Toilet automatic palletizing equipment

Abstract

The present invention relates to the field of non-standard automation technology, in particular to an automatic toilet palletizing device, which includes a packaging positioning mechanism, a material-taking manipulator, a material-taking mechanism, a palletizing support mechanism, and a palletizing film wrapping mechanism. The packaging positioning mechanism is used to position the toilet packaging components. The material-taking manipulator is used to drive the material-taking mechanism to move. The material-taking mechanism is used to grab the toilet packaging components and place them on the palletizing support mechanism for palletizing under the action of the material-taking manipulator. The palletizing film wrapping mechanism is used to wrap multiple palletized toilet packaging components. Through automatic control, the packaging steps of the present invention can be completed continuously and quickly, greatly improving the production efficiency compared with the traditional manual packaging method.

Description

Technical Field

[0001] The present invention relates to the field of non-standard automation technology, and particularly to an automatic toilet palletizing device. Background Art

[0002] Non-standard automation, as an important branch of the automation technology field, refers to non-standardized and highly customized automation solutions designed for specific industrial scenarios, production processes, or product characteristics. Compared with traditional standardized automation equipment, such automation systems emphasize more on flexibility and adaptability, aiming to solve complex production requirements that cannot be directly met by off-the-shelf standardized automation equipment in the market. During the production process of toilets, the toilets need to be assembled, and after assembly, they are wrapped and fixed by a packaging structure, and then palletized for storage or shipment. The existing toilet packaging and palletizing are all completed manually, without being able to achieve automated processing, which affects the palletizing efficiency and accuracy. Therefore, new designs need to be made for the existing toilet production and palletizing. Summary of the Invention

[0003] To solve the above problems, through automatic control, the packaging steps of the present invention can be completed continuously and quickly. Compared with the traditional manual packaging method, the automatic toilet palletizing device greatly improves the production efficiency.

[0004] The technical solution adopted by the present invention is: an automatic toilet palletizing device, including a toilet packaging assembly. The toilet packaging assembly includes a packaging base, a toilet body, a packaging upper cover, and a packaging tie. The packaging base is provided with a bottom fixing groove, and the packaging upper cover is provided with an upper cover fixing groove. The bottom fixing groove is used for fixing the bottom of the toilet body, and the upper cover fixing groove is used for fixing the upper end of the toilet body. The toilet body is provided with a clamping portion, and the clamping portion is provided with a clamping through groove. Clamping positioning steps are arranged on both sides of the clamping through groove. The packaging tie wraps the packaging base and the packaging upper cover to fix the toilet body on the bottom fixing groove and the upper cover fixing groove. The automatic toilet palletizing device includes a packaging positioning mechanism, a material taking manipulator, a material taking mechanism, a palletizing support mechanism, and a palletizing film wrapping mechanism. The packaging positioning mechanism is used to position the toilet packaging assembly. The material taking manipulator is used to drive the material taking mechanism to move. The material taking mechanism is used to grab the toilet packaging assembly and place it on the palletizing support mechanism for palletizing under the action of the material taking manipulator. The palletizing film wrapping mechanism is used to wrap a plurality of palletized toilet packaging assemblies with a film.

[0005] For further improvement of the above solution, the material taking mechanism includes a material taking connection seat, a material taking clamping assembly, a clamping alignment assembly, and a clamping fixing assembly. The material taking connection seat is arranged on the material taking manipulator.

[0006] A further improvement to the above solution is that the material taking and clamping assembly includes a material taking and clamping base, a material taking and clamping driving element, a material taking and clamping movable element, and a material taking and clamping element. One end of the material taking and clamping base is connected to the material taking connecting seat. The material taking and clamping driving element is arranged on the material taking and clamping base. The material taking and clamping movable element is connected to the driving end of the material taking and clamping driving element. One end of the material taking and clamping element is connected to the material taking and clamping movable element, and the other end is provided with a clamping arc surface for clamping the outer side of the clamping part of the toilet body.

[0007] A further improvement to the above solution is that the clamping and aligning assembly includes an aligning driving element, an aligning guiding element, and an aligning clamping element. The aligning driving element is arranged on one side of the material taking and clamping base and is used to drive the aligning clamping element to slide along the aligning guiding element so that the aligning clamping element moves relatively towards the material taking and clamping element. The aligning clamping element is provided with an aligning clamping groove opposite to the clamping arc surface for clamping and fixing the clamping positioning steps on both sides of the clamping through groove.

[0008] A further improvement to the above solution is that the clamping and fixing assembly is provided with a fixing driving element and a clamping and fixing block. The fixing driving element is arranged on the material taking and clamping base, and the clamping and fixing block is arranged at the driving end of the fixing driving element. The fixing driving element is used to drive the clamping and fixing block to fix the aligning clamping element on the aligning guiding element so that the aligning clamping element and the driving clamping element maintain clamping and fixing of the clamping part.

[0009] A further improvement to the above solution is that the width dimension of the packaging base is smaller than the width dimension of the packaging upper cover. During palletizing, the packaging bases and the packaging upper covers of adjacent two groups of toilet packaging assemblies are opposite and their sides are in contact. The palletizing support mechanism is provided with a palletizing pallet for palletizing the upper toilet packaging assemblies.

