Stacking mechanism

Abstract

The invention provides a stacking mechanism which comprises carrying equipment used for carrying an upper-layer material frame and placing the upper-layer material frame on a lower-layer material frame for stacking; and the lower frame positioning mechanism is constructed to position the lower-layer material frame before the carrying equipment places the upper-layer material frame on the lower-layer material frame, so that the upper-layer material frame and the lower-layer material frame are aligned up and down. Therefore, the stacking efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of palletizing equipment, and in particular to a palletizing mechanism. Background Art

[0002] In many production processes, it is necessary to use a palletizing mechanism to stack material frames for holding items to form a stack, thereby reducing floor space and facilitating storage and transportation.

[0003] In the actual palletizing process, when the upper material frame is placed on the lower material frame by using the palletizing mechanism, the upper and lower material frames are difficult to stack quickly due to position deviation, which affects the palletizing efficiency. Summary of the invention

[0004] A technical problem to be solved by this application is to improve the palletizing efficiency.

[0005] In order to solve the above technical problems, the present application provides a palletizing mechanism, which includes:

[0006] A handling device for carrying the upper material frame and placing the upper material frame on the lower material frame for palletizing; and

[0007] The lower frame positioning mechanism is configured to position the lower material frame before the transport device places the upper material frame on the lower material frame, so that the upper material frame and the lower material frame are aligned vertically.

[0008] In some embodiments, the lower frame positioning mechanism includes at least one of the following:

[0009] A first lower layer positioning mechanism is used to apply a force to both ends of the lower layer material frame along a first direction to position the lower layer material frame in the first direction, wherein the first direction is perpendicular to the depth direction of the lower layer material frame;

[0010] The second lower layer positioning mechanism is used to apply force to both ends of the lower layer material frame along a second direction to position the lower layer material frame in the second direction, and the second direction is perpendicular to the depth direction of the lower layer material frame and the first direction.

[0011] In some embodiments, the first lower layer positioning mechanism includes two first lower layer positioning members, which are arranged at intervals along the first direction and can rotate between a deployed position and a stowed position located above the deployed position, wherein, when in the deployed position, the two first lower layer positioning members act on both ends of the lower layer material frame along the first direction to position the lower layer material frame in the first direction, and when in the stowed position, the two first lower layer positioning members release the effect on both ends of the lower layer material frame along the first direction.

[0012] In some embodiments, the first lower layer positioning mechanism further includes a flipping drive device, which is drivingly connected to the two first lower layer positioning members and drives the two first lower layer positioning members to rotate between the deployed position and the stowed position.

[0013] In some embodiments, the flip driving device includes two flip driving mechanisms, and the two flip driving mechanisms are drivingly connected to the two first lower layer positioning members in a one-to-one correspondence.

[0014] In some embodiments, the flipping drive mechanism includes a flipping drive cylinder, a connecting rod and a rotating shaft. The first lower layer positioning member is rotatably arranged through the rotating shaft. The connecting rod is arranged on the rotating shaft and is driven and connected to the flipping drive cylinder to drive the first lower layer positioning member to rotate between the deployed position and the retracted position when the flipping drive cylinder is extended and retracted.

[0015] In some embodiments, the second lower layer positioning mechanism includes two second lower layer positioning members, which are arranged at intervals along the first direction and can both move between an extended position and a retracted position along the second direction. When in the extended position, the two second lower layer positioning members apply force to both ends of the lower layer material frame along the second direction to position the lower layer material frame in the second direction. When in the retracted position, the two second lower layer positioning members release the effect on both ends of the second direction.

[0016] In some embodiments, when in the extended position, the two second lower-layer positioning members apply forces to different ends of the lower-layer material frame at both ends in the second direction.

[0017] In some embodiments, the second lower layer positioning mechanism further includes a telescopic driving mechanism, which is drivingly connected to the two second lower layer positioning members and drives the two second lower layer positioning members to move between an extended position and a retracted position along the second direction.

