (384); a reversing motor (3861) is arranged in the fixed seat (386); a turntable (3813) is arranged at one end of the shifting frame (381) close to the fixed seat (386); a working end of the reversing motor (3861) is connected to the turntable (3813); an active chamber (3811) and a vacuum pump (3812) are arranged in the shifting frame (381); the active chamber (3811) is connected to the vacuum pump (3812); and a plurality of fixing holes (3816) are arranged at the side end of the active chamber (3811).

6. The carton stacking device with automatic alignment function for box-type goods according to claim 5, characterized in that: A plurality of groups of sealing frames (3815) are arranged in the movable cavity (3811), each group of the sealing frames (3815) is aligned with a group of fixing holes (3816), a group of second electromagnets (3814) are arranged on the side of each group of the sealing frames (3815) away from the fixing holes (3816), each group of the sealing frames (3815) is movably installed in the movable cavity (3811) through a guide rod, an induction spring is wound around each group of the guide rod, and a piezoelectric sheet is arranged on one end of each group of the sealing frames (3815) close to the induction spring.

7. A carton stacking device with automatic alignment function for boxed goods according to any one of claims 1 to 6, characterized in that: The positioning assembly comprises a cylinder (21), a movable seat (23), a horizontal motor (24), a worm gear assembly (25) and a rotating shaft (26); the rotating shaft (26) is arranged at one end of the main conveying mechanism (2) close to the terminal conveying mechanism (3); the movable seat (23) is movably mounted on the rotating shaft (26) and is connected to the terminal conveying mechanism (3) through a bracket (27); the working end of the cylinder (21) is connected to the rotating shaft (26) through a connecting frame (22); the horizontal motor (24) and the worm gear assembly (25) are both arranged at a position far from the rotating shaft (26). A telescopic shaft (261) and a lead screw (263) are arranged in the rotating shaft (26) at one end away from the connecting frame (22); a connecting block (264) is arranged at one end of the telescopic shaft (261) close to the lead screw (263); a connecting seat (262) is arranged at one end of the lead screw (263) close to the telescopic shaft (261); the connecting block (264) is slidably installed in the connecting seat (262); the lead screw (263) is connected to the worm wheel in the worm gear assembly (25); and the telescopic shaft (261) is connected to the movable seat (23) through a transmission assembly.

8. The carton stacking device with automatic alignment function for box-type goods according to claim 7, characterized in that: The transmission assembly comprises a transmission groove (232) and a positioning block (2611). The positioning block (2611) is fixedly mounted on the telescopic shaft (261). Positioning grooves are arranged at both left and right ends of the positioning block (2611). Two groups of transmission grooves (232) are arranged relatively at two ends inside the movable seat (23). One end of each group of transmission grooves (232) close to the positioning block (2611) is provided with a group of positioning frames (231). The positioning frames (231) are connected to the transmission grooves (232) via a reset spring rod. One end of each group of transmission grooves (232) away from the positioning block (2611) is provided with a group of first electromagnets (233). The positioning frames (231) cooperate with the positioning grooves.

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