[0010] A further improvement to the above solution is that the packaging positioning mechanism includes a packaging conveyor line, a conveying positioning assembly, and a positioning clamping assembly. The packaging conveyor line is used for conveying the toilet packaging assemblies. There are two groups of the conveying positioning assemblies arranged oppositely. The conveying positioning assembly includes a conveying fixing frame, a conveying adjusting frame, and a conveying positioning baffle. The conveying fixing frame is arranged on one side of the packaging conveyor line. The conveying adjusting frame is arranged on the conveying fixing frame. One side of the conveying positioning baffle is connected to the conveying adjusting frame to adjust the position of the conveying positioning baffle.

[0011] A further improvement to the above solution is that the positioning and clamping assembly includes an end face positioning element, a side face positioning element, and a top face positioning element. The end face positioning element is used for positioning the conveying direction of the toilet packaging assembly on the packaging conveyor line; the side face positioning element is used for clamping and positioning the side face of the toilet packaging assembly, and the top face positioning element is used for pressing and positioning the upper surface of the toilet packaging assembly.

[0012] A further improvement to the above solution is that the material taking manipulator includes 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 connected in sequence. A control box is arranged on one side of the manipulator base, and a control connector is arranged on the control box. A first turntable is arranged on the first rotating shaft, and a first rotating motor is arranged on the first turntable. The first turntable is rotatably connected to the manipulator base, and the first rotating motor is used for driving the first turntable to rotate along the manipulator base.

[0013] A further improvement to the above solution is that the first swinging shaft includes a first swing arm, a first swinging 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 swinging 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.

[0014] A further improvement to the above solution is that the second swinging shaft includes a second swing arm and a second swinging motor. One end of the second swing arm is connected to the first swing arm, and the second swinging motor is arranged on the second swing arm and is used for driving the second swing arm to rotate along one end of the first swing arm.

[0015] A further improvement to the above solution 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 for driving the second rotating shaft to rotate. A swinging placement cavity is arranged on one side of the second rotating shaft.

[0016] A further improvement to the above solution is that the third swinging shaft includes a third swinging motor arranged in the swinging placement cavity and a third swing arm. The third swinging motor is used for driving the third swing arm to rotate; the third rotating shaft includes a third rotating motor and a third rotating shaft. The third rotating motor is arranged on the third rotating shaft and is drivingly connected to a third turntable. The third turntable is connected to the material taking connecting seat.

[0017] A further improvement to the above solution is that the material taking and clamping drive element includes a material taking drive bracket, a material taking drive motor, and a material taking drive lead screw. The material taking drive bracket is arranged on the material taking connection seat, the material taking drive motor is arranged on the material taking drive bracket, and the drive end of the material taking drive motor is connected to the material taking drive lead screw. Two sets of oppositely arranged thread portions are provided on the material taking drive lead screw.

[0018] A further improvement to the above solution is that the material taking and clamping movable element includes a material taking slide rail and a material taking sliding seat arranged on the material taking slide rail. Two sets of the material taking sliding seats are arranged oppositely, and the two sets of material taking sliding seats are slidably arranged on the material taking slide rail. The material taking slide rail is arranged on the material taking connection seat, and the two sets of material taking sliding seats are respectively arranged on the two sets of oppositely arranged thread portions.

[0019] A further improvement to the above solution is that a positioning boss is arranged on one side of the clamping arc surface close to the mating clamping groove, and the positioning boss is used to cooperate with the mating clamping groove to clamp and fix the clamping positioning step.

[0020] A further improvement to the above solution is that two sets of clamping and mating components are provided, and the two sets of clamping and mating components are arranged oppositely on both sides of the material taking and clamping base. The mating clamping element includes a mating sliding plate, a mating clamping plate, and a clamping fixing plate. The mating sliding plate is slidably arranged on the mating guiding element. The mating clamping plate is arranged on one side of the mating sliding plate and the clamping arc surface. The mating 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.

[0021] A further improvement to the above solution is that the clamping fixing plate is provided with a clamping inclined surface 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 mating clamping element and the driving clamping element maintain clamping and fixing of the clamping portion.

[0022] A further improvement to the above solution is that the palletizing support mechanism includes a palletizing bottom frame, a palletizing movable frame, and a palletizing fixing component. The palletizing movable frame is movably arranged on the palletizing bottom frame. A palletizing moving module is arranged on the palletizing bottom frame, and the palletizing moving module is used to drive the palletizing movable frame to slide along the palletizing bottom frame. The palletizing fixing component includes a fixed cylinder and a fixed clamping plate, and the fixed cylinder is used to drive the fixed clamping plate to fix the palletizing pallet.

[0023] A further improvement to the above solution is that the palletizing and film wrapping mechanism includes a film wrapping fixed frame, a film wrapping cross beam, a film wrapping driving assembly, a film wrapping lifting assembly, and a film wrapping material feeding assembly. The film wrapping cross beam is arranged at the top of the film wrapping fixed frame. The film wrapping driving assembly is arranged at one end of the film wrapping cross 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 material feeding assembly is arranged on the film wrapping lifting assembly. The film wrapping driving assembly is used to drive the L-shaped bracket to rotate, so as to drive the film wrapping material feeding assembly to rotate around the palletizing support mechanism.

[0024] A further improvement to the above solution is that the film wrapping driving assembly includes a film wrapping driving motor and a film wrapping driving connecting shaft. The film wrapping driving motor is connected to the film wrapping driving connecting shaft. One end of the film wrapping driving connecting shaft is connected to the L-shaped bracket.

[0025] A further improvement to the above solution is that the film wrapping lifting assembly includes a film wrapping lifting motor, a film wrapping lifting guide rail, and a film wrapping transmission seat. The film wrapping lifting motor is used to drive the film wrapping transmission seat to slide along the film wrapping lifting guide rail. The film wrapping material feeding assembly is arranged on the film wrapping transmission seat.

