Carton stacking device and method

Abstract

The invention belongs to the technical field of carton stacking, and particularly relates to a carton stacking device and method.The carton stacking device comprises a base assembly, and the top of the base assembly is connected with a stacking assembly; the stacking assembly comprises a displacement assembly fixedly connected to the top of the base assembly, a clamping assembly is arranged at the bottom of the displacement assembly, a functional assembly is arranged on the outer side of the clamping assembly, and a switching assembly is connected to the outer side of the functional assembly; and the adsorption assembly is arranged at the bottom of the displacement assembly. According to the carton stacking device, in the stacking process, the height of the device can be adjusted so as to deal with cartons stacked too high, the stacking range can be widened, different clamping modes can be switched according to the different hardness of the clamped cartons so as to deal with the cartons with different hardness, in the carton clamping process, the tops of the cartons can be adsorbed, and the cartons can be clamped conveniently. And the clamping stability is improved, and subsequent stacking operation is facilitated.

Description

Technical Field

[0001] The invention belongs to the technical field of carton palletizing, and in particular relates to a carton palletizing device and method. Background Art

[0002] In the field of modern logistics and warehousing, cartons are one of the most commonly used packaging materials, and the efficiency and accuracy of their palletizing operations are directly related to the degree of automation of warehouse management and the control of logistics costs. For example, the Chinese patent application with publication number: CN116902602A provides a carton alignment and palletizing device, which can provide multi-degree-of-freedom displacement, used to adjust the angle and displacement of cartons during the stacking process, so that the cartons are stacked neatly on the pallet; another example is the Chinese patent application with publication number: CN118723594A, which provides a carton palletizing device for carton production, which can effectively prevent movement or tipping during the palletizing process, and the movement of the output roller is controlled by the telescopic cylinder. The adsorption component and the clamping component can work synchronously to ensure that the fixing force is moderate, and the carton will not be damaged while achieving a stable fixing effect, which can significantly improve production efficiency and product quality.

[0003] Such carton palletizing devices still have some shortcomings when used. First, the hardness of cartons varies significantly depending on the items inside. Softer cartons are easily deformed or even damaged during the clamping process, while harder cartons may require stronger clamping force for stable handling. The above two palletizing devices use a single clamping method and cannot be adaptively adjusted according to the hardness of the cartons. This not only affects the efficiency of the palletizing operation, but also increases the risk of carton damage.

[0004] Secondly, with the growth of storage demand, the stacking height of cartons is also increasing. The above two stacking devices are fixed in position and cannot be flexibly adjusted according to the change of stacking height. This not only limits the effective use of storage space, but also when the cartons are stacked to a certain height, the operator's vision is limited, the stacking operation becomes extremely difficult, and even poses a safety hazard.

[0005] Finally, accurate positioning is the basis for ensuring neat and stable stacking of cartons. In automated warehousing systems, accurate stacking of cartons is crucial for subsequent sorting, delivery, and other links. However, the above two types of palletizing devices lack positioning components during palletizing, and often have deficiencies in positioning accuracy. Especially in multi-layer palletizing, the accumulation of errors may lead to instability of the entire palletizing structure, increasing the risk of collapse. Summary of the invention

[0006] The object of the present invention is to provide a carton stacking device and method, which can adjust the height of the device during the stacking process to cope with cartons that are stacked too high and increase the stacking range. It can also switch different clamping modes according to the hardness of the clamped cartons to cope with cartons of different hardness. In addition, it can also adsorb the top of the carton during the clamping process to improve the stability of the clamping and facilitate subsequent palletizing operations.

[0007] The technical solution adopted by the present invention is as follows: A carton stacking device comprises a base assembly, the top of which is connected to a stacking assembly; A palletizing assembly, the palletizing assembly comprising a displacement assembly fixedly connected to the top of the base assembly, a clamping assembly being arranged at the bottom of the displacement assembly, a functional assembly being arranged at the outside of the clamping assembly, and a switching assembly being connected to the outside of the functional assembly; An adsorption component, wherein the adsorption component is arranged at the bottom of the displacement component; Among them, when performing the clamping work, the switching component switches the form of the functional component according to the hardness of the carton. In the soft form: the detection part of the switching component contacts the functional component to detect the clamping force in real time; while in the hard form: the switching component rotates along the inner cavity of the functional component to push the functional component outward, and the elastic part of the switching component acts on the clamping, forming a dual clamping of active and elastic force; The adsorption component is used for adsorbing the top of the carton, and the displacement component is used for moving the position of the carton.