[0018] In some embodiments, the telescopic driving mechanism includes two telescopic driving members, and the two telescopic driving members are drivingly connected to the two second lower-layer positioning members in a one-to-one correspondence.

[0019] In some embodiments, the lower frame positioning mechanism includes a first lower layer positioning mechanism and a second lower layer positioning mechanism, and in the first direction, the first lower layer positioning mechanism is located outside the second lower layer positioning mechanism.

[0020] In some embodiments, the transporting equipment includes a transporting mechanism and an upper frame positioning mechanism. The transporting mechanism is movably arranged. The upper frame positioning mechanism is arranged on the transporting mechanism and is used to position the upper material frame so that the upper material frame can be transported under the drive of the transporting mechanism. The lower frame positioning mechanism is arranged on the upper frame positioning mechanism.

[0021] In some embodiments, the upper frame positioning mechanism includes at least one of the following:

[0022] A top positioning mechanism is used to press on the top of the upper material frame to position the top of the upper material frame;

[0023] A first upper layer positioning mechanism is used to apply a force to both ends of the upper layer material frame along a first direction to position the upper layer material frame in the first direction, wherein the first direction is perpendicular to the depth direction of the upper layer material frame;

[0024] A second upper layer positioning mechanism is used to apply a force to both ends of the upper layer material frame along a second direction to position the upper layer material frame in the second direction, and the second direction is perpendicular to the depth direction of the upper layer material frame and the first direction;

[0025] The supporting member is used to extend to the bottom of the upper material frame to support the upper material frame.

[0026] In some embodiments, the upper frame positioning mechanism includes a top positioning mechanism, on which a detection member is provided, which detects whether the top positioning mechanism has been pressed down into place; and / or, the upper frame positioning mechanism includes a first upper-layer positioning mechanism, and the lower frame positioning mechanism is arranged on the first upper-layer positioning mechanism.

[0027] In some embodiments, the top positioning mechanism includes a downward pressure drive cylinder, the detection member is arranged on the downward pressure drive cylinder, and the downward pressure drive cylinder is fully extended before contacting the upper material frame and is converted to an internal pressure-free state.

[0028] By providing a lower frame positioning mechanism on the handling equipment that transports the upper material frame, the lower material frame is positioned before the handling equipment places the upper material frame on the lower material frame, which can effectively prevent the stacking efficiency from being affected by the position deviation between the upper and lower material frames, thereby effectively improving the palletizing efficiency.

[0029] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 Schematic diagram of the working state of the palletizing mechanism in the embodiment of the present application.

[0032] Figure 2 This is the main view of the material frame in the embodiment of the present application.

[0033] Figure 3 It is a side view of the material frame in the embodiment of the present application.

[0034] Figure 4 It is a schematic diagram of the combined structure of the upper frame positioning mechanism, the lower frame positioning mechanism and the cover shell in the embodiment of the present application.

[0035] Figure 5 It is a first stereoscopic schematic diagram of the combined structure of the upper frame positioning mechanism and the lower frame positioning mechanism in the embodiment of the present application.

[0036] Figure 6 It is a second stereoscopic schematic diagram of the combined structure of the upper frame positioning mechanism and the lower frame positioning mechanism in the embodiment of the present application.

[0037] Figure 7 It is a third stereoscopic schematic diagram of the combined structure of the upper frame positioning mechanism and the lower frame positioning mechanism in the embodiment of the present application.

[0038] Figure 8 This is a schematic diagram of the process of picking up and positioning the upper material frame by the combined structure of the upper frame positioning mechanism and the lower frame positioning mechanism in the embodiment of the present application.

[0039] Fig. 9 It is a schematic diagram of the process of placing the picked and positioned upper material frame on the lower material frame by the combined structure of the upper frame positioning mechanism and the lower frame positioning mechanism in the embodiment of the present application.