[0026] A further improvement to the above solution is that the film wrapping material feeding assembly includes a film wrapping material feeding bracket, a film wrapping material feeding motor, and a film wrapping material feeding guide roller. The film wrapping material feeding bracket is arranged on the film wrapping transmission seat. A film wrapping bracket is arranged on one side of the film wrapping material feeding guide roller. The film wrapping bracket is used to place the film material. The film wrapping material feeding motor is used to drive the film wrapping material feeding guide roller to discharge the film material.

[0027] 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 bottom frame until it is below the film wrapping driving connecting shaft.

[0028] The beneficial effects of the present invention are as follows:

[0029] Compared with the existing toilet packaging and palletizing, the present invention integrates advanced automation technologies and design concepts, significantly improving the efficiency and safety of toilet products during packaging, handling, and storage.

[0030] The present invention integrates components such as a packaging base, a toilet body, a packaging upper cover, and packaging tie straps to construct a complete toilet packaging system. Among them, the designs of the bottom fixing groove and the upper cover fixing groove ensure the stability of the toilet body during the packaging process, avoiding damage caused by shaking during transportation or handling. The use of packaging tie straps further enhances the tightness of the packaging, making the entire packaging process more standardized and normalized. In addition, through automatic control, these packaging steps can be completed continuously and quickly, greatly improving the production efficiency compared with the traditional manual packaging method.

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

[0032] The palletizing support mechanism fully considers the stacking stability and space utilization rate of the toilet packaging components. By precisely controlling the number and arrangement of each layer of stacking, efficient and safe palletizing operations are achieved. This not only reduces the complexity of manual operations but also avoids the risks of uneven or collapsed palletizing caused by human factors. In addition, the application of the palletizing film wrapping mechanism provides an additional protective layer for the stacked toilet packaging components, effectively preventing erosion from external environments such as dust and moisture, and at the same time enhancing the overall stability, facilitating subsequent transportation and storage. The present invention reduces the need for direct human participation in packaging, handling, and other links, thereby reducing the risk of occupational diseases such as muscle strain and low back pain caused by repetitive labor for workers. At the same time, during the operation of the equipment, a high level of cleanliness and hygiene standards can be maintained, avoiding pollution problems that may occur in traditional manual operations, which is of great significance for improving product quality and brand image.

[0033] In the present invention, the material taking and clamping assembly realizes the precise grasping and stable clamping of the clamping part of the toilet body through a precisely designed material taking and clamping base, a driving element, a movable element, and a clamping element. Among them, the clamping arc surface of the clamping element is tailored according to the shape of the toilet, ensuring a tight fit and balanced force during the clamping process, effectively avoiding the risk of damage to the toilet surface or slipping caused by improper clamping, and guaranteeing production safety and product quality. Secondly, the introduction of the alignment and clamping assembly further enhances the flexibility and stability of the clamping system. The ingenious setting of the alignment driving element on one side of the material taking and clamping base enables the alignment clamping element to slide smoothly along the preset alignment guiding element, achieving 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 automation level but also effectively prevents the toilet from shaking during handling by precisely controlling the alignment force and speed, ensuring the continuity and accuracy of the palletizing operation. Moreover, the coordinated operation of the two groups of components constructs an efficient and reliable automatic clamping and handling system for the toilet. This system can quickly respond to the needs of the production line, accurately grasp and transport the toilet from the production station to the designated palletizing position, significantly improving production efficiency and operation safety. At the same time, by optimizing the cooperation between components and the motion control strategy, energy consumption and wear are reduced, the service life of the equipment is extended, and the long-term operation cost is lowered.

[0034] In the present invention, the fixed driving element is arranged on the material taking and clamping base. Through the transmission of driving force, it can precisely control the position and force of the clamping and fixing block. This precision ensures the stability and safety of the toilet during palletizing, avoiding problems such as damage or misalignment caused by unstable clamping. 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 alignment clamping element on the alignment guiding element, so that the alignment clamping element and the driving clamping element maintain clamping and fixing of the clamping part. Thereby ensuring the clamping stability and reliability of the toilet. Brief Description of the Drawings

[0035] Figure 1 is a three-dimensional schematic diagram of the toilet packaging assembly of the present invention;

[0036] Figure 2 is Figure 1 a three-dimensional schematic diagram of another perspective of the toilet packaging assembly in

[0037] Figure 3 is a three-dimensional schematic diagram of the automatic palletizing equipment for the toilet of the present invention;

[0038] Figure 4 is Figure 3 a three-dimensional schematic diagram of another perspective of the toilet packaging assembly in

[0039] Figure 5 isFigure 3 Top view schematic diagram of the toilet packaging assembly;

[0040] Figure 6 is Figure 3 Stereoscopic schematic diagram of the packaging positioning mechanism of the toilet packaging assembly;

[0041] Figure 7 is Figure 3 Stereoscopic schematic diagram of the packaging positioning mechanism of the toilet packaging assembly from another perspective;

[0042] Figure 8 is Figure 3 Stereoscopic schematic diagram of the material taking manipulator of the toilet packaging assembly;

[0043] Figure 9 is Figure 3 Stereoscopic schematic diagram of the material taking manipulator of the toilet packaging assembly from another perspective;

[0044] Figure 10 is Figure 3 Stereoscopic schematic diagram of the material taking mechanism of the toilet packaging assembly;

[0045] Figure 11 is Figure 3 Top view schematic diagram of the material taking manipulator of the toilet packaging assembly;