[0008] In a preferred embodiment, the base assembly includes a chassis, the four corners of the top surface of the chassis are fixedly connected to limit rods, a mounting plate is arranged above the chassis, the four corners of the bottom of the mounting plate are fixedly connected to limit tubes, the limit tubes are movably sleeved on the outer ring of the limit rods, a hydraulic rod is fixedly installed on the top surface of the chassis, and the top output end of the hydraulic rod is fixedly connected to the middle part of the bottom surface of the mounting plate.

[0009] In a preferred embodiment, the displacement assembly includes a mechanical arm fixedly mounted on the top surface of the mounting plate, a mounting seat is fixedly mounted on the top end of the mechanical arm, and a device plate is fixedly mounted on the bottom end of the mounting seat.

[0010] In a preferred embodiment, the clamping assembly includes a sliding rod slidably connected to the bottom surface of the equipment plate, one end of the sliding rod extending out of the equipment plate is fixedly connected to a clamping plate, a tooth groove is provided in the middle inner cavity of the sliding rod, a first motor is fixedly installed in the middle of the inner cavity of the equipment plate, a gear is fixedly connected to the output shaft of the first motor, the outer ring of the gear is meshed with the inner ring of the tooth groove, and a camera is fixedly installed in the middle of the bottom surface of the equipment plate.

[0011] In a preferred embodiment, the functional component includes a mounting frame fixedly connected to an outer side of a clamp, the inner cavity of the mounting frame is slidably connected to a sliding frame, one end of the sliding frame passes through the mounting frame and the clamp and is fixedly connected to a contact plate, a laser light is fixedly installed in the middle of the bottom surface of the contact plate, a non-slip pad is fixedly connected to a side of the contact plate facing the middle of the equipment plate, the top of the clamp is electrically connected to an electric wire, and the top of the electric wire is electrically connected to the top surface of the equipment plate.

[0012] In a preferred embodiment, the switching assembly includes a strong spring fixedly connected to the middle part of the sliding frame, the other end of the strong spring is fixedly connected to a sliding plate, the sliding plate is slidably connected to the inner cavity of the mounting frame, the upper and lower sides of the side of the sliding plate in contact with the inner wall of the mounting frame are fixedly connected to magnetic plates, the magnetic plate is contacted and connected to the inner wall of the mounting frame, a semicircular groove is opened in the middle of the sliding plate, the inner cavity of the mounting frame is rotatably connected to a rotating shaft, a second motor is fixedly installed on one side of the outer side of the mounting frame, the output shaft of the second motor is fixedly connected to the outer end of the rotating shaft, a pressure sensor is fixedly installed on the outer ring of the middle section of the rotating shaft, the pressure sensor is contacted and connected to the outer side surface of the middle part of the sliding frame, and a semicircular block is fixedly connected to the outer ring of the rotating shaft close to one end of the second motor, and the semicircular block is arranged at the opening of the semicircular groove.

[0013] In a preferred embodiment, the adsorption assembly includes an adsorption hood fixedly connected to the middle part of the bottom surface of the equipment plate, the top end of the adsorption hood is connected to a control valve, the other port of the control valve is connected to an air pipe, the outer ends of the air pipes pass through the equipment plate and are connected to shunt pipes, and the top end of the shunt pipes is arranged in the robotic arm.

[0014] In a preferred embodiment, two groups of the adsorption covers are provided, which are distributed on the left and right sides of the bottom surface of the equipment plate, and a rubber anti-slip ring is provided on the bottom outer ring of the adsorption cover.

[0015] In a preferred embodiment, a slope is provided on the outer surface of the semicircular block, and the height of the bottom of the slope is less than the height of the opening of the semicircular groove.