[0040] Fig.10 It is a schematic diagram of the state of the combined structure of the upper frame positioning mechanism and the lower frame positioning mechanism in the embodiment of the present application when positioning the lower material frame before placing the upper material frame on the lower material frame.

[0041] Description of reference numerals:

[0042] 100. Palletizing mechanism;

[0043] 10. Handling equipment;

[0044] 1. Handling mechanism; 11. Robot;

[0045] 2. Upper frame positioning mechanism; 21. First upper layer positioning mechanism; 211. First upper layer positioning member; 212. Upper clamping plate; 213. Mobile drive mechanism; 214. Mobile drive cylinder; 215. Mounting plate; 216. Guide mechanism; 22. Second upper layer positioning mechanism; 221. Second upper layer positioning member; 222. Upper top plate; 223. Retractable drive mechanism; 224. Retractable drive member; 225. Retractable drive cylinder; 23. Top end positioning mechanism; 231. Top end positioning member; 232. Lower pressure plate; 233. Lower pressure drive mechanism; 234. Lower pressure drive cylinder; 24. Support member; 241. Support plate; 25. Support; 26. Flange; 27. Detection member; 28. Pneumatic valve island;

[0046] 3. Lower frame positioning mechanism; 31. First lower layer positioning mechanism; 311. First lower layer positioning member; 312. Lower clamping plate; 313. Turning drive device; 314. Turning drive mechanism; 315. Turning drive cylinder; 316. Connecting rod; 317. Rotating shaft; 32. Second lower layer positioning mechanism; 321. Second lower layer positioning member; 322. Lower top plate; 323. Telescopic drive mechanism; 324. Telescopic drive member; 325. Telescopic drive cylinder;

[0047] 4. Cover;

[0048] 5. Conveyor;

[0049] 6. Material frame; 61. Upper material frame; 62. Lower material frame; 63. Card slot; 64. Card column; 65. Notch;

[0050] L, first direction; W, second direction; H, depth direction. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without carrying out creative work are within the scope of protection of this application.

[0052] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0053] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0054] In the description of the present application, it should be understood that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present application.

[0055] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0056] In the actual palletizing process, the upper and lower material frames are prone to position deviations. For example, the lower material frame is prone to position deviations due to deformation or tilting, resulting in position deviations between the upper and lower material frames when the upper material frame is placed on the lower material frame. These frames are prone to bumping into each other, making it difficult to quickly complete stacking. Usually, manual tapping and correction are required before they can be stacked smoothly, which not only affects the stacking efficiency, but also wastes manpower. In particular, when the material frame is in a higher position, the efficiency is lower and more manpower is consumed.

[0057] Although some measures have been taken to address the problem of position deviation between the upper and lower material frames, which affects the stacking efficiency and wastes manpower, the results are not ideal. For example, one solution is to set up a visual inspection system in the stacking mechanism, visually inspect the position deviation of the upper and lower material frames, and adjust the position of the handling equipment that transports the upper material frame to align the upper and lower material frames. However, this visual inspection method has certain limitations in its promotion and application, because it is not only costly, but also has a limited detection range. It can usually only detect stacks within 1.5m in height. For higher stacks (such as 3m), it can only be disassembled into several parts for inspection, which has poor accuracy and low efficiency. In addition, when visual inspection detects deviation, it is difficult to quickly and accurately adjust the upper and lower material frames to align them up and down by simply adjusting the position of the handling equipment. Repeated adjustments are required. Even when the deviation is large, manual intervention is required to correct it, which affects efficiency.

[0058] In view of the above situation, the present application provides a palletizing mechanism.

[0059] Figure 1-Figure 10 The structure and working process of the palletizing mechanism in the present application are exemplarily shown.