[0046] Figure 12 is Figure 3 Explosion schematic diagram of the material taking manipulator of the toilet packaging assembly;

[0047] Figure 13 is Figure 3 Explosion schematic diagram of the material taking manipulator of the toilet packaging assembly from another perspective;

[0048] Figure 14 is Figure 3 Schematic diagram of the usage state of the palletizing support mechanism of the toilet packaging assembly;

[0049] Figure 15 is Figure 3 Stereoscopic schematic diagram of the palletizing support mechanism of the toilet packaging assembly;

[0050] Figure 16 is Figure 3 Stereoscopic schematic diagram of the palletizing film wrapping mechanism of the toilet packaging assembly;

[0051] Figure 17 is Figure 3 Stereoscopic schematic diagram of the palletizing film wrapping mechanism of the toilet packaging assembly from another perspective.

[0052] Description of reference numerals: toilet packaging assembly 10, packaging base 101, bottom fixing groove 1011, toilet body 102, clamping part 1021, clamping through groove 1022, clamping positioning step 1023, packaging upper cover 103, upper cover fixing groove 1031, packaging tie 104;

[0053] Packaging positioning mechanism 1, packaging conveying line 11, conveying positioning assembly 12, conveying fixing frame 121, conveying adjusting frame 122, conveying positioning baffle 123, positioning clamping assembly 13, end face positioning element 131, side face positioning element 132, top positioning element 133;

[0054] Material taking 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, swinging installation cavity 253, third swinging shaft 26, third swinging motor 261, third swing arm 262, third rotating shaft 27, third rotating motor 271, third rotating shaft 272, third turntable 273;

[0055] Material taking mechanism 3, material taking connecting seat 31, material taking clamping assembly 32, material taking clamping base 321, material taking clamping driving element 322, material taking driving support 3221, material taking driving motor 3222, material taking driving lead screw 3223, material taking clamping movable element 323, material taking slide rail 3231, material taking sliding seat 3232, material taking clamping element 324, clamping arc surface 3241, positioning boss 3242, clamping alignment assembly 33, alignment driving element 331, alignment guiding element 332, alignment clamping element 333, alignment sliding plate 3331, alignment clamping plate 3332, clamping fixing plate 3333, clamping inclined surface 3334, alignment clamping groove 334, first arc part 3341, second arc part 3342, third arc part 3343, clamping fixing assembly 34, fixing driving element 341, clamping fixing block 342, fixing pressing surface 3421;

[0056] Palletizing support mechanism 4, palletizing pallet 41, palletizing base frame 42, palletizing moving module 421, palletizing movable frame 43, palletizing fixing assembly 44, fixing cylinder 441, fixing clamping plate 442;

[0057] Palletizing and film wrapping mechanism 5, film wrapping fixing frame 51, film wrapping cross beam 52, film wrapping driving assembly 53, film wrapping driving motor 531, film wrapping driving connecting shaft 532, film wrapping lifting assembly 54, film wrapping lifting motor 541, film wrapping lifting guide rail 542, film wrapping transmission seat 543, film wrapping material feeding assembly 55, film wrapping material feeding bracket 551, film wrapping material feeding motor 552, film wrapping material feeding guide roller 553, film wrapping bracket 554, L-shaped bracket 56. Detailed implementation manner

[0058] For the convenience of understanding the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Preferred embodiments of the present invention are shown 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, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0059] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the description of the present invention in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. Such as Figures 1 to 17As shown in the figure, in an embodiment of the present invention, an automatic palletizing device for toilets is involved, which includes a toilet packaging assembly 10. The toilet packaging assembly 10 includes a packaging base 101, a toilet body 102, a packaging upper cover 103, and a packaging tie 104. The packaging base 101 is provided with a bottom fixing groove 1011, and the packaging upper 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 part 1021, the clamping part 1021 is provided with a clamping through groove 1022, and clamping positioning steps 1023 are arranged on both sides of the clamping through groove 1022. The packaging tie 104 wraps the packaging base 101 and the packaging upper cover 103 to fix the toilet body 102 on the bottom fixing groove 1011 and the upper cover fixing groove 1031. The automatic palletizing device for toilets includes a packaging positioning mechanism 1, a material taking manipulator 2, a material taking mechanism 3, a palletizing support mechanism 4, and a palletizing film wrapping mechanism 5. The packaging positioning mechanism 1 is used for positioning the toilet packaging assembly 10. The material taking manipulator 2 is used for driving the material taking mechanism 3 to move. The material taking mechanism 3 is used for grasping the toilet packaging assembly 10 and placing it on the palletizing support mechanism 4 for palletizing under the action of the material taking manipulator 2. The palletizing film wrapping mechanism 5 is used for wrapping multiple toilet packaging assemblies 10 stacked. The material taking mechanism 3 includes a material taking connection seat 31, a material taking clamping assembly 32, a clamping alignment assembly 33, and a clamping fixing assembly 34. The material taking connection seat 31 is arranged on the material taking manipulator 2. The present invention integrates advanced automation technologies and design concepts, significantly improving the efficiency and safety of toilet products during packaging, handling, and storage processes.

[0061] The present invention integrates components such as the packaging base 101, the toilet body 102, the packaging upper cover 103, and the packaging tie 104 to construct a complete toilet packaging system. Among them, 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, avoiding 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 automatic control, these packaging steps can be completed continuously and quickly, greatly improving the production efficiency compared with the traditional manual packaging method.

[0062] The packaging positioning mechanism 1 of the present invention can achieve high-precision positioning of the toilet packaging component 10 by using advanced positioning sensors and algorithms, ensuring that the target position can be accurately found in each material-taking operation. The material-taking manipulator 2 and its supporting material-taking mechanism 3 achieve stable grasping and handling of the toilet packaging component 10 through precise mechanical design and drive systems. In particular, the coordinated operation of the material-taking connecting seat 31, the material-taking clamping assembly 32, the clamping alignment assembly 33, and the clamping fixing assembly 34 in the material-taking mechanism 3 not only ensures the balance and stability during the grasping process but also can adapt to toilet packages of different sizes and weights, improving the versatility and flexibility of the equipment.

[0063] The palletizing support mechanism 4 fully considers the stacking stability and space utilization rate of the toilet packaging component 10 and realizes efficient and safe palletizing operations by precisely controlling the number and arrangement of each layer of stacking. This not only reduces the complexity of manual operations but also avoids the risk of uneven or collapsed palletizing caused by human factors. In addition, the application of the palletizing film wrapping mechanism 5 provides an additional protective layer for the stacked toilet packaging components 10, effectively preventing erosion from external environments such as dust and moisture, and at the same time enhancing the overall stability, facilitating subsequent transportation and storage. The present invention reduces the need for direct human participation in packaging, handling, and other links, thereby reducing the risk of occupational diseases such as muscle strain and low back pain caused by repetitive labor for workers. At the same time, the equipment can maintain a high level of cleanliness and hygiene standards during operation, avoiding pollution problems that may occur in traditional manual operations, which is of great significance for improving product quality and brand image.

[0064] The material taking and clamping assembly 32 includes a material taking and clamping base 321, a material taking and clamping driving element 322, a material taking and clamping movable element 323 and a material taking and clamping element 324. One end of the material taking and clamping base 321 is connected to the material taking connecting seat 31. The material taking and clamping driving element 322 is arranged on the material taking and clamping base 321. The material taking and clamping movable element 323 is connected to the driving end of the material taking and clamping driving element 322. One end of the material taking and clamping element 324 is connected to the material taking and clamping movable element 323, and the other end is provided with a clamping arc surface 3241. The clamping arc surface 3241 is used for clamping the outer side of the clamping part 1021 of the toilet body 102. The clamping and aligning assembly 33 includes an aligning driving element 331, an aligning guiding element 332 and an aligning clamping element 333. The aligning driving element 331 is arranged on one side of the material taking and clamping base 321. The aligning driving element 331 is used for driving the aligning clamping element 333 to slide along the aligning guiding element 332, so that the aligning clamping element 333 moves relatively towards the material taking and clamping element 324. The aligning clamping element 333 is provided with an aligning clamping groove 334. The aligning clamping groove 334 faces 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 and clamping assembly 32 realizes the accurate grasping and stable clamping of the clamping part 1021 of the toilet body 102 through the precisely designed material taking and clamping base 321, driving element, movable element and clamping element. Among them, the clamping arc surface 3241 of the clamping element is tailored according to the shape of the toilet, ensuring close fitting and balanced force during the clamping process, effectively avoiding the risk of damage to the toilet surface or slipping caused by improper clamping, and ensuring production safety and product quality. Secondly, the introduction of the clamping and aligning assembly 33 further enhances the flexibility and stability of the clamping system. The ingenious setting of the aligning driving element 331 on one side of the material taking and clamping base 321 enables the aligning clamping element 333 to slide smoothly along the preset aligning guiding element 332, realizing the 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 automation level, but also effectively prevents the toilet from shaking during the handling process by precisely controlling the aligning force and speed, ensuring the continuity and accuracy of the palletizing operation. Moreover, the coordinated operation of the two groups of components constructs an efficient and reliable automatic clamping and handling system for the toilet. This system can quickly respond to the needs of the production line, accurately clamp and transport the toilet from the production station to the designated palletizing position, significantly improving production efficiency and operation safety. At the same time, by optimizing the cooperation between components and the motion control strategy, energy consumption and wear are reduced, the service life of the equipment is extended, and the long-term operation cost is reduced.

[0065] The clamping and fixing assembly 34 is provided with a fixing driving element 341 and a clamping and fixing block 342. The fixing driving element 341 is arranged on the material taking and clamping base 321, and the clamping and fixing block 342 is arranged at the driving end of the fixing driving element 341. The fixing driving element 341 is used to drive the clamping and fixing block 342 to fix the alignment clamping element 333 on the alignment guiding element 332, so that the alignment clamping element 333 and the driving clamping element keep the clamping part 1021 clamped and fixed. In the present invention, the fixing driving element 341 is arranged on the material taking and clamping base 321. Through the transmission of driving force, the position and force of the clamping and fixing block 342 can be accurately controlled. This accuracy ensures the stability and safety of the toilet during the palletizing process, and avoids problems such as damage or misalignment caused by unstable clamping. The clamping and fixing block 342 is arranged at the driving end of the fixing driving element 341. The fixing driving element 341 is used to drive the clamping and fixing block 342 to fix the alignment clamping element 333 on the alignment guiding element 332, so that the alignment clamping element 333 and the driving clamping element keep the clamping part 1021 clamped and fixed. Furthermore, the clamping stability and reliability of the toilet are ensured.