[0016] A carton palletizing method, applicable to any of the above carton palletizing devices for carton palletizing, comprising: S1: The clamping mode is selected according to the hardness of the cartons to be stacked. If the hardness of the cartons is low, the second motor drives the shaft to rotate, and the pressure sensor contacts the sliding plate, so that the sliding plate cannot move during the clamping process. During the clamping process, the clamping force of the sliding plate is detected in real time, and the clamping is stopped immediately after reaching a certain level. When the hardness of the carton is high, the shaft pushes the semicircular block into the semicircular groove, and pushes the sliding frame to move outward, so that the contact plate extends outward. During the clamping process, the carton is not only subjected to the clamping force of the clamping plate, but also to the force generated by the strong spring pushing the contact plate, thereby increasing the clamping strength under the dual force. S2: After the clamping mode is selected, the robot arm controls the clamping plate to approach the carton and observes it through the camera. Then the first motor drives the gear to rotate, so that the two sets of sliding rods and clamping plates move away from each other and then quickly approach each other to clamp the carton. S3: During the clamping process, the air in the diversion pipe is evacuated through an external air pump, so that negative pressure is formed in the adsorption hood to adsorb the top surface of the carton; S4: After the carton is clamped, the robot moves the carton for palletizing. At this time, the laser light shoots laser downward to align it with the carton below to ensure the accuracy of palletizing; S5: When the palletizing height is high, the hydraulic rod will push the mounting plate and the robotic arm to lift up, making it easier to palletize at high locations.

[0017] The technical effects achieved by the present invention are: The base assembly and displacement assembly of the present invention can adjust the height of the device during the palletizing process, so as to cope with cartons that are stacked too high and increase the range of palletizing; during the palletizing operation, if the cartons are stacked too high, making it inconvenient for the device to perform high-place palletizing, the driving part of the base assembly will push the lifting part of the base assembly to move upward, so that the height of the entire device is raised, which is convenient for stacking cartons at high places; The functional components and switching components of the present invention can switch different clamping modes according to the different hardness of cartons to be stacked, so as to cope with cartons of different hardness; before clamping the carton, if the hardness of the carton is low, the driving part of the switching component will drive its detection part to contact the functional component, so that during the clamping process, the clamping force of the functional component on the carton can be detected in real time, and the clamping is stopped when a certain threshold is reached, so as to ensure that the clamping force is within a certain range to avoid breaking the carton; if the hardness of the carton is high, the pushing part of the switching component is contacted with the functional component to move the clamping part of the functional component outward, and during clamping, the clamping part of the functional component will clamp the carton and squeeze its rebound part, so that the carton is not only subjected to the clamping force, but also to the force generated by the rebound, and the clamping force and stability are improved under the action of the double force, so as to cope with cartons with high hardness and heavy weight; The adsorption component of the present invention can adsorb the top of the carton during the process of clamping the carton, thereby improving the stability of clamping and facilitating subsequent palletizing operations; when performing the palletizing operation, an external air pump evacuates the contact portion of the adsorption component and the carton through the pipeline of the adsorption component, so that a negative pressure is formed at the contact portion of the adsorption component and the carton, thereby adsorbing and fixing the carton, thereby preventing the carton from sliding downward during transportation and affecting subsequent palletizing operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of the base assembly in the present invention; Figure 3 It is a lifting effect diagram of the base assembly in the present invention; Figure 4 It is a structural schematic diagram of the displacement assembly in the present invention; Figure 5 It is a structural schematic diagram of the equipment board in the present invention; Figure 6 is a cross-sectional schematic diagram of the device plate in the present invention; Figure 7 is a cross-sectional schematic diagram of the clamping assembly in the present invention; Figure 8 is a cross-sectional schematic diagram of a functional component in the present invention; Fig. 9 is a schematic diagram of the position of the switching component in the present invention; Fig.10 It is a structural schematic diagram of the switching component in the present invention; Fig.11 It is a structural schematic diagram of the semicircular block in the present invention; Fig.12 is a diagram showing the effect of the switching component after switching in the present invention; Fig.13 It is a schematic diagram of the position of the adsorption component in the present invention; Fig.14 It is a cross-sectional schematic diagram of the adsorption component in the present invention.

[0019] In the attached drawings, the parts represented by the reference numerals are as follows: 10, base assembly; 11, chassis; 12, limit rod; 13, mounting plate; 14, limit tube; 15, hydraulic rod; 20, palletizing assembly; 21, displacement assembly; 211, mechanical arm; 212, mounting seat; 213, equipment plate; 22, clamping assembly; 221, sliding rod; 222, clamping plate; 223, tooth groove; 224, first motor; 225, gear; 226, camera; 23, function group Components; 231, mounting frame; 232, sliding frame; 233, contact plate; 234, laser light; 235, anti-slip pad; 236, wire; 24, switching component; 241, strong spring; 242, sliding plate; 243, magnetic plate; 244, semicircular groove; 245, rotating shaft; 246, second motor; 247, pressure sensor; 248, semicircular block; 30, adsorption component; 31, adsorption cover; 32, control valve; 33, air pipe; 34, shunt pipe. DETAILED DESCRIPTION