[0060] See also Figure 1-Figure 10 The palletizing mechanism 100 includes a transport device 10 and a lower frame positioning mechanism 3. The transport device 10 is used to transport the upper material frame 61 and place the upper material frame 61 on the lower material frame 62 for palletizing. The lower frame positioning mechanism 3 is configured to position the lower material frame 62 before the transport device 10 places the upper material frame 61 on the lower material frame 62, so that the upper material frame 61 and the lower material frame 62 are aligned vertically.

[0061] It can be understood that the upper material frame 61 and the lower material frame 62 are both material frames 6, which respectively refer to the material frames 6 located at the upper layer and the material frames 6 located at the lower layer in any two adjacent layers of material frames 6 in the stack. The material frame 6 refers to a container for storing articles, which is not limited to a specific container, but can be various storage containers suitable for palletizing.

[0062] Since the lower frame positioning mechanism 3 can position the lower material frame 62 before the handling equipment 10 places the upper material frame 61 on the lower material frame 62, so that the upper material frame 61 and the lower material frame 62 are aligned vertically, it is possible to effectively prevent the stacking efficiency from being affected by the position deviation between the upper and lower material frames, thereby effectively improving the palletizing efficiency.

[0063] Furthermore, the lower frame positioning mechanism 3 is a mechanical positioning mechanism, which corrects the position deviation between the upper and lower material frames by mechanically positioning the lower material frame 62. Compared with the visual detection method mentioned above, this mechanical positioning method is not only less expensive, but also not restricted by the visual detection range and the stack height, and has a wider range of applications. Even if the stack is higher than 1.5m, it can be stacked quickly and accurately, effectively increasing the stack height, making it possible to stack stacks above 1.5m, especially above 3m. Furthermore, since the lower frame positioning mechanism 3 can directly correct the position deviation between the upper and lower material frames by positioning the lower material frame 62, there is no need to repeatedly adjust the position of the handling equipment 10 for handling the upper material frame 61, and there is no need for manual intervention, the degree of automation is higher, the operation continuity is stronger, and the stacking accuracy is higher. Therefore, it is more conducive to improving the stacking efficiency and reducing manpower waste. At the same time, since the upper and lower material frames can be effectively prevented from colliding and bumping during the stacking process, the damage to the material frame 6 during the stacking process can also be reduced, which is conducive to extending the service life of the material frame 6 and reducing costs.

[0064] It can be seen that by setting the lower frame positioning mechanism 3 in the palletizing mechanism 100, the lower material frame 62 is positioned before the handling equipment 10 places the upper material frame 61 on the lower material frame 62, which can effectively improve the palletizing efficiency and expand the palletizing height range based on a simpler structure and lower cost.

[0065] The lower basket positioning mechanism 3 can be arranged on the transport device 10, or can be arranged outside the transport device 10. When the lower frame positioning mechanism 3 is arranged on the transport device 10 that transports the upper material frame 61, on the one hand, the lower frame positioning mechanism 3 can move with the transport device 10, and when the transport device 10 transports the upper material frame 61 to the upper part of the lower material frame 62, the lower frame positioning mechanism 3 can move to the upper part of the lower material frame 62 together, and there is no need to separately equip the lower frame positioning mechanism 3 with a power mechanism to drive the lower frame positioning mechanism 3 to perform corresponding actions. The structure is simple, and it is also convenient to control the action timing of the lower frame positioning mechanism 3, so that the lower frame positioning mechanism 3 can position the lower material frame 61 before the transport device 10 completes placing the upper material frame 61 on the lower material frame 62. On the other hand, after the transporting device 10 transports the upper material frame 61 to the top of the lower material frame 62, the lower frame positioning mechanism 3 can also conveniently position the lower material frame 62 by moving relative to the transporting device 10, so that when the transporting device 10 continues to fall with the upper material frame 61, the position of the lower material frame 62 can remain unchanged under the action of the lower frame positioning mechanism 3 and will not shift easily, thereby successfully realizing the stacking and palletizing of the upper material frame 61. Therefore, the entire palletizing process is smoother and more efficient, the connection between each link is more orderly, and the control is more convenient.