[0066] The width dimension of the packaging base 101 is smaller than the width dimension of the packaging upper cover 103. During palletizing, the packaging bases 101 and the packaging upper covers 103 of two adjacent sets of toilet packaging assemblies 10 are opposite and in side contact. The palletizing support mechanism 4 is provided with a palletizing pallet 41, and the palletizing pallet 41 is used for palletizing the toilet packaging assemblies 10. In this embodiment, the design difference in the packaging dimensions ensures that two adjacent sets of toilet packaging assemblies 10 can be closely contacted during palletizing. The arrangement that the packaging bases 101 and the packaging upper covers 103 are opposite and in side contact not only improves the stability of palletizing, but also effectively prevents the possible shaking or collapse during transportation or storage, thus ensuring the safety and integrity of the product. Secondly, the design of the palletizing pallet 41 in the palletizing support mechanism 4 provides a solid support for the palletizing of the toilet packaging assemblies 10. By accurately calculating and adjusting the dimensions and positions of the palletizing pallet 41, it can be ensured that each layer of toilet packaging assemblies 10 can be evenly stressed, avoiding deformation or damage caused by uneven stress. In addition, this palletizing method also optimizes the space utilization rate. Since the width of the packaging base 101 is smaller, the gap between adjacent components is reduced, so that more toilet packaging assemblies 10 can be stacked in a limited storage space, improving the storage efficiency.

[0067] Refer to Figures 6 to 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 of 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.

[0068] See also Figures 8 to 9As shown in the figure, the material handling manipulator 2 includes a manipulator 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 that are connected in sequence. A control box 211 is provided on one side of the manipulator base 21, and a control connector 212 is provided on the control box 211. A first turntable 221 is provided on the first rotating shaft 22, and a first rotating motor 222 is provided on the first turntable 221. The first turntable 221 is rotatably connected to the manipulator base 21, and the first rotating motor 222 is used to drive the first turntable 221 to rotate along the manipulator base 21. Specifically, the first swinging shaft 23 includes a first swing arm 231, a first swinging motor 232, and an auxiliary connecting rod 233. One end of the first swing arm 231 is rotatably connected to one side of the first turntable 221. The first swinging motor 232 is provided on one side of the first turntable 221 and is drivingly connected to the first swing arm 231. One end of the auxiliary connecting rod 233 is hinged to the first turntable 221, and the other end is hinged to the first swing arm 231. The second swinging shaft 24 includes a second swing arm 241 and a second swinging motor 242. One end of the second swing arm 241 is connected to the first swing arm 231. The second swinging motor 242 is provided 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 provided at one end of the second swing arm 241 and is used to drive the second rotating shaft 252 to rotate. A swinging placement cavity 253 is provided on one side of the second rotating shaft 252. The third swinging shaft 26 includes a third swinging motor 261 and a third swing arm 262 provided in the swinging placement cavity 253. The third swinging 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 provided on the third rotating shaft 272 and is drivingly connected to a third turntable 273. The third turntable 273 is connected to the material handling connection seat 31. In this embodiment, through the multi-stage linkage of the manipulator base 21, the first rotating shaft 22, the first swinging shaft 23 to the third rotating shaft 27, the efficient grasping and precise positioning of large-size and heavy items such as toilets are realized. Each level of the shaft system is equipped with high-performance rotating or swinging motors, ensuring the flexible movement of the robotic arm in complex spaces, and being able to easily adapt to toilet products of different sizes and shapes, as well as changing palletizing requirements. Especially when dealing with toilets with different shapes and weights, the flexibility and precision of the manipulator are particularly important, which can effectively avoid product damage and ensure the neatness of palletizing.Secondly, the design of the auxiliary link 233 in the first swing axis 23 and the second swing axis 24 not only enhances the structural stability, but also reduces vibration and energy consumption during movement through mechanical optimization, improving the response speed and movement efficiency of the manipulator. This design enables the manipulator to maintain high stability and accuracy when performing fast and continuous grasping operations, which is crucial for improving the overall efficiency of the toilet automatic palletizing line. Furthermore, the swing placement cavity 253 in the second rotation axis 25 provides a solid installation foundation for the third swing axis 26 and optimizes the internal layout of the manipulator, making the entire structure more compact and reasonable. This design not only saves valuable workshop space but also facilitates subsequent maintenance and upgrades. In addition, the highly integrated design of the third swing axis 26 and the third rotation axis 27 further enhances the operation flexibility and working range of the manipulator, enabling it to easily handle complex handling tasks from the end of the production line to the storage area. The settings of the control box 211 and the control connector 212 ensure that the manipulator can receive and execute instructions from the central control system to achieve automated operations. This not only simplifies the operation process and reduces manual intervention but also ensures the accuracy of each grasping and stacking action through precise program control, thus greatly improving the automation level and production safety of the production line.

[0069] Refer to Figures 10 to 12As shown, the material taking and clamping drive element 322 includes a material taking drive bracket 3221, a material taking drive motor 3222, and a material taking drive lead screw 3223. The material taking drive bracket 3221 is arranged on the material taking connection seat 31. The material taking drive motor 3222 is arranged on the material taking drive bracket 3221, and the drive end of the material taking drive motor 3222 is connected to the material taking drive lead screw 3223. Two sets of oppositely arranged thread portions are provided on the material taking drive lead screw 3223. Specifically, the material taking and clamping movable element 323 includes a material taking slide rail 3231 and a material taking sliding seat 3232 arranged on the material taking slide rail 3231. Two sets of the material taking sliding seats 3232 are arranged oppositely. The two sets of material taking sliding seats 3232 are slidably arranged on the material taking slide rail 3231. The material taking slide rail 3231 is arranged on the material taking connection seat 31, and the two sets of material taking sliding seats 3232 are respectively arranged on the two sets of oppositely arranged thread portions. A positioning boss 3242 is arranged on one side of the clamping arc surface 3241 close to the mating clamping groove 334. The positioning boss 3242 is used to cooperate with the mating clamping groove 334 to clamp and fix the clamping positioning step 1023. In this embodiment, the material taking and clamping drive element 322 is composed of a material taking drive bracket 3221, a material taking drive motor 3222, and a material taking drive lead screw 3223. This combined design realizes efficient and precise power transmission and control. The material taking drive bracket 3221 is stably installed on the material taking connection seat 31. The material taking drive motor 3222 is installed on the bracket, and its drive end is directly connected to the material taking drive lead screw 3223. The rotation of the motor drives the linear motion of the lead screw. The two sets of oppositely arranged thread portions provided on the lead screw, this innovative design enables the two material taking sliding seats 3232 to move towards or away from each other on the same lead screw, thereby realizing precise clamping and release of the toilet parts, greatly improving the flexibility and efficiency of the operation. Regarding the material taking and clamping movable element 323, the material taking slide rail 3231 is cleverly arranged on the material taking connection seat 31, providing a stable sliding track for the material taking sliding seat 3232. The two sets of material taking sliding seats 3232 are respectively installed on the slide rail and correspondingly arranged on the two sets of oppositely arranged thread portions of the lead screw. This design ensures that when the lead screw rotates, the two sliding seats can move synchronously and coordinately, realizing stable clamping and handling of the toilet parts. In addition, the opposite arrangement of the sliding seats also enhances the uniform distribution of the clamping force, effectively avoiding problems such as component damage or unstable clamping caused by uneven force. Further, the positioning boss 3242 arranged 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 part, ensuring that the component will not affect the palletizing effect due to shaking or misalignment during the handling process. It not only improves the accuracy of automated production but also effectively reduces the errors caused by manual intervention, further enhancing the overall efficiency of the production line.

[0070] There are two sets of clamping and aligning components 33, which are relatively arranged on both sides of the material-taking clamping base 321. The aligning clamping element 333 includes an aligning sliding plate 3331, an aligning clamping plate 3332 and a clamping fixing plate 3333. The aligning sliding plate 3331 is slidably arranged on the aligning guiding element 332. The aligning clamping plate 3332 is arranged on one side of the aligning sliding plate 3331 and the clamping arc surface 3241. The aligning 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 groove bottom surface of the third arc portion 3343 is a curved surface. In this embodiment, by arranging two sets of clamping and aligning components 33 relatively on both sides of the material-taking clamping base 321, bilateral synchronous clamping of the toilet product is realized, effectively enhancing the stability and firmness of clamping. In the process of handling objects such as toilets with large weight and irregular shapes, bilateral clamping can effectively prevent slipping or damage caused by uneven unilateral force, ensuring the safety of the product during handling, transfer and stacking. Secondly, the design that the aligning sliding plate 3331 is slidably arranged on the aligning guiding element 332 endows the clamping mechanism with high flexibility and adaptability. This mechanism allows the clamping and aligning component 33 to be finely adjusted according to the actual size and shape of the toilet, ensuring that each clamping can be closely fitted, reducing clamping looseness or damage caused by size differences. Furthermore, the aligning clamping plate 3332 is arranged on one side of the aligning sliding plate 3331 and the clamping arc surface 3241, forming an innovative clamping method. The design of the clamping arc surface 3241 fits the outer contour of the toilet, especially for the irregular shape of the bottom of the toilet, providing a more fitting support and clamping force, effectively avoiding the stress concentration problem caused by uneven distribution of clamping points. It not only enhances the clamping stability, but also reduces the pressure on the toilet surface, protecting the integrity of the product appearance.

[0071] The clamping fixing plate 3333 is provided with a clamping inclined surface 3334, which is opposite to the clamping fixing block 342. The clamping fixing block 342 is provided with a fixed pressing surface 3421. The fixed driving element 341 is used to drive the fixed pressing surface 3421 to abut against the clamping inclined surface 3334, so that the aligning clamping element 333 and the driving clamping element keep the clamping part 1021 clamped and fixed. In this embodiment, through the precise driving of the fixed driving element 341, the fixed pressing surface 3421 can closely abut against the clamping inclined surface 3334. This design ensures the stable clamping and fixing of the toilet clamping part 1021 between the aligning clamping element 333 and the driving clamping element. The close cooperation between the clamping inclined surface 3334 and the fixed pressing surface 3421 also reduces the friction loss during the clamping process and extends the service life of the equipment.

[0072] Refer to Figures 14 to 15 As shown, the palletizing support mechanism 4 includes a palletizing base frame 42, a palletizing movable frame 43 and a palletizing fixing component 44. The palletizing movable frame 43 is movably arranged on the palletizing base frame 42. A palletizing moving module 421 is arranged on the palletizing base frame 42, and the palletizing moving module 421 is used to drive the palletizing movable frame 43 to slide along the palletizing base frame 42. The palletizing fixing component 44 includes a fixing cylinder 441 and a fixing clamping plate 442, and the fixing cylinder 441 is used to drive the fixing clamping plate 442 to fix the palletizing pallet 41. In this embodiment, the palletizing base frame 42 serves as the basis of the entire support mechanism, providing a stable support platform for the palletizing operation of the toilet. Its structural design is reasonable, capable of bearing the weight of multiple toilets and ensuring safety during the palletizing process. At the same time, the palletizing moving module 421 arranged on the base frame can drive the palletizing movable frame 43 to slide smoothly along the preset track through precise drive control, realizing the precise positioning of the toilet in the horizontal direction. The movable arrangement 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, thus greatly simplifying the palletizing process and improving the operation 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 fixing component further enhances the stability of the palletizing operation. The fixing cylinder 441 serves as the power source, can quickly respond to the control instruction, and drives the fixing clamping plate 442 to firmly fix the toilet. This fixing method is not only simple and easy to implement, but also can ensure the stable position of the toilet during the palletizing process, preventing palletizing failure caused by shaking or tilting.

[0073] Refer to Figures 16 to 17As shown, the palletizing film wrapping mechanism 5 includes a film wrapping fixed frame 51, a film wrapping cross beam 52, a film wrapping driving component 53, a film wrapping lifting component 54, and a film wrapping material feeding component 55. The film wrapping cross beam 52 is arranged at the top of the film wrapping fixed frame 51. The film wrapping driving component 53 is arranged at one end of the film wrapping cross beam 52. The film wrapping lifting component 54 is provided with an L-shaped bracket 56. One end of the L-shaped bracket 56 is connected to the film wrapping driving component 53. The film wrapping lifting component 54 is arranged on the L-shaped bracket 56. The film wrapping material feeding component 55 is arranged on the film wrapping lifting component 54. The film wrapping driving component 53 is used to drive the L-shaped bracket 56 to rotate, so as to drive the film wrapping material feeding component 55 to rotate around the palletizing support mechanism 4. Specifically, the film wrapping driving component 53 includes a film wrapping driving motor 531 and a film wrapping driving connecting shaft 532. The film wrapping driving motor 531 is connected to the film wrapping driving connecting shaft 532. One end of the film wrapping driving connecting shaft 532 is connected to the L-shaped bracket 56. The film wrapping lifting component 54 includes a film wrapping lifting motor 541, a film wrapping lifting guide rail 542, and a film wrapping transmission seat 543. The film wrapping lifting motor 541 is used to drive the film wrapping transmission seat 543 to slide along the film wrapping lifting guide rail 542. The film wrapping material feeding component 55 is arranged on the film wrapping transmission seat 543. The film wrapping material feeding component 55 includes a film wrapping material feeding bracket 551, a film wrapping material feeding motor 552, and a film wrapping material feeding guide roller 553. The film wrapping material feeding bracket 551 is arranged on the film wrapping transmission seat 543. A film wrapping bracket 554 is arranged on one side of the film wrapping material feeding guide roller 553. The film wrapping bracket 554 is used to place the film material. The film wrapping material feeding motor 552 is used to drive the film wrapping material feeding guide roller 553 to discharge the film material. The palletizing moving module 421 is used to drive the palletizing movable frame 43 to move along the palletizing base frame 42 to below the film wrapping driving connecting shaft 532. In this embodiment, the palletizing film wrapping mechanism 5 realizes the automatic packaging of toilet products. The film wrapping fixed frame 51 serves as the support foundation of the whole mechanism, ensuring the stability and reliability of the film wrapping process. The film wrapping cross beam 52 is arranged at the top of the fixed frame, providing sufficient operating space for the film wrapping driving component 53, enabling the film wrapping process to proceed smoothly. Through the film wrapping driving motor 531 and the film wrapping driving connecting shaft 532 in the film wrapping driving component 53, the L-shaped bracket 56 can rotate, thus driving the film wrapping material feeding component 55 to rotate around the palletizing support mechanism 4 (here it is the toilet palletizing). This not only simplifies the packaging process but also greatly improves the packaging efficiency. Secondly, the introduction of the film wrapping lifting component 54 makes the film wrapping process more flexible and controllable. The film wrapping lifting motor 541 drives the film wrapping transmission seat 543 to slide along the film wrapping lifting guide rail 542, thereby realizing the height adjustment of the film wrapping material feeding component 55. This function is particularly important for toilet products of different sizes because it can ensure that the film wrapping material can closely adhere to the product surface, avoiding loose or damaged packaging. At the same time, the precise control of the film wrapping lifting component 54 also improves the packaging accuracy and aesthetics.The film wrapping and feeding assembly 55 is a key part of the palletizing and film wrapping mechanism 5. By driving the film wrapping and feeding guide roller 553 with the film wrapping and feeding motor 552, the film material can be smoothly and continuously exported and tightly wrapped around the toilet product. The setting of the film wrapping and feeding bracket 551 ensures the stability and reliability of the feeding process, while the film wrapping bracket 554 is used to place the film material, facilitating access and replacement. This design not only simplifies the process of replacing the film material but also improves the packaging efficiency and quality. In addition, the application of the palletizing moving module 421 enables the toilet product to automatically and accurately move under the film wrapping driving connecting shaft 532, providing the necessary conditions for the film wrapping process.

[0074] The above embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent for the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention shall be subject to the appended 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, wherein the fixed driving element is provided on the material taking clamping base, and the clamping and fixing block is provided 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 matched clamping element on the matched guide element, so that the matched clamping element and the driving clamping element maintain clamping and fixing the clamping part; 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 surface positioning element, a side surface positioning element and a top positioning element. The end surface positioning element is used to position the toilet packaging assembly in the conveying direction on the packaging conveyor line; the side surface 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; 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; 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 taking clamping base, the matching clamping element comprises a matching sliding plate, a matching clamping plate and a clamping fixing 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 comprises 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; 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.

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 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.

4. 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.

5. The automatic toilet stacking device according to claim 4, 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.

6. The automatic toilet stacking device according to claim 5, 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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