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0021] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0022] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The phrase "in a preferred embodiment" that appears in different places in this specification does not refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0023] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included. Example 1

[0024] Please see attached Figures 1 to 14 As shown, it is a first embodiment of the present invention, which provides a carton stacking device, comprising: a base assembly 10, and a stacking assembly 20 is connected to the top of the base assembly 10; The palletizing assembly 20 includes a displacement assembly 21 fixedly connected to the top of the base assembly 10, a clamping assembly 22 is arranged at the bottom of the displacement assembly 21, a functional assembly 23 is arranged on the outside of the clamping assembly 22, and a switching assembly 24 is connected to the outside of the functional assembly 23; The adsorption component 30 is arranged at the bottom of the displacement component 21; When clamping, the switching component 24 switches the form of the functional component 23 according to the hardness of the carton. In the soft form, the detection part of the switching component 24 contacts the functional component 23 to detect the clamping force in real time. In the hard form, the switching component 24 rotates along the inner cavity of the functional component 23 to push the functional component 23 outward, and the elastic part of the switching component 24 acts on the clamping, forming a dual clamping of active and elastic force. The adsorption component 30 is used to adsorb the top of the carton, and the displacement component 21 is used to move the position of the carton.

[0025] In this embodiment, before palletizing, different clamping modes are switched according to the hardness of the carton to ensure that the clamping force is moderate and to avoid damaging the carton. For example, for a carton with a lower hardness, the detection part of the switching component 24 will contact the functional component 23, and by real-time monitoring of the clamping force, when the preset threshold is reached, the system will automatically stop the clamping action, thereby protecting the carton from excessive squeezing. For a carton with a higher hardness, the switching component 24 will push the clamping part of the functional component 23 to move outward, and by increasing the dual effects of clamping force and resilience, it is ensured that the carton can be clamped stably even when the carton is heavy. In addition, while clamping the carton, the adsorption component 30 generates negative pressure through an external air pump to firmly adsorb the carton, ensuring that the carton will not slip during the palletizing process, thereby improving the efficiency and safety of the palletizing operation. Subsequently, the displacement component 21 drives the clamping component 22 to approach the carton, and the clamping component 22 drives the functional component 23 to clamp and fix the carton and perform the palletizing operation. If the cartons are piled up too high, the driving portion of the base assembly 10 will raise the height of the entire device to cope with the carton stacking operation at a higher position.

[0026] Next, please refer to Figures 1 to 7 The base assembly 10 includes a chassis 11, and the four corners of the top surface of the chassis 11 are fixedly connected to the limit rod 12. A mounting plate 13 is arranged above the chassis 11, and the four corners of the bottom of the mounting plate 13 are fixedly connected to the limit tube 14, and the limit tube 14 is movably sleeved on the outer ring of the limit rod 12. A hydraulic rod 15 is fixedly installed on the top surface of the chassis 11, and the top output end of the hydraulic rod 15 is fixedly connected to the middle part of the bottom surface of the mounting plate 13; The displacement assembly 21 includes a mechanical arm 211 fixedly mounted on the top surface of the mounting plate 13, a mounting seat 212 is fixedly mounted on the top end of the mechanical arm 211, and a device plate 213 is fixedly mounted on the bottom end of the mounting seat 212; The clamping assembly 22 includes a sliding rod 221 slidably connected to the bottom surface of the equipment plate 213, and one end of the sliding rod 221 extending out of the equipment plate 213 is fixedly connected to a clamping plate 222. A tooth groove 223 is provided in the middle inner cavity of the sliding rod 221, and a first motor 224 is fixedly installed in the middle of the inner cavity of the equipment plate 213. A gear 225 is fixedly connected to the output shaft of the first motor 224, and the outer ring of the gear 225 is meshed with the inner ring of the tooth groove 223. A camera 226 is fixedly installed in the middle of the bottom surface of the equipment plate 213.

[0027] It should be noted that the robot arm 211 is equipped with pipelines, and the pipelines are equipped with pipelines for ventilation and pipelines for electricity, so as to provide energy to the equipment on the equipment board 213; The sliding bar 221 is a T-shaped structure as a whole, so as to prevent the sliding bar 221 from falling and affecting the clamping of the carton; A driving component (not shown in the figure) is installed in the mounting seat 212 to drive the device plate 213 to rotate, thereby facilitating the palletizing operation.