[0066] It can be seen that by providing a lower frame positioning mechanism 3 on the transporting equipment 10 for transporting the upper material frame 61, the lower material frame 62 is positioned before the transporting equipment 10 places the upper material frame 61 on the lower material frame 62. This can effectively improve the palletizing efficiency and expand the palletizing height range based on a simpler structure and control process and a lower cost.

[0067] In addition, the lower frame positioning mechanism 3 can position the lower material frame 62 in at least one direction. Figure 1-Figure 10 In some embodiments, the lower frame positioning mechanism 3 includes at least one of a first lower layer positioning mechanism 31 and a second lower layer positioning mechanism 32, wherein: the first lower layer positioning mechanism 31 is used to apply a force to both ends of the lower layer material frame 62 along the first direction L to position the lower layer material frame 62 in the first direction L; the second lower layer positioning mechanism 32 is used to apply a force to both ends of the lower layer material frame 62 along the second direction W to position the lower layer material frame 62 in the second direction W.

[0068] It can be understood that the first direction L and the second direction W are two dimensional directions of the material frame 6 (the upper material frame 61 and the lower material frame 62), which are perpendicular to each other and are both perpendicular to the depth direction H of the material frame 6. As the material frame 6 is placed in different positions, the first direction L, the second direction W and the depth direction H will also change, but usually, during the palletizing process, the depth direction H is along the up-down direction, and the first direction L and the second direction W are respectively one and the other of the two horizontal directions perpendicular to the up-down direction.

[0069] Since the first lower layer positioning mechanism 31 and the second lower layer positioning mechanism 32 can respectively position the lower material frame 62 at both ends in the first direction L and the second direction W, the lower frame positioning mechanism 3 including any one of them can realize the positioning function of the lower material frame 62 to a certain extent, reduce the position deviation between the upper and lower material frames during the palletizing process, and improve the palletizing efficiency. In particular, when the lower frame positioning mechanism 3 includes both the first lower layer positioning mechanism 31 and the second lower layer positioning mechanism 32, the lower material frame 62 can be positioned more reliably, and the position deviation between the upper and lower material frames during the palletizing process can be more effectively reduced, so the palletizing efficiency can be more effectively improved. In the case where the lower frame positioning mechanism 3 includes the first lower layer positioning mechanism 31 and the second lower layer positioning mechanism 32, see Figure 5-Figure 10 In some embodiments, in the first direction L, the first lower layer positioning mechanism 31 is located on the outside of the second lower layer positioning mechanism 32. In this way, the structure is relatively compact, and it is convenient for the first lower layer positioning mechanism 31 and the second lower layer positioning mechanism 32 to position the lower layer material frame 62 on the outside and inside of the lower layer material frame 62 respectively, so that a more reliable positioning effect can be achieved based on a more compact structure.

[0070] The first lower layer positioning mechanism 31 may adopt various structural forms.

[0071] As one of them, see Figure 5-Figure 10 In some embodiments, the first lower layer positioning mechanism 31 includes two first lower layer positioning members 311, which are arranged at intervals along the first direction L and can rotate between an expanded position and a stowed position located above the expanded position, wherein, when in the expanded position, the two first lower layer positioning members 311 act on the two ends of the lower layer material frame 62 along the first direction L to position the lower layer material frame 62 in the first direction L, and when in the stowed position, the two first lower layer positioning members 311 release the effect on the two ends of the lower layer material frame 62 along the first direction L.

[0072] The first lower layer positioning mechanism 31 can be used to position and release the lower material frame 62 in the first direction L by simply flipping the two first lower layer positioning members 311 up and down between the deployed position and the stowed position. This is simple and convenient. Moreover, since the stowed position is located above the deployed position, the two first lower layer positioning members 311 will not interfere with the items below when they are in the stowed position. Therefore, the two first lower layer positioning members 311 only need to be in the stowed position during the process of the handling equipment 10 picking up the upper material frame 61, so as to prevent the two first lower layer positioning members 311 from interfering with the ground or the material frame 6 located below the upper material frame 61 and affecting the handling equipment 10 picking up the upper material frame 61, so that the first lower layer positioning mechanism 31 can not only realize the positioning function of the lower material frame 62 in the first direction L, but also does not affect the smooth picking up of the upper material frame 61 by the handling equipment 10, thereby effectively improving the efficiency of the entire stacking process from picking up the upper material frame 61 to completing the stacking of the upper material frame 61.

[0073] Further, see Figure 5-Figure 10 In some embodiments, the first lower layer positioning mechanism 31 further includes a flipping driving device 313, which is drivingly connected to the two first lower layer positioning members 311 and drives the two first lower layer positioning members 311 to rotate between the unfolded position and the stowed position. In this way, the two first lower layer positioning members 311 can be automatically flipped up and down, which is more efficient than the manual flipping method and is more conducive to improving the palletizing efficiency.

[0074] The structure of the flip drive device 313 can be various. As an example, see Figure 5-Figure 10 The flip driving device 313 includes two flip driving mechanisms 314, and the two flip driving mechanisms 314 are connected to the two first lower layer positioning members 311 in a one-to-one driving manner. In this way, the two first lower layer positioning members 311 are respectively equipped with special flip driving mechanisms 314, and are driven by the corresponding flip driving mechanisms 314. Compared with the case where the two first lower layer positioning members 311 are driven by the same mechanism, it is not only conducive to more accurately and reliably driving the two first lower layer positioning members 311 to flip, but also conducive to reducing the requirements for the specifications of the flip driving mechanisms 314, so that only a flip driving mechanism 314 of smaller specifications is needed to achieve the required functions. In addition, the two flip driving mechanisms 314 correspond to the two first lower layer positioning members 311 in a one-to-one manner, which is also more convenient for the arrangement of the two flip driving mechanisms 314.

[0075] The structure of the flipping driving mechanism 314 can be varied, as long as it can drive the first lower layer positioning member 311 to flip between the unfolded position and the stowed position. Figure 5-Figure 10In some embodiments, the flip driving mechanism 314 includes a flip driving cylinder 315, a connecting rod 316 and a rotating shaft 317. The first lower layer positioning member 311 is rotatably arranged through the rotating shaft 317. The connecting rod 316 is arranged on the rotating shaft 317 and is drivingly connected to the flip driving cylinder 315, so as to drive the first lower layer positioning member 311 to rotate between the deployed position and the stowed position when the flip driving cylinder 315 is extended or retracted. In this way, the first lower layer positioning member 311 can be driven to rotate between the deployed position and the stowed position by simply extending or retracting the flip driving cylinder 315, which is simple and convenient. Among them, the flip driving cylinder 315 and each driving cylinder mentioned later can be various types of driving cylinders such as a pneumatic cylinder, a hydraulic cylinder or an electric cylinder.

[0076] In addition, in the present application, the second lower layer positioning mechanism 32 can have various structural forms.

[0077] As one of them, see Figure 5-Figure 10 In some embodiments, the second lower layer positioning mechanism 32 includes two second lower layer positioning members 321, which are arranged at intervals along the first direction L and can move between an extended position and a retracted position along the second direction W. When in the extended position, the two second lower layer positioning members 321 apply a force to the two ends of the lower layer material frame 62 along the second direction W to position the lower layer material frame 62 in the second direction W. When in the retracted position, the two second lower layer positioning members 321 release the effect on the two ends of the second direction W.

[0078] Based on the above arrangement, the second lower layer positioning mechanism 32 can position and release the lower layer material frame 62 in the second direction W simply by moving the two second lower layer positioning members 321 between the extended position and the retracted position, which is simple and convenient.

[0079] Among them, in some embodiments, when in the extