Automatic closestool stacking equipment

Abstract

The invention relates to the technical field of non-standard automation, in particular to automatic closestool stacking equipment which comprises a packaging positioning mechanism, a material taking mechanical arm, a material taking mechanism, a stacking supporting mechanism and a stacking film wrapping mechanism, the packaging positioning mechanism is used for positioning closestool packaging assemblies, the material taking mechanical arm is used for driving the material taking mechanism to move, and the stacking film wrapping mechanism is used for wrapping the closestool packaging assemblies. The material taking mechanism is used for grabbing closestool packaging assemblies, the closestool packaging assemblies are placed on the stacking supporting mechanism to be stacked under the action of the material taking mechanical arm, and the stacking and film wrapping mechanism is used for wrapping the stacked closestool packaging assemblies with films. Through automatic control, the packaging steps can be continuously and rapidly completed, and compared with a traditional manual packaging mode, the production efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of non-standard automation, in particular to an automatic toilet stacking device. Background Art

[0002] Non-standard automation, as an important branch in the field of automation technology, refers to non-standardized, highly customized automation solutions designed for specific industrial scenarios, production processes or product characteristics. Compared with traditional standardized automation equipment, this type of automation system emphasizes flexibility and adaptability, and aims to solve complex production needs that cannot be directly met by readily available standardized automation equipment on the market. Flat-head glass glue plastic bottle, as an indispensable packaging container in construction, home decoration and industrial manufacturing, has exquisite design and strong practicality. The plastic bottle is made of high-quality engineering plastic material, with excellent chemical corrosion resistance, drop resistance, wear resistance and good sealing performance, ensuring that adhesives such as glass glue maintain their original physical and chemical properties during storage and transportation, effectively extending the shelf life of the product.

[0003] In the production process of toilets, toilets need to be assembled, and after assembly, they are wrapped and fixed by packaging structures, and then palletized for storage or shipment. Existing toilet packaging and palletizing are all done manually, and cannot be automated, which affects the palletizing efficiency and accuracy. Therefore, a new design is needed for the existing toilet production palletizing. Summary of the invention

[0004] In order to solve the above problems, the present invention uses automated control to complete the packaging steps continuously and quickly. Compared with the traditional manual packaging method, the automatic toilet stacking equipment greatly improves the production efficiency.

[0005] The technical solution adopted by the present invention is: an automatic toilet stacking device, including a toilet packaging component, the toilet packaging component includes a packaging base, a toilet body, a packaging cover and a packaging tie, the packaging base is provided with a bottom fixing groove, the packaging cover is provided with an upper cover fixing groove, the bottom fixing groove is used to fix the bottom of the toilet body, and the upper cover fixing groove is used to fix the upper end of the toilet body; the toilet body is provided with a clamping part, the clamping part is provided with a clamping through groove, and clamping positioning steps are provided on both sides of the clamping through groove, and the packaging tie The packaging base and the packaging cover are wrapped to fix the toilet body on the bottom fixing groove and the upper cover fixing groove; the toilet automatic stacking equipment includes a packaging positioning mechanism, a material picking robot, a material picking mechanism, a stacking support mechanism and a stacking film wrapping mechanism, the packaging positioning mechanism is used to position the toilet packaging component, the material picking robot is used to drive the material picking mechanism to move, the material picking mechanism is used to grab the toilet packaging component, and under the action of the material picking robot, it is placed on the stacking support mechanism for stacking, and the stacking film wrapping mechanism is used to film the stacked multiple toilet packaging components.

[0006] A further improvement to the above scheme is that the material picking mechanism includes a material picking connection seat, a material picking clamping assembly, a clamping matching assembly and a clamping fixing assembly, and the material picking connection seat is arranged on the material picking manipulator.

[0007] A further improvement to the above scheme is that the material picking clamping assembly includes a material picking clamping base, a material picking clamping driving element, a material picking clamping movable element and a material picking clamping element, one end of the material picking clamping base is connected to the material picking connecting seat, the material picking clamping driving element is arranged on the material picking clamping base, the material picking clamping movable element is connected to the driving end of the material picking clamping driving element, one end of the material picking clamping element is connected to the material picking clamping movable element, and the other end is provided with a clamping arc surface, and the clamping arc surface is used to clamp the outer side of the clamping part of the toilet body.

[0008] A further improvement to the above scheme is that the clamping assembly includes a coupling drive element, a coupling guide element and a coupling clamping element, the coupling drive element is arranged on one side of the material picking clamping base, the coupling drive element is used to drive the coupling clamping element to slide along the coupling guide element so that the coupling clamping element moves relative to the material picking clamping element, and the coupling clamping element is provided with a coupling clamping groove, which is opposite to the clamping arc surface to clamp and fix the clamping positioning steps on both sides of the clamping through groove.

[0009] A further improvement to the above scheme is that the clamping and fixing assembly is provided with a fixed driving element and a clamping and fixing block, the fixed driving element is arranged on the material picking clamping base, the clamping and fixing block is arranged at the driving end of the fixed driving element, and the fixed driving element is used to drive the clamping and fixing block to fix the matching clamping element on the matching guide element, so that the matching clamping element and the driving clamping element maintain clamping and fixing the clamping part.

[0010] A further improvement to the above scheme is that the width dimension of the packaging base is smaller than the width dimension of the packaging cover. During stacking, the packaging bases of two adjacent groups of toilet packaging components are opposite to the packaging covers, and the sides are in contact with each other; the stacking support mechanism is provided with a stacking pallet, and the stacking pallet is used for stacking the toilet packaging components.

[0011] A further improvement to the above scheme is that the packaging positioning mechanism includes a packaging conveyor line, a conveying positioning component and a positioning clamping component, the packaging conveyor line is used for conveying toilet packaging components, the conveying positioning component is relatively arranged in two groups, the conveying positioning component includes a conveying fixed frame, a conveying adjustment frame and a conveying positioning baffle, the conveying fixed frame is arranged on one side of the packaging conveyor line, the conveying adjustment frame is arranged on the conveying fixed frame, and one side of the conveying positioning baffle is connected to the conveying adjustment frame to adjust the position of the conveying positioning baffle.

[0012] A further improvement to the above scheme is that the positioning and clamping assembly includes an end face positioning element, a side positioning element and a top positioning element, the end face positioning element is used to position the toilet packaging assembly in the conveying direction on the packaging conveyor line; the side positioning element is used to clamp and position the side of the toilet packaging assembly, and the top positioning element is used to press and position the upper surface of the toilet packaging assembly.

[0013] A further improvement to the above scheme is that the material picking robot includes a robot base, a first rotating axis, a first swing axis, a second swing axis, a second rotating axis, a third swing axis and a third rotating axis connected in sequence, a control box is provided on one side of the robot base, a control connector is provided on the control box, the first rotating axis is provided with a first turntable, a first rotating motor is provided on the first turntable, the first turntable is rotatably connected to the robot base, and the first rotating motor is used to drive the first turntable to rotate along the robot base.

[0014] A further improvement to the above scheme is that the first swing axis includes a first swing arm, a first swing motor and an auxiliary connecting rod, one end of the first swing arm is rotatably connected to one side of the first turntable, the first swing motor is arranged on one side of the first turntable and is drivingly connected to the first swing arm, one end of the auxiliary connecting rod is hinged to the first turntable, and the other end is hinged to the first swing arm.

[0015] A further improvement to the above scheme is that the second swing axis includes a second swing arm and a second swing motor, one end of the second swing arm is connected to the first swing arm, and the second swing motor is arranged on the second swing arm and is used to drive the second swing arm to rotate along one end of the first swing arm.

[0016] A further improvement to the above scheme is that the second rotating shaft includes a second rotating motor and a second rotating shaft, one end of the second rotating shaft is rotatably connected to the second swing arm, the second rotating motor is arranged at one end of the second swing arm and is used to drive the second rotating shaft to rotate, and a swing placement cavity is arranged on one side of the second rotating shaft.

[0017] A further improvement to the above scheme is that the third swing shaft includes a third swing motor and a third swing arm arranged in the swing placement cavity, and the third swing motor is used to drive the third swing arm to rotate; the third rotating shaft includes a third rotating motor and a third rotating shaft, and the third rotating motor is arranged on the third rotating shaft and is driven and connected to a third turntable, and the third turntable is connected to the material picking connection seat.

[0018] A further improvement to the above scheme is that the material picking clamping drive element includes a material picking drive bracket, a material picking drive motor and a material picking drive screw, the material picking drive bracket is arranged on the material picking drive seat, the material picking drive motor is arranged on the material picking drive bracket, and the driving end of the material picking drive motor is connected to the material picking drive screw; the material picking drive screw is provided with two groups of oppositely arranged threaded portions.

[0019] A further improvement to the above scheme is that the material picking clamping movable element includes a material picking slide rail and a material picking sliding seat arranged on the material picking slide rail, the material picking sliding seat is relatively arranged in two groups, the two groups of material picking sliding seats are slidably arranged on the material picking slide rail, the material picking slide rail is arranged on the material picking connecting seat, and the two groups of material picking sliding seats are respectively arranged on two groups of oppositely arranged threaded parts.

[0020] A further improvement to the above solution is that a positioning boss is provided on one side of the clamping arc surface close to the matching clamping groove, and the positioning boss is used to cooperate with the matching clamping groove to clamp and fix the clamping positioning step.

[0021] A further improvement to the above scheme is that the clamping matching components are provided with two groups, and the two groups of clamping matching components are relatively arranged on both sides of the material picking clamping base, the matching clamping elements include a matching sliding plate, a matching clamping plate and a clamping fixed plate, the matching sliding plate is slidably arranged on the matching guide element, the matching clamping plate is arranged on one side of the matching sliding plate and the clamping arc surface, the matching clamping groove includes a first arc portion, a second arc portion and a third arc portion, the first arc portion, the second arc portion and the third arc portion are connected in sequence to form an S-shaped clamping groove, and the groove bottom surface of the third arc portion is a curved surface.

[0022] A further improvement to the above scheme is that the clamping fixing plate is provided with a clamping inclined surface, the clamping inclined surface is opposite to the clamping fixing block, the clamping fixing block is provided with a fixed pressing surface, and the fixed driving element is used to drive the fixed pressing surface to abut against the clamping inclined surface, so that the matching clamping element and the driving clamping element keep clamping and fixing the clamping part.

[0023] A further improvement to the above scheme is that the stacking support mechanism includes a stacking base frame, a stacking movable frame and a stacking fixed assembly, and the stacking movable frame is movably arranged on the stacking base frame; a stacking moving module is arranged on the stacking base frame, and the stacking moving module is used to drive the stacking movable frame to slide along the stacking base frame; the stacking fixed assembly includes a fixed cylinder and a fixed clamp, and the fixed cylinder is used to drive the fixed clamp to fix the stacking pallet.

[0024] A further improvement to the above scheme is that the stacking film wrapping mechanism includes a film wrapping fixing frame, a film wrapping beam, a film wrapping driving assembly, a film wrapping lifting assembly and a film wrapping discharge assembly, the film wrapping beam is arranged at the top of the film wrapping fixing frame, the film wrapping driving assembly is arranged at one end of the film wrapping beam, the film wrapping lifting assembly is provided with an L-shaped bracket, one end of the L-shaped bracket is connected to the film wrapping driving assembly, the film wrapping lifting assembly is arranged on the L-shaped bracket, the film wrapping discharge assembly is arranged on the film wrapping lifting assembly, and the film wrapping driving assembly is used to drive the L-shaped bracket to rotate, so as to drive the film wrapping discharge assembly to rotate around the stacking support mechanism.

[0025] A further improvement to the above scheme is that the envelope drive assembly includes an envelope drive motor and an envelope drive connecting shaft, the envelope drive motor is connected to the envelope drive connecting shaft, and one end of the envelope drive connecting shaft is connected to the L-shaped bracket.

[0026] A further improvement to the above scheme is that the film lifting assembly includes a film lifting motor, a film lifting guide rail and a film transmission seat, the film lifting motor is used to drive the film transmission seat to slide along the film lifting guide rail, and the film discharge assembly is arranged on the film transmission seat.

[0027] A further improvement to the above scheme is that the film discharge assembly includes a film discharge bracket, a film discharge motor and a film discharge guide roller, the film discharge bracket is arranged on the film transmission seat, a film bracket is arranged on one side of the film discharge guide roller, the film bracket is used to place the film material, and the film discharge motor is used to drive the film discharge guide roller to discharge the film material.

[0028] A further improvement to the above solution is that the palletizing moving module is used to drive the palletizing movable frame to move along the palletizing base frame to below the film encapsulation driving connecting shaft.

[0029] The beneficial effects of the present invention are: Compared with the existing toilet packaging and palletizing, the present invention integrates advanced automation technology and design concepts, significantly improving the efficiency and safety of toilet products during packaging, transportation and storage.

[0030] The present invention integrates components such as a packaging base, a toilet body, a packaging cover, and a packaging tie to construct a complete toilet packaging system. The design of the bottom fixing groove and the upper cover fixing groove ensures the stability of the toilet body during the packaging process and avoids damage caused by shaking during transportation or handling. The use of packaging ties further enhances the tightness of the packaging, making the entire packaging process more standardized and normalized. In addition, through automated control, these packaging steps can be completed continuously and quickly, which greatly improves production efficiency compared to traditional manual packaging methods.

[0031] The packaging positioning mechanism of the present invention utilizes advanced positioning sensors and algorithms to achieve high-precision positioning of toilet packaging components, ensuring that each material picking operation can accurately find the target position. The material picking manipulator and its matching material picking mechanism achieve stable grasping and handling of toilet packaging components through precise mechanical design and drive system. In particular, the coordinated work of the material picking connection seat, material picking clamping assembly, clamping matching assembly, and clamping fixing assembly in the material picking mechanism not only ensures balance and stability during the grasping process, but also can adapt to toilet packaging of different sizes and weights, thereby improving the versatility and flexibility of the equipment.

[0032] The stacking support mechanism fully considers the stacking stability and space utilization of the toilet packaging components, and realizes efficient and safe stacking operations by accurately controlling the number and arrangement of each layer of stacking. This not only reduces the complexity of manual operation, but also avoids the risk of uneven stacking or collapse due to human factors. In addition, the application of the stacking film coating mechanism provides an additional protective layer for the stacked toilet packaging components, effectively preventing the erosion of external environment such as dust and moisture, while also enhancing the overall stability, which is convenient for subsequent transportation and storage. The present invention reduces the need for direct manual participation in packaging, handling and other links, thereby reducing the risk of occupational diseases caused by repetitive labor for workers, such as muscle strain, back pain, etc. At the same time, during the operation of the equipment, it can maintain a high degree of cleanliness and hygiene standards, avoiding the pollution problems that may arise in traditional manual operations, which is of great significance for improving product quality and brand image.

[0033] In the present invention, the material picking and clamping assembly realizes the precise grasping and stable clamping of the clamping part of the toilet body through the precisely designed material picking and clamping base, driving element, movable element and clamping element. Among them, the clamping arc surface of the clamping element is tailored according to the shape of the toilet, ensuring the close fit and balanced force during the clamping process, effectively avoiding the risk of damage or slipping of the toilet surface caused by improper clamping, and ensuring production safety and product quality. Secondly, the introduction of the clamping matching assembly further enhances the flexibility and stability of the clamping system. The ingenious arrangement of the matching driving element on one side of the material picking and clamping base enables the matching clamping element to slide smoothly along the preset matching guide element, so as to realize the precise alignment and firm clamping of the clamping positioning step on the other side of the toilet. This process not only reduces manual intervention and improves the level of automation, but also effectively prevents the shaking of the toilet during the handling process by accurately controlling the matching force and speed, ensuring the continuity and accuracy of the stacking operation. Furthermore, the collaborative operation of the two groups of components constructs an efficient and reliable automatic clamping and handling system for toilets. The system can quickly respond to the needs of the production line, accurately clamp and move the toilet from the production station to the designated stacking position, significantly improving production efficiency and operation safety. At the same time, by optimizing the coordination between components and motion control strategies, it reduces energy consumption and wear, extends the service life of the equipment, and reduces long-term operating costs.

[0034] In the present invention, the fixed driving element is arranged on the material picking clamping base, and the position and strength of the clamping fixing block can be accurately controlled through the transmission of driving force. This precision ensures the stability and safety of the toilet during the stacking process, and avoids damage or misalignment problems caused by unstable clamping. The clamping fixing block is arranged at the driving end of the fixed driving element, and the fixed driving element is used to drive the clamping fixing block to fix the matching clamping element on the matching guide element, so that the matching clamping element and the driving clamping element maintain clamping and fixing the clamping part. In this way, the clamping stability and reliability of the toilet are ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a three-dimensional schematic diagram of the toilet packaging assembly of the present invention; Figure 2 for Figure 1 A three-dimensional schematic diagram of the toilet packaging assembly from another perspective; Figure 3 It is a three-dimensional schematic diagram of the automatic toilet stacking device of the present invention; Figure 4 for Figure 3 A three-dimensional schematic diagram of the toilet packaging assembly from another perspective; Figure 5 for Figure 3 A top view of the toilet packaging assembly; Figure 6 for Figure 3 A three-dimensional schematic diagram of the packaging positioning mechanism of the middle toilet packaging assembly; Figure 7 for Figure 3 A three-dimensional schematic diagram of the packaging positioning mechanism of the toilet packaging assembly from another perspective; Figure 8 for Figure 3 A three-dimensional schematic diagram of the material-retrieving robot for the toilet packaging component; Fig. 9 for Figure 3 A three-dimensional schematic diagram of the material-retrieving robot of the toilet packaging component from another perspective; Fig.10 for Figure 3 A three-dimensional schematic diagram of the material taking mechanism of the toilet packaging assembly; Fig.11 for Figure 3 A top view of the material taking manipulator of the toilet packaging component; Fig.12 for Figure 3 Exploded diagram of the material-retrieving robot for the toilet packaging component; Fig.13 for Figure 3 An exploded diagram of the material-retrieving robot of the toilet packaging component from another perspective; Fig.14 for Figure 3 Schematic diagram of the use status of the stacking support mechanism of the toilet packaging assembly; Fig.15 for Figure 3 A three-dimensional schematic diagram of the stacking support mechanism of the toilet packaging assembly; Fig.16 for Figure 3 A three-dimensional schematic diagram of the stacking and film wrapping mechanism of the toilet packaging assembly; Fig.17 for Figure 3 A three-dimensional schematic diagram of the stacking and wrapping mechanism of the toilet packaging component from another perspective.

[0036] Description of reference numerals: toilet packaging assembly 10, packaging base 101, bottom fixing groove 1011, toilet body 102, clamping portion 1021, clamping through groove 1022, clamping positioning step 1023, packaging upper cover 103, upper cover fixing groove 1031, packaging tie 104; Packaging positioning mechanism 1, packaging conveyor line 11, conveying positioning assembly 12, conveying fixing frame 121, conveying adjusting frame 122, conveying positioning baffle 123, positioning clamping assembly 13, end surface positioning element 131, side positioning element 132, top positioning element 133; Retrieving manipulator 2, manipulator base 21, control box 211, control connector 212, first rotating shaft 22, first turntable 221, first rotating motor 222, first swinging shaft 23, first swing arm 231, first swinging motor 232, auxiliary connecting rod 233, second swinging shaft 24, second swing arm 241, second swinging motor 242, second rotating shaft 25, second rotating motor 251, second rotating shaft 252, swing placement cavity 253, third swinging shaft 26, third swinging motor 261, third swinging arm 262, third rotating shaft 27, third rotating motor 271, third rotating shaft 272, third turntable 273; Material picking mechanism 3, material picking connection seat 31, material picking clamping assembly 32, material picking clamping base 321, material picking clamping driving element 322, material picking driving bracket 3221, material picking driving motor 3222, material picking driving screw 3223, material picking clamping movable element 323, material picking slide rail 3231, material picking sliding seat 3232, material picking clamping element 324, clamping arc surface 3241, positioning boss 3242, clamping matching assembly 33 , a mating driving element 331, a mating guiding element 332, a mating clamping element 333, a mating sliding plate 3331, a mating clamping plate 3332, a clamping fixing plate 3333, a clamping inclined surface 3334, a mating clamping groove 334, a first arc-shaped portion 3341, a second arc-shaped portion 3342, a third arc-shaped portion 3343, a clamping fixing assembly 34, a fixed driving element 341, a clamping fixing block 342, and a fixed pressing surface 3421; Palletizing support mechanism 4, palletizing support plate 41, palletizing base frame 42, palletizing moving module 421, palletizing movable frame 43, palletizing fixing assembly 44, fixing cylinder 441, fixing clamping plate 442; Palletizing film coating mechanism 5, film coating fixing frame 51, film coating beam 52, film coating drive assembly 53, film coating drive motor 531, film coating drive connecting shaft 532, film coating lifting assembly 54, film coating lifting motor 541, film coating lifting guide rail 542, film coating transmission seat 543, film coating discharge assembly 55, film coating discharge bracket 551, film coating discharge motor 552, film coating discharge guide roller 553, film coating bracket 554, and L-shaped bracket 56. DETAILED DESCRIPTION

[0037] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0038] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. Figure 1 to Figure 17 As shown, in one embodiment of the present invention, an automatic toilet palletizing device is involved, including a toilet packaging component 10, the toilet packaging component 10 includes a packaging base 101, a toilet body 102, a packaging cover 103 and a packaging tie 104, the packaging base 101 is provided with a bottom fixing groove 1011, the packaging cover 103 is provided with an upper cover fixing groove 1031, the bottom fixing groove 1011 is used for fixing the bottom of the toilet body 102, and the upper cover fixing groove 1031 is used for fixing the upper end of the toilet body 102; the toilet body 102 is provided with a clamping portion 1021, the clamping portion 1021 is provided with a clamping through groove 1022, and the two sides of the clamping through groove 1022 are provided with clamping The automatic toilet palletizing device comprises a packaging positioning mechanism 1, a material picking manipulator 2, a material picking mechanism 3, a palletizing support mechanism 4 and a palletizing film coating mechanism 5. The packaging positioning mechanism 1 is used to position the toilet packaging component 10. The material picking manipulator 2 is used to drive the material picking mechanism 3 to move. The material picking mechanism 3 is used to grab the toilet packaging component 10 and place it on the palletizing support mechanism 4 for palletizing under the action of the material picking manipulator 2. The palletizing film coating mechanism 5 is used to film the stacked multiple toilet packaging components 10. The material picking mechanism 3 comprises a material picking connection seat 31, a material picking clamping assembly 32, a clamping assembly 33 and a clamping fixing assembly 34. The material picking connection seat 31 is arranged on the material picking manipulator 2. The present invention integrates advanced automation technology and design concepts, significantly improving the efficiency and safety of toilet products during packaging, transportation and storage.

[0040] The present invention integrates components such as a packaging base 101, a toilet body 102, a packaging cover 103, and a packaging tie 104 to construct a complete toilet packaging system. The design of the bottom fixing groove 1011 and the upper cover fixing groove 1031 ensures the stability of the toilet body 102 during the packaging process and avoids damage caused by shaking during transportation or handling. The use of the packaging tie 104 further enhances the tightness of the packaging, making the entire packaging process more standardized and normalized. In addition, through automated control, these packaging steps can be completed continuously and quickly, which greatly improves production efficiency compared to traditional manual packaging methods.

[0041] The packaging positioning mechanism 1 of the present invention utilizes advanced positioning sensors and algorithms to achieve high-precision positioning of the toilet packaging component 10, ensuring that each material picking operation can accurately find the target position. The material picking manipulator 2 and its matching material picking mechanism 3 achieve stable grasping and handling of the toilet packaging component 10 through precise mechanical design and drive system. In particular, the coordinated work of the material picking connection seat 31, the material picking clamping component 32, the clamping matching component 33 and the clamping fixing component 34 in the material picking mechanism 3 not only ensures the balance and stability during the grasping process, but also can adapt to toilet packaging of different sizes and weights, thereby improving the versatility and flexibility of the equipment.

[0042] The stacking support mechanism 4 fully considers the stacking stability and space utilization of the toilet packaging assembly 10, and realizes efficient and safe stacking operation by accurately controlling the number and arrangement of each layer of stacking. This not only reduces the complexity of manual operation, but also avoids the risk of uneven stacking or collapse due to human factors. In addition, the application of the stacking film coating mechanism 5 provides an additional protective layer for the stacked toilet packaging assembly 10, effectively preventing the erosion of external environment such as dust and moisture, while also enhancing the overall stability, which is convenient for subsequent transportation and storage. The present invention reduces the need for direct manual participation in packaging, handling and other links, thereby reducing the risk of occupational diseases caused by repetitive labor for workers, such as muscle strain, back pain, etc. At the same time, during the operation of the equipment, it can maintain a high degree of cleanliness and hygiene standards, avoiding the pollution problems that may occur in traditional manual operations, which is of great significance for improving product quality and brand image.

[0043] The material picking clamping assembly 32 includes a material picking clamping base 321, a material picking clamping driving element 322, a material picking clamping movable element 323 and a material picking clamping element 324, one end of the material picking clamping base 321 is connected to the material picking connecting seat 31, the material picking clamping driving element 322 is arranged on the material picking clamping base 321, the material picking clamping movable element 323 is connected to the driving end of the material picking clamping driving element 322, one end of the material picking clamping element 324 is connected to the material picking clamping movable element 323, and the other end is provided with a clamping arc surface 3241, and the clamping arc surface 3241 is used to clamp the outer side of the clamping part 1021 of the toilet body 102. The clamping assembly 33 includes a coupling drive element 331, a coupling guide element 332 and a coupling clamping element 333. The coupling drive element 331 is arranged on one side of the material taking clamping base 321. The coupling drive element 331 is used to drive the coupling clamping element 333 to slide along the coupling guide element 332, so that the coupling clamping element 333 moves relatively toward the material taking clamping element 324. The coupling clamping element 333 is provided with a coupling clamping groove 334, and the coupling clamping groove 334 is opposite to the clamping arc surface 3241 to clamp and fix the clamping positioning steps 1023 on both sides of the clamping through groove 1022. In the present invention, the material taking clamping assembly 32 realizes accurate grasping and stable clamping of the clamping portion 1021 of the toilet body 102 through the precisely designed material taking clamping base 321, the driving element, the movable element and the clamping element. Among them, the clamping arc surface 3241 of the clamping element is tailored according to the shape of the toilet, ensuring a close fit and balanced force during the clamping process, effectively avoiding the risk of damage to the toilet surface or slipping due to improper clamping, and ensuring production safety and product quality. Secondly, the introduction of the clamping matching component 33 further enhances the flexibility and stability of the clamping system. The clever setting of the matching drive element 331 on one side of the material picking clamping base 321 enables the matching clamping element 333 to slide smoothly along the preset matching guide element 332, thereby achieving precise alignment and firm clamping of the clamping positioning step 1023 on the other side of the toilet. This process not only reduces manual intervention and improves the level of automation, but also effectively prevents the toilet from shaking during transportation by accurately controlling the matching force and speed, ensuring the continuity and accuracy of the stacking operation. Furthermore, the collaborative operation of the two groups of components constructs an efficient and reliable automatic clamping and handling system for toilets. The system can quickly respond to the needs of the production line, accurately clamp and move the toilet from the production station to the designated stacking position, significantly improving production efficiency and operation safety. At the same time, by optimizing the coordination between components and motion control strategies, it reduces energy consumption and wear, extends the service life of the equipment, and reduces long-term operating costs.

[0044] The clamping and fixing assembly 34 is provided with a fixed driving element 341 and a clamping and fixing block 342. The fixed driving element 341 is arranged on the material picking clamping base 321, and the clamping and fixing block 342 is arranged at the driving end of the fixed driving element 341. The fixed driving element 341 is used to drive the clamping and fixing block 342 to fix the matching clamping element 333 on the matching guide element 332, so that the matching clamping element 333 and the driving clamping element maintain clamping and fixing the clamping portion 1021. In the present invention, the fixed driving element 341 is arranged on the material picking clamping base 321, and the position and strength of the clamping and fixing block 342 can be accurately controlled through the transmission of driving force. This precision ensures the stability and safety of the toilet during the stacking process, and avoids damage or misalignment caused by unstable clamping. The clamping and fixing block 342 is arranged at the driving end of the fixed driving element 341, and the fixed driving element 341 is used to drive the clamping and fixing block 342 to fix the matching clamping element 333 on the matching guide element 332, so that the matching clamping element 333 and the driving clamping element maintain clamping and fixing the clamping portion 1021. Thus, the clamping stability and reliability of the toilet are ensured.

[0045] The width of the packaging base 101 is smaller than the width of the packaging cover 103. When stacking, the packaging bases 101 of two adjacent groups of toilet packaging components 10 are opposite to the packaging cover 103, and the sides are fitted; the stacking support mechanism 4 is provided with a stacking pallet 41, and the stacking pallet 41 is used for stacking the toilet packaging components 10. In this embodiment, the design difference of the packaging size ensures that the two adjacent groups of toilet packaging components 10 can fit tightly when stacking. The arrangement of the packaging base 101 and the packaging cover 103 relative to each other and the sides are fitted not only improves the stability of the stacking, but also effectively prevents the shaking or collapse that may occur during transportation or storage, thereby ensuring the safety and integrity of the product. Secondly, the design of the stacking pallet 41 in the stacking support mechanism 4 provides a solid support for the stacking of the toilet packaging components 10. By accurately calculating and adjusting the size and position of the stacking pallet 41, it can be ensured that each layer of the toilet packaging components 10 can be evenly stressed, avoiding deformation or damage caused by uneven stress. In addition, this stacking method also optimizes space utilization. Since the width of the packaging base 101 is small, the gap between adjacent components is reduced, so that more toilet packaging components 10 can be stacked in a limited storage space, thereby improving storage efficiency.

[0046] See also Figure 6~Figure 7As shown, the packaging positioning mechanism 1 includes a packaging conveyor line 11, a conveying positioning component 12 and a positioning clamping component 13. The packaging conveyor line 11 is used for conveying toilet packaging components 10. The conveying positioning component 12 is relatively arranged in two groups. The conveying positioning component 12 includes a conveying fixed frame 121, a conveying adjustment frame 122 and a conveying positioning baffle 123. The conveying fixed frame 121 is arranged on one side of the packaging conveyor line 11, and the conveying adjustment frame 122 is arranged on the conveying fixed frame 121. One side of the conveying positioning baffle 123 is connected to the conveying adjustment frame 122 to adjust the position of the conveying positioning baffle 123. Specifically, the positioning and clamping assembly 13 includes an end surface positioning element 131, a side surface positioning element 132 and a top positioning element 133. The end surface positioning element 131 is used to position the toilet packaging assembly 10 in the conveying direction on the packaging conveyor line 11; the side surface positioning element 132 is used to clamp and position the side of the toilet packaging assembly 10, and the top positioning element 133 is used to press and position the upper surface of the toilet packaging assembly 10. In this embodiment, the introduction of the packaging conveyor line 11 realizes the continuous and stable conveying of the toilet packaging assembly 10, effectively reduces the tediousness and time-consuming manual handling, and improves the automation level of the overall production line. The conveyor line is reasonably designed to ensure that the toilet packaging assembly 10 remains stable during the conveying process and avoids damage caused by bumps or stagnation. Secondly, the setting of the conveying positioning assembly 12 further enhances the accuracy of the packaging. Through the coordinated use of the conveying fixed frame 121 and the conveying adjustment frame 122, the position of the conveying positioning baffle 123 can be flexibly adjusted according to different models of toilet packaging assemblies 10 to ensure that each component can be accurately positioned at a predetermined position. This flexibility and adaptability enables the mechanism to be widely used in toilet packaging operations of various specifications. Furthermore, the precise design of the positioning and clamping component 13 ensures the stability and safety of the toilet packaging component 10 during the packaging process. The synergistic effect of the end face positioning element 131, the side positioning element 132 and the top positioning element 133 respectively positions and clamps the toilet packaging component 10 in all directions from the conveying direction, the side and the top, effectively preventing the component from shifting or tipping over during the packaging process, and ensuring the packaging quality and production efficiency.

[0047] See also Figure 8~Figure 9As shown, the material picking robot 2 includes a robot base 21, a first rotating shaft 22, a first swinging shaft 23, a second swinging shaft 24, a second rotating shaft 25, a third swinging shaft 26 and a third rotating shaft 27 which are connected in sequence, a control box 211 is provided on one side of the robot base 21, a control connector 212 is provided on the control box 211, a first rotating shaft 22 is provided with a first turntable 221, a first rotating motor 222 is provided on the first turntable 221, the first turntable 221 is rotatably connected to the robot base 21, and the first rotating motor 222 is used to drive the first turntable 221 to rotate along the robot base 21. Specifically, the first swing shaft 23 includes a first swing arm 231, a first swing motor 232, and an auxiliary link 233. One end of the first swing arm 231 is rotatably connected to one side of the first rotating disk 221. The first swing motor 232 is disposed at one side of the first rotating disk 221 and is drivingly connected to the first swing arm 231. One end of the auxiliary link 233 is hinged to the first rotating disk 221, and the other end is hinged to the first swing arm 231. The second swing shaft 24 includes a second swing arm 241 and a second swing motor 242. One end of the second swing arm 241 is connected to the first swing arm 231. The second swing motor 242 is disposed on the second swing arm 241 and is used to drive the second swing arm 241 to rotate along one end of the first swing arm 231. The second rotating shaft 25 includes a second rotating motor 251 and a second rotating shaft 252. One end of the second rotating shaft 252 is rotatably connected to the second swing arm 241. The second rotating motor 251 is arranged at one end of the second swing arm 241 and is used to drive the second rotating shaft 252 to rotate. A swing placement cavity 253 is arranged on one side of the second rotating shaft 252. The third swing shaft 26 includes a third swing motor 261 and a third swing arm 262 arranged in the swing placement cavity 253. The third swing motor 261 is used to drive the third swing arm 262 to rotate. The third rotating shaft 27 includes a third rotating motor 271 and a third rotating shaft 272. The third rotating motor 271 is arranged on the third rotating shaft 272 and is rotatably connected to a third rotating disk 273. The third rotating disk 273 is connected to the material taking connection seat 31. In this embodiment, through the multi-stage linkage of the manipulator base 21, the first rotating shaft 22, the first swing shaft 23 to the third rotating shaft 27, efficient grasping and precise positioning of a large-sized and heavy object such as a toilet are achieved. Each axis system is equipped with a high-performance rotating or swinging motor, which ensures the flexible movement of the robot arm in complex spaces and can easily adapt to toilet products of different sizes and shapes, as well as changing palletizing requirements. Especially when handling toilets of different shapes and weights, the flexibility and accuracy of the robot arm are particularly important, which can effectively avoid product damage and ensure the neatness of palletizing.Secondly, the design of the auxiliary connecting rod 233 in the first swing shaft 23 and the second swing shaft 24 not only enhances the stability of the structure, but also reduces the vibration and energy consumption during the movement through mechanical optimization, thereby improving the response speed and movement efficiency of the manipulator. This design enables the manipulator to maintain a high degree of stability and accuracy when performing fast and continuous grasping operations, which is crucial to improving the overall efficiency of the automatic toilet stacking line. Furthermore, the swing placement cavity 253 in the second rotating shaft 25 provides a stable installation foundation for the third swing shaft 26, while optimizing the internal layout of the manipulator, making the entire structure more compact and reasonable. This design not only saves valuable workshop space, but also provides convenience for subsequent maintenance and upgrades. In addition, the highly integrated design of the third swing shaft 26 and the third rotating shaft 27 further enhances the operational flexibility and operating range of the manipulator, enabling it to easily cope with complex handling tasks from the end of the production line to the storage area. The setting of the control box 211 and the control connector 212 ensures that the manipulator can receive and execute instructions from the central control system to achieve automated operations. This not only simplifies the operating process and reduces manual intervention, but also ensures the accuracy of each grabbing and stacking action through precise program control, thereby greatly improving the automation level and production safety of the production line.

[0048] See also Figure 10~Figure 12As shown, the material picking clamping driving element 322 includes a material picking driving bracket 3221, a material picking driving motor 3222 and a material picking driving screw 3223. The material picking driving bracket 3221 is arranged on the material picking connecting seat 31, the material picking driving motor 3222 is arranged on the material picking driving bracket 3221, and the driving end of the material picking driving motor 3222 is connected to the material picking driving screw 3223; two groups of oppositely arranged threaded parts are arranged on the material picking driving screw 3223. Specifically, the material picking clamping movable element 323 includes a material picking slide rail 3231 and a material picking sliding seat 3232 arranged on the material picking slide rail 3231, and the material picking sliding seat 3232 is arranged in two groups relatively, and the two groups of material picking sliding seats 3232 are slidably arranged on the material picking slide rail 3231, the material picking slide rail 3231 is arranged on the material picking connecting seat 31, and the two groups of material picking sliding seats 3232 are respectively arranged on the two groups of oppositely arranged threaded parts. A positioning boss 3242 is provided on one side of the clamping arc surface 3241 close to the matching clamping groove 334, and the positioning boss 3242 is used to cooperate with the matching clamping groove 334 to clamp and fix the clamping positioning step 1023. In this embodiment, the composition of the material picking clamping drive element 322 includes a material picking drive bracket 3221, a material picking drive motor 3222 and a material picking drive screw 3223. This combined design realizes efficient and accurate power transmission and control. The material picking drive bracket 3221 is firmly mounted on the material picking connection seat 31, and the material picking drive motor 3222 is mounted on the bracket, and its driving end is directly connected to the material picking drive screw 3223, and the linear motion of the screw is driven by the rotation of the motor. The two sets of reverse threaded parts provided on the screw, this innovative design enables the two material picking sliding seats 3232 to realize the movement towards or away from each other on the same screw, thereby realizing the precise clamping and release of the toilet parts, greatly improving the flexibility and efficiency of operation. In terms of the material picking clamping movable element 323, the material picking slide rail 3231 is cleverly arranged on the material picking connecting seat 31, providing a stable sliding track for the material picking sliding seat 3232. Two sets of material picking sliding seats 3232 are respectively installed on the slide rails and correspondingly arranged on two sets of reverse threaded parts of the screw. This design ensures that when the screw rotates, the two sets of sliding seats can move synchronously and coordinately to achieve stable clamping and transportation of toilet components. In addition, the relative arrangement of the sliding seats also enhances the uniform distribution of the clamping force, effectively avoiding the problem of component damage or unstable clamping caused by uneven force. Furthermore, the positioning boss 3242 set on the clamping arc surface 3241 is another key design to improve the clamping accuracy and stability. The cooperation between the positioning boss 3242 and the clamping groove can accurately lock the clamping positioning step 1023 on the toilet component, ensuring that the components will not affect the stacking effect due to shaking or misalignment during transportation. It not only improves the accuracy of automated production, but also effectively reduces errors caused by human intervention, further improving the overall efficiency of the production line.

[0049] There are two groups of clamping matching components 33, and the two groups of clamping matching components 33 are relatively arranged on both sides of the material picking clamping base 321. The matching clamping element 333 includes a matching sliding plate 3331, a matching clamping plate 3332 and a clamping fixed plate 3333. The matching sliding plate 3331 is slidably set on the matching guide element 332, and the matching clamping plate 3332 is set on one side of the matching sliding plate 3331 and the clamping arc surface 3241. The matching clamping groove 334 includes a first arc portion 3341, a second arc portion 3342 and a third arc portion 3343. The first arc portion 3341, the second arc portion 3342 and the third arc portion 3343 are connected in sequence to form an S-shaped clamping groove, and the bottom surface of the groove of the third arc portion 3343 is a curved surface. In this embodiment, two groups of clamping and matching components 33 are relatively arranged on both sides of the material-taking clamping base 321, so as to achieve the double-sided synchronous clamping of the toilet product, and effectively enhance the stability and firmness of the clamping. In the process of handling objects such as toilets that are heavy and irregular in shape, the double-sided clamping can effectively prevent slippage or damage caused by uneven force on one side, and ensure the safety of the product during handling, transfer and stacking. Secondly, the design of the matching sliding plate 3331 slidingly arranged on the matching guide element 332 gives the clamping mechanism a high degree of flexibility and adaptability. This mechanism allows the clamping and matching components 33 to be fine-tuned according to the actual size and shape of the toilet, ensuring that each clamping can fit tightly, reducing the looseness or damage of the clamping caused by size differences. Furthermore, the matching clamping plate 3332 is arranged on one side of the matching sliding plate 3331 and the clamping arc surface 3241, forming an innovative clamping method. The design of the clamping arc 3241 fits the contour of the toilet, especially the irregular shape of the bottom of the toilet, providing more fitting support and clamping force, effectively avoiding the stress concentration problem caused by uneven distribution of clamping points. It not only enhances the stability of clamping, but also reduces the pressure on the toilet surface and protects the integrity of the product appearance.

[0050] The clamping plate 3333 is provided with a clamping slope 3334, and the clamping slope 3334 is opposite to the clamping block 342, and the clamping block 342 is provided with a fixed pressing surface 3421, and the fixed driving element 341 is used to drive the fixed pressing surface 3421 to abut against the clamping slope 3334, so that the matching clamping element 333 and the driving clamping element maintain the clamping and fixing of the clamping part 1021. In this embodiment, through the precise driving of the fixed driving element 341, the fixed pressing surface 3421 can be tightly abutted against the clamping slope 3334. This design ensures the stable clamping and fixing of the toilet clamping part 1021 between the matching clamping element 333 and the driving clamping element. The close fit between the clamping slope 3334 and the fixed pressing surface 3421 also reduces the friction loss during the clamping process and prolongs the service life of the equipment.

[0051] See also Figure 14~Figure 15 As shown, the stacking support mechanism 4 includes a stacking chassis 42, a stacking movable frame 43 and a stacking fixed assembly 44, wherein the stacking movable frame 43 is movably arranged on the stacking chassis 42; a stacking movable module 421 is arranged on the stacking chassis 42, wherein the stacking movable module 421 is used to drive the stacking movable frame 43 to slide along the stacking chassis 42; and the stacking fixed assembly 44 includes a fixed cylinder 441 and a fixed clamping plate 442, wherein the fixed cylinder 441 is used to drive the fixed clamping plate 442 to fix the stacking support plate 41. In this embodiment, the stacking chassis 42 serves as the basis of the entire support mechanism and provides a stable support platform for the stacking operation of the toilet. Its structural design is reasonable and can bear the weight of multiple toilets, ensuring safety during the stacking process. At the same time, the stacking movable module 421 arranged on the chassis can drive the stacking movable frame 43 to slide smoothly along the preset track through precise drive control, thereby realizing accurate positioning of the toilet in the horizontal direction. The movable setting of the palletizing movable frame 43 gives the entire support mechanism greater flexibility. With the assistance of the movable frame, the toilet can be easily lifted, moved and placed, which greatly simplifies the palletizing process and improves work efficiency. In addition, the design of the movable frame also takes into account the matching with the shape of the toilet to ensure that the toilet will not be damaged during the palletizing process. The introduction of the fixed component further enhances the stability of the palletizing operation. As a power source, the fixed cylinder 441 can quickly respond to control instructions and drive the fixed splint 442 to firmly fix the toilet. This fixing method is not only simple and easy, but also can ensure the stable position of the toilet during the palletizing process, and prevent palletizing failures caused by shaking or tilting.

[0052] See also Figure 16-17As shown, the stacking film coating mechanism 5 includes a film coating fixing frame 51, a film coating crossbeam 52, a film coating driving assembly 53, a film coating lifting assembly 54 and a film coating material discharge assembly 55, wherein the film coating crossbeam 52 is arranged at the top of the film coating fixing frame 51, the film coating driving assembly 53 is arranged at one end of the film coating crossbeam 52, the film coating lifting assembly 54 is provided with an L-shaped bracket 56, one end of the L-shaped bracket 56 is connected to the film coating driving assembly 53, the film coating lifting assembly 54 is arranged on the L-shaped bracket 56, the film coating material discharge assembly 55 is arranged on the film coating lifting assembly 54, and the film coating driving assembly 53 is used to drive the L-shaped bracket 56 to rotate, so as to drive the film coating material discharge assembly 55 to rotate around the stacking support mechanism 4. Specifically, the film coating driving assembly 53 includes a film coating driving motor 531 and a film coating driving connecting shaft 532, wherein the film coating driving motor 531 is connected to the film coating driving connecting shaft 532, and one end of the film coating driving connecting shaft 532 is connected to the L-shaped bracket 56. The film coating lifting assembly 54 includes a film coating lifting motor 541, a film coating lifting guide rail 542 and a film coating transmission seat 543. The film coating lifting motor 541 is used to drive the film coating transmission seat 543 to slide along the film coating lifting guide rail 542. The film coating material discharge assembly 55 is arranged on the film coating transmission seat 543. The film coating material discharge assembly 55 includes a film coating material discharge bracket 551, a film coating material discharge motor 552 and a film coating material discharge guide roller 553. The film coating material discharge bracket 551 is arranged on the film coating transmission seat 543. A film coating bracket 554 is arranged on one side of the film coating material discharge guide roller 553. The film coating bracket 554 is used to place the film material. The film coating material discharge motor 552 is used to drive the film coating material discharge guide roller 553 to discharge the film material. The stacking moving module 421 is used to drive the stacking movable frame 43 to move along the stacking bottom frame 42 to the bottom of the film coating drive connecting shaft 532. In this embodiment, the stacking film coating mechanism 5 realizes the automatic packaging of toilet products. The film coating fixing frame 51 serves as the supporting basis of the entire mechanism, ensuring the stability and reliability of the film coating process. The film coating crossbeam 52 is arranged at the top of the fixing frame, providing sufficient operating space for the film coating drive assembly 53, so that the film coating process can proceed smoothly. Through the film coating drive motor 531 and the film coating drive connecting shaft 532 in the film coating drive assembly 53, the L-shaped bracket 56 can be rotated, thereby driving the film coating discharge assembly 55 to rotate around the stacking support mechanism 4 (here, toilet stacking). Not only does it simplify the packaging process, but it also greatly improves the packaging efficiency. Secondly, the introduction of the film coating lifting assembly 54 makes the film coating process more flexible and controllable. The film coating lifting motor 541 drives the film coating transmission seat 543 to slide along the film coating lifting guide rail 542, thereby realizing the height adjustment of the film coating discharge assembly 55. This function is particularly important for toilet products of different sizes, because it can ensure that the film coating material can fit tightly on the product surface to avoid loosening or damage to the packaging. At the same time, the precise control of the film lifting assembly 54 also improves the accuracy and aesthetics of the packaging.The film discharge assembly 55 is a key part of the stacking film coating mechanism 5. The film discharge motor 552 drives the film discharge guide roller 553, so that the film material can be smoothly and continuously discharged and tightly wrapped on the toilet product. The setting of the film discharge bracket 551 ensures the stability and reliability of the discharge process, and the film bracket 554 is used to place the film material for easy access and replacement. This design not only simplifies the film material replacement process, but also improves the packaging efficiency and quality. In addition, the use of the stacking moving module 421 enables the toilet product to automatically and accurately move to the bottom of the film drive connecting shaft 532, providing the necessary conditions for the film coating process.

[0053] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. A toilet automatic stacking device, characterized by: The toilet packaging assembly comprises a packaging base, a toilet body, a packaging cover and a packaging tie, wherein the packaging base is provided with a bottom fixing groove, the packaging cover is provided with an upper cover fixing groove, the bottom fixing groove is used to fix the bottom of the toilet body, and the upper cover fixing groove is used to fix the upper end of the toilet body; the toilet body is provided with a clamping portion, the clamping portion is provided with a clamping through groove, and clamping positioning steps are provided on both sides of the clamping through groove, and the packaging tie covers the packaging base and the packaging cover to fix the toilet body on the bottom fixing groove and the upper cover fixing groove; The automatic toilet palletizing equipment includes a packaging positioning mechanism, a material picking manipulator, a material picking mechanism, a palletizing support mechanism and a palletizing film coating mechanism. The packaging positioning mechanism is used to position the toilet packaging component. The material picking manipulator is used to drive the material picking mechanism to move. The material picking mechanism is used to grab the toilet packaging component and place it on the palletizing support mechanism for palletizing under the action of the material picking manipulator. The palletizing film coating mechanism is used to film the stacked multiple toilet packaging components. The material picking mechanism comprises a material picking connection seat, a material picking clamping assembly, a clamping matching assembly and a clamping fixing assembly, and the material picking connection seat is arranged on the material picking manipulator; The material picking clamping assembly includes a material picking clamping base, a material picking clamping driving element, a material picking clamping movable element and a material picking clamping element, one end of the material picking clamping base is connected to the material picking connecting seat, the material picking clamping driving element is arranged on the material picking clamping base, the material picking clamping movable element is connected to the driving end of the material picking clamping driving element, one end of the material picking clamping element is connected to the material picking clamping movable element, and the other end is provided with a clamping arc surface, and the clamping arc surface is used to clamp the outer side of the clamping part of the toilet body; The clamping assembly comprises a clamping drive element, a clamping guide element and a clamping element. The clamping drive element is arranged on one side of the material-retrieving clamping base. The clamping drive element is used to drive the clamping element to slide along the clamping guide element so that the clamping element moves relative to the material-retrieving clamping element. The clamping element is provided with a clamping groove, which is opposite to the clamping arc surface so as to clamp and fix the clamping positioning steps on both sides of the clamping through groove. The clamping and fixing assembly is provided with a fixed driving element and a clamping and fixing block. The fixed driving element is arranged on the material picking clamping base, and the clamping and fixing block is arranged at the driving end of the fixed driving element. The fixed driving element is used to drive the clamping and fixing block to fix the matching clamping element on the matching guide element, so that the matching clamping element and the driving clamping element maintain clamping and fixing the clamping part.

2. The automatic toilet stacking device according to claim 1, characterized in that: The width dimension of the packaging base is smaller than the width dimension of the packaging cover. When stacking, the packaging bases of two adjacent groups of toilet packaging components are opposite to the packaging covers, and the sides are in contact with each other. The stacking support mechanism is provided with a stacking pallet, and the stacking pallet is used for stacking the toilet packaging components.

3. The automatic toilet stacking equipment according to claim 1, characterized in that: The packaging positioning mechanism includes a packaging conveyor line, a conveying positioning component and a positioning clamping component. The packaging conveyor line is used for conveying toilet packaging components. The conveying positioning component is relatively arranged in two groups. The conveying positioning component includes a conveying fixed frame, a conveying adjustment frame and a conveying positioning baffle. The conveying fixed frame is arranged on one side of the packaging conveyor line. The conveying adjustment frame is arranged on the conveying fixed frame. One side of the conveying positioning baffle is connected to the conveying adjustment frame to adjust the position of the conveying positioning baffle. The positioning and clamping assembly includes an end face positioning element, a side positioning element and a top positioning element. The end face positioning element is used to position the toilet packaging assembly in the conveying direction on the packaging conveyor line; the side positioning element is used to clamp and position the side of the toilet packaging assembly, and the top positioning element is used to press and position the upper surface of the toilet packaging assembly.

4. The automatic toilet stacking device according to claim 1, characterized in that: The material-retrieving manipulator comprises a manipulator base, a first rotating shaft, a first swinging shaft, a second swinging shaft, a second rotating shaft, a third swinging shaft and a third rotating shaft which are connected in sequence, a control box is arranged on one side of the manipulator base, a control connector is arranged on the control box, a first rotating shaft is arranged on a first rotating disk, a first rotating motor is arranged on the first rotating disk, the first rotating disk is rotatably connected to the manipulator base, and the first rotating motor is used to drive the first rotating disk to rotate along the manipulator base; The first swing shaft includes a first swing arm, a first swing motor and an auxiliary connecting rod, one end of the first swing arm is rotatably connected to one side of the first rotating disk, the first swing motor is arranged on one side of the first rotating disk and is drivingly connected to the first swing arm, one end of the auxiliary connecting rod is hinged to the first rotating disk, and the other end is hinged to the first swing arm; The second swing shaft includes a second swing arm and a second swing motor, one end of the second swing arm is connected to the first swing arm, and the second swing motor is arranged on the second swing arm and is used to drive the second swing arm to rotate along one end of the first swing arm; The second rotating shaft comprises a second rotating motor and a second rotating shaft, one end of the second rotating shaft is rotatably connected to the second swing arm, the second rotating motor is disposed at one end of the second swing arm and is used to drive the second rotating shaft to rotate, and a swing placement cavity is disposed on one side of the second rotating shaft; The third swing shaft includes a third swing motor and a third swing arm arranged in the swing placement cavity, and the third swing motor is used to drive the third swing arm to rotate; the third rotating shaft includes a third rotating motor and a third rotating shaft, and the third rotating motor is arranged on the third rotating shaft and is driven and connected to a third turntable, and the third turntable is connected to the material picking connection seat.

5. The automatic toilet stacking device according to claim 1, characterized in that: The material picking clamping driving element comprises a material picking driving bracket, a material picking driving motor and a material picking driving screw, wherein the material picking driving bracket is arranged on the material picking connecting seat, the material picking driving motor is arranged on the material picking driving bracket, and the driving end of the material picking driving motor is connected to the material picking driving screw; The material taking drive screw rod is provided with two sets of threaded parts arranged in opposite directions; The material picking clamping movable element comprises a material picking slide rail and a material picking sliding seat arranged on the material picking slide rail, the material picking sliding seat is arranged in two groups opposite to each other, the two groups of material picking sliding seats are slidably arranged on the material picking slide rail, the material picking slide rail is arranged on the material picking connecting seat, and the two groups of material picking sliding seats are respectively arranged on two groups of threaded parts arranged in opposite directions; A positioning boss is provided on one side of the clamping arc surface close to the matching clamping groove, and the positioning boss is used to cooperate with the matching clamping groove to clamp and fix the clamping positioning step.

6. The automatic toilet stacking device according to claim 5, characterized in that: The clamping matching components are provided with two groups, and the two groups of clamping matching components are relatively arranged on both sides of the material picking clamping base, the matching clamping elements include a matching sliding plate, a matching clamping plate and a clamping fixed plate, the matching sliding plate is slidably arranged on the matching guide element, the matching clamping plate is arranged on one side of the matching sliding plate and the clamping arc surface, the matching clamping groove includes a first arc portion, a second arc portion and a third arc portion, the first arc portion, the second arc portion and the third arc portion are connected in sequence to form an S-shaped clamping groove, and the groove bottom surface of the third arc portion is a curved surface.

7. The automatic toilet stacking device according to claim 6, characterized in that: The clamping fixing plate is provided with a clamping inclined surface, which is opposite to the clamping fixing block, and the clamping fixing block is provided with a fixed pressing surface. The fixed driving element is used to drive the fixed pressing surface to abut against the clamping inclined surface so that the matching clamping element and the driving clamping element keep clamping and fixing the clamping part.

8. The automatic toilet stacking device according to claim 1, characterized in that: The stacking support mechanism includes a stacking base frame, a stacking movable frame and a stacking fixed assembly, wherein the stacking movable frame is movably arranged on the stacking base frame; a stacking moving module is arranged on the stacking base frame, and the stacking moving module is used to drive the stacking movable frame to slide along the stacking base frame; the stacking fixed assembly includes a fixed cylinder and a fixed clamping plate, and the fixed cylinder is used to drive the fixed clamping plate to fix the stacking pallet.

9. The automatic toilet stacking device according to claim 8, characterized in that: The palletizing film wrapping mechanism includes a film wrapping fixing frame, a film wrapping beam, a film wrapping driving assembly, a film wrapping lifting assembly and a film wrapping discharge assembly. The film wrapping beam is arranged at the top of the film wrapping fixing frame, the film wrapping driving assembly is arranged at one end of the film wrapping beam, the film wrapping lifting assembly is provided with an L-shaped bracket, one end of the L-shaped bracket is connected to the film wrapping driving assembly, the film wrapping lifting assembly is arranged on the L-shaped bracket, the film wrapping discharge assembly is arranged on the film wrapping lifting assembly, and the film wrapping driving assembly is used to drive the L-shaped bracket to rotate, so as to drive the film wrapping discharge assembly to rotate around the stacking support mechanism.

10. The automatic toilet stacking device according to claim 9, characterized in that: The envelope drive assembly comprises an envelope drive motor and an envelope drive connecting shaft, the envelope drive motor is connected to the envelope drive connecting shaft, and one end of the envelope drive connecting shaft is connected to the L-shaped bracket; The film coating lifting assembly includes a film coating lifting motor, a film coating lifting guide rail, and a film coating transmission seat. The film coating lifting motor is used to drive the film coating transmission seat to slide along the film coating lifting guide rail. The film coating discharge assembly is arranged on the film coating transmission seat. The film discharging assembly comprises a film discharging bracket, a film discharging motor and a film discharging guide roller, wherein the film discharging bracket is arranged on the film discharging transmission seat, a film discharging bracket is arranged on one side of the film discharging guide roller, the film discharging bracket is used to place the film material, and the film discharging motor is used to drive the film discharging guide roller to discharge the film material; The stacking moving module is used to drive the stacking movable frame to move along the stacking bottom frame to the bottom of the film encapsulation driving connecting shaft.

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