[0028] In this embodiment, when palletizing, the mechanical arm 211 will drive the equipment plate 213 to approach the carton, and the camera 226 will capture the position information of the carton in real time, analyze the size and position of the carton through image processing technology, and provide data support for accurate palletizing. After the equipment plate 213 approaches the carton, the first motor 224 will drive the gear 225 to rotate, and drive the two sets of slide bars 221 to move away from each other and then approach each other through the tooth groove 223, and then clamp the carton for transportation and palletizing. When the cartons are piled up too high, the hydraulic rod 15 will extend, pushing the mounting plate 13 to rise, thereby raising the device as a whole to meet the needs of palletizing at different heights. In addition, the design of the limit rod 12 and the limit tube 14 can prevent the device from excessive displacement during movement, ensuring the accuracy and safety of the palletizing operation.

[0029] Next, please refer to Figures 7 to 12 The functional component 23 includes a mounting frame 231 fixedly connected to one side of the outer side of the clamping plate 222, a sliding frame 232 is slidably connected to the inner cavity of the mounting frame 231, one end of the sliding frame 232 passes through the mounting frame 231 and the clamping plate 222 and is fixedly connected to a contact plate 233, a laser light 234 is fixedly installed in the middle of the bottom surface of the contact plate 233, a non-slip pad 235 is fixedly connected to one side of the contact plate 233 facing the middle of the device plate 213, a wire 236 is electrically connected to the top of the clamping plate 222, and the top of the wire 236 is electrically connected to the top surface of the device plate 213; The switching assembly 24 includes a strong spring 241 fixedly connected to the middle of the sliding frame 232, the other end of the strong spring 241 is fixedly connected to a sliding plate 242, the sliding plate 242 is slidably connected to the inner cavity of the mounting frame 231, and the upper and lower sides of the side of the sliding plate 242 in contact with the inner wall of the mounting frame 231 are fixedly connected to magnetic plates 243, the magnetic plates 243 are in contact with the inner wall of the mounting frame 231, and a semicircular groove 244 is opened in the middle of the sliding plate 242, and the inner cavity of the mounting frame 231 is fixedly connected to the magnetic plate 243. The cavity is rotatably connected with a rotating shaft 245, a second motor 246 is fixedly installed on one side of the outer side of the mounting frame 231, the output shaft of the second motor 246 is fixedly connected to the outer end of the rotating shaft 245, a pressure sensor 247 is fixedly installed on the outer ring of the middle section of the rotating shaft 245, and the pressure sensor 247 is contact-connected to the outer side of the middle part of the sliding frame 232, and a semicircular block 248 is fixedly connected to the outer ring of the rotating shaft 245 near one end of the second motor 246, and the semicircular block 248 is arranged at the opening of the semicircular groove 244; The outer surface of the semicircular block 248 is provided with a slope, and the height of the bottom of the slope is less than the height of the opening of the semicircular groove 244, so that the semicircular block 248 can enter the semicircular groove 244 and the sliding frame 232 can be pushed to move by the rotating semicircular block 248.

[0030] It should be noted that the inner cavity of the mounting frame 231 is provided with a magnetic attraction component (not shown in the figure) adapted to the magnetic attraction plate 243, so that when the semicircular block 248 is separated from the semicircular groove 244, the sliding plate 242 and the sliding frame 232 can be adsorbed and reset by the magnetic attraction plate 243; The part where the rotating shaft 245 contacts the mounting frame 231 is provided with a contact power supply assembly, so as to supply energy to the pressure sensor 247 when the rotating shaft 245 rotates; The inner cavity of the equipment plate 213 is provided with a control element (not shown in the figure), which is intended to control the running stroke of the first motor 224 by detecting the data of the pressure sensor 247, so as to avoid excessive squeezing force and damage to the carton.

[0031] In this embodiment, when clamping a carton, different clamping modes are switched according to the hardness of the carton. If the hardness of the carton is low, the second motor 246 will drive the shaft 245 to rotate and move the pressure sensor 247 to the outside of the sliding frame 232, so that the force of clamping the carton can be detected in real time. After reaching a certain threshold, the clamping force is immediately canceled to avoid breaking the carton. If the hardness of the carton is high, the shaft 245 will continue to rotate, and the semicircular block 248 will be turned into the semicircular groove 244, and the sliding frame 232 will be pushed outward through the slope on the surface of the semicircular block 248. At this time, the contact plate 233 and the anti-slip pad 235 will also extend outward. When clamping the carton, the contact plate 233 will move toward the inner cavity of the mounting frame 231 to squeeze the strong spring 241, so that the carton is not only subjected to the clamping force of the clamping plate 222 and the contact plate 233, but also subjected to the force generated by the rebound of the strong spring 241. The double force increases the clamping force of the carton to avoid the carton from falling. In addition, during the palletizing process, the laser light 234 will also emit laser downwards, and through cooperation with the camera 226, the cartons can be aligned with the cartons below during palletizing, ensuring the neatness of the palletizing.

[0032] Next, please refer to Figure 13 to Figure 14 The adsorption assembly 30 includes an adsorption cover 31 fixedly connected to the middle of the bottom surface of the equipment plate 213, the top end of the adsorption cover 31 is connected to a control valve 32, the other end of the control valve 32 is connected to an air pipe 33, the outer ends of the air pipe 33 pass through the equipment plate 213 and are connected to a shunt pipe 34, the top end of the shunt pipe 34 is arranged in the mechanical arm 211; There are two groups of adsorption covers 31 , which are distributed on the left and right sides of the bottom surface of the device plate 213 , and a rubber anti-slip ring is provided on the bottom outer ring of the adsorption cover 31 .

[0033] It should be noted that the air pipe 33 is made of a hard tube material to prevent the air pipe 33 from being squeezed and folded, thereby affecting the flowability of the gas.

[0034] In this embodiment, when the carton is clamped, the adsorption hood 31 will touch the top surface of the carton. At this time, the external air pump is connected to the diversion pipe 34 and performs a vacuum stroke, thereby causing a negative pressure to form in the inner cavity of the adsorption hood 31, thereby adsorbing and fixing the top of the carton to prevent the carton from sliding downward during transportation and affecting subsequent palletizing operations. Example 2

[0035] A carton palletizing method, applicable to any of the above carton palletizing devices for carton palletizing operations, comprising: S1: The clamping mode is selected according to the hardness of the cartons to be stacked. If the hardness of the cartons is low, the second motor 246 drives the rotating shaft 245 to rotate, and the pressure sensor 247 contacts the sliding plate 242, so that the sliding plate 242 cannot move during the clamping process. During the clamping process, the clamping force of the sliding plate 242 is detected in real time, and the clamping is stopped immediately after reaching a certain level. When the hardness of the carton is high, the rotating shaft 245 pushes the semicircular block 248 into the semicircular groove 244, and pushes the sliding frame 232 to move outward, so that the contact plate 233 extends outward. During the clamping process, the carton is not only subjected to the clamping force of the clamping plate 222, but also to the force generated by the strong spring 241 pushing the contact plate 233, thereby increasing the clamping strength under the dual force. S2: After the clamping mode is selected, the robot arm 211 controls the clamping plate 222 to approach the carton and observes it through the camera 226. Then the first motor 224 drives the gear 225 to rotate, so that the two sets of slide bars 221 and the clamping plate 222 move away from each other and then quickly approach each other to clamp the carton; S3: During the clamping process, the air in the diverter pipe 34 is evacuated by an external air pump, so that negative pressure is formed in the adsorption cover 31 to adsorb the top surface of the carton; S4: After the carton is clamped, the robot arm 211 moves the carton for palletizing. At this time, the laser lamp 234 emits a laser downward to align it with the carton below to ensure the accuracy of palletizing; S5: When the stacking height is high, the hydraulic rod 15 will push the mounting plate 13 and the mechanical arm 211 to lift up, so as to facilitate stacking at a high position.

[0036] In this embodiment, the robot arm 211 is built with a control element, which is intended to automatically adjust the position of the robot arm 211 through the data irradiated by the camera 226 and the laser light 234, so as to facilitate the palletizing work.

[0037] The working principle of the present invention is as follows: before palletizing, different clamping modes are switched according to the hardness of the carton. If the hardness of the carton is low, the second motor 246 will drive the shaft 245 to contact the pressure sensor 247 with the sliding frame 232, and monitor the clamping force in real time. After reaching a certain threshold, the clamping force is immediately cancelled to avoid breaking the carton. If the hardness of the carton is high, the shaft 245 will turn the semicircular block 248 into the semicircular groove 244, pushing the sliding frame 232 to move outward, and the contact plate 233 and the anti-skid pad 235 will also extend outward. When clamping the carton, the carton is not only subject to the clamping force of the clamping plate 222 and the contact plate 233, but also to the force generated by the rebound of the strong spring 241. The double force increases the clamping force of the carton to prevent the carton from falling. Then the mechanical arm 211 will drive the equipment plate 213 to approach the carton, and the camera 226 will capture the position information of the carton in real time to provide support for accurate palletizing. When the equipment plate 213 approaches the carton, the first motor 224 will drive the gear 225 to rotate, and drive the two sets of slide bars 221 to move away from each other and then approach each other through the tooth groove 223, so as to clamp the carton, and then carry and stack it through the mechanical arm 211. When clamping the carton, the adsorption cover 31 will touch the top surface of the carton. At this time, the external air pump is connected to the shunt pipe 34 and performs a vacuum stroke, which causes the inner cavity of the adsorption cover 31 to form a negative pressure, adsorbing and fixing the top of the carton to prevent the carton from sliding down and affecting the stacking. During the stacking process, the laser light 234 will also emit a laser downward, and through cooperation with the camera 226, the carton can be aligned with the carton below when stacking, ensuring the neatness of the stacking. When the cartons are piled up too high, the hydraulic rod 15 will push the mounting plate 13 to rise to meet the stacking requirements of different heights.

[0038] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A carton stacking device, characterized in that: include: A base assembly (10), wherein a palletizing assembly (20) is connected to the top of the base assembly (10); A palletizing assembly (20), the palletizing assembly (20) comprising a displacement assembly (21) fixedly connected to the top of a base assembly (10), a clamping assembly (22) being arranged at the bottom of the displacement assembly (21), a functional assembly (23) being arranged on the outside of the clamping assembly (22), and a switching assembly (24) being connected to the outside of the functional assembly (23); An adsorption component (30), wherein the adsorption component (30) is arranged at the bottom of the displacement component (21); When the clamping operation is performed, the switching component (24) switches the form of the functional component (23) according to the hardness of the carton. In the soft form, the detection part of the switching component (24) contacts the functional component (23) to detect the clamping force in real time. In the hard form, the switching component (24) rotates along the inner cavity of the functional component (23) to push the functional component (23) outward, and the elastic part of the switching component (24) acts on the clamping, thereby forming a dual clamping of active and elastic force. The adsorption component (30) is used to adsorb the top of the carton, and the displacement component (21) is used to move the position of the carton.

2. The carton stacking device according to claim 1, characterized in that: The base assembly (10) comprises a chassis (11), the top surface of the chassis (11) having four corners fixedly connected to limit rods (12), a mounting plate (13) being arranged above the chassis (11), the bottom four corners of the mounting plate (13) having four corners fixedly connected to limit tubes (14), the limit tubes (14) being movably sleeved on the outer ring of the limit rods (12), a hydraulic rod (15) being fixedly mounted on the top surface of the chassis (11), the top output end of the hydraulic rod (15) being fixedly connected to the middle of the bottom surface of the mounting plate (13).

3. The carton stacking device according to claim 2, characterized in that: The displacement assembly (21) comprises a mechanical arm (211) fixedly mounted on the top surface of the mounting plate (13), a mounting seat (212) fixedly mounted on the top end of the mechanical arm (211), and a device plate (213) fixedly mounted on the bottom end of the mounting seat (212).

4. The carton stacking device according to claim 3, characterized in that: The clamping assembly (22) comprises a slide bar (221) slidably connected to the bottom surface of the device plate (213); one end of the slide bar (221) extending out of the device plate (213) is fixedly connected to a clamping plate (222); a tooth groove (223) is provided in the middle inner cavity of the slide bar (221); a first motor (224) is fixedly installed in the middle of the inner cavity of the device plate (213); a gear (225) is fixedly connected to the output shaft of the first motor (224); the outer ring of the gear (225) is meshed with the inner ring of the tooth groove (223); and a camera (226) is fixedly installed in the middle of the bottom surface of the device plate (213).

5. The carton stacking device according to claim 4, characterized in that: The functional component (23) comprises a mounting frame (231) fixedly connected to an outer side of a clamping plate (222); the inner cavity of the mounting frame (231) is slidably connected to a sliding frame (232); one end of the sliding frame (232) passes through the mounting frame (231) and the clamping plate (222) and is fixedly connected to a contact plate (233); a laser light (234) is fixedly installed in the middle of the bottom surface of the contact plate (233); a non-slip pad (235) is fixedly connected to a side of the contact plate (233) facing the middle of the device plate (213); the top of the clamping plate (222) is electrically connected to an electric wire (236); the top of the electric wire (236) is electrically connected to the top surface of the device plate (213).

6. The carton stacking device according to claim 5, characterized in that: The switching assembly (24) comprises a strong spring (241) fixedly connected to the middle of the sliding frame (232); the other end of the strong spring (241) is fixedly connected to a sliding plate (242); the sliding plate (242) is slidably connected to the inner cavity of the mounting frame (231); the upper and lower sides of the side of the sliding plate (242) in contact with the inner wall of the mounting frame (231) are fixedly connected to magnetic plates (243); the magnetic plates (243) are in contact with the inner wall of the mounting frame (231); a semicircular groove (244) is provided in the middle of the sliding plate (242); the mounting frame (231) The inner cavity of the sliding frame (232) is rotatably connected to a rotating shaft (245); a second motor (246) is fixedly mounted on one side outside the mounting frame (231); an output shaft of the second motor (246) is fixedly connected to the outer end of the rotating shaft (245); a pressure sensor (247) is fixedly mounted on the middle outer ring of the rotating shaft (245); the pressure sensor (247) is contact-connected to the middle outer side surface of the sliding frame (232); a semicircular block (248) is fixedly connected to the outer ring of one end of the rotating shaft (245) close to the second motor (246); the semicircular block (248) is arranged at the opening of the semicircular groove (244).

7. The carton stacking device according to claim 3, characterized in that: The adsorption assembly (30) comprises an adsorption hood (31) fixedly connected to the middle part of the bottom surface of the equipment plate (213); the top end of the adsorption hood (31) is connected to a control valve (32); the other end of the control valve (32) is connected to an air pipe (33); the outer ends of the air pipes (33) pass through the equipment plate (213) and are connected to a shunt pipe (34); the top end of the shunt pipe (34) is arranged in the mechanical arm (211).

8. The carton stacking device according to claim 7, characterized in that: The adsorption covers (31) are provided in two groups, distributed on the left and right sides of the bottom surface of the equipment plate (213), and the bottom outer ring of the adsorption cover (31) is provided with a rubber anti-slip ring.

9. The carton stacking device according to claim 6, characterized in that: The outer surface of the semicircular block (248) is provided with a slope, and the height of the bottom of the slope is less than the height of the opening of the semicircular groove (244).

10. A carton palletizing method, characterized in that: A carton palletizing device suitable for use in any one of claims 1 to 9 for performing carton palletizing operations, comprising: S1: The clamping mode is selected according to the hardness of the cartons to be stacked. If the hardness of the cartons is low, the second motor (246) drives the rotating shaft (245) to rotate, so that the pressure sensor (247) contacts the sliding plate (242), so that the sliding plate (242) cannot move during the clamping process. During the clamping process, the clamping force of the sliding plate (242) is detected in real time, and the clamping is stopped immediately after reaching a certain level. When the hardness of the carton is high, the rotating shaft (245) pushes the semicircular block (248) into the semicircular groove (244), and pushes the sliding frame (232) to move outward, so that the contact plate (233) extends outward. During the clamping process, the carton is not only subjected to the clamping force of the clamping plate (222), but also to the force generated by the strong spring (241) pushing the contact plate (233), thereby increasing the clamping strength under the double force. S2: After the clamping mode is selected, the robot arm (211) controls the clamping plate (222) to approach the carton and observes it through the camera (226), and then the first motor (224) drives the gear (225) to rotate, so that the two sets of slide bars (221) and the clamping plate (222) move away from each other and then quickly approach each other, thereby clamping the carton; S3: During the clamping process, the air in the diverter pipe (34) is evacuated by an external air pump, so that a negative pressure is formed in the adsorption cover (31) to adsorb the top surface of the carton; S4: After the carton is clamped, the robot arm (211) moves the carton for palletizing. At this time, the laser light (234) emits a laser downward to align it with the carton below to ensure the accuracy of palletizing; S5: When the stacking height is high, the hydraulic rod (15) will push the mounting plate (13) and the mechanical arm (211) to rise, so as to facilitate stacking at a high position.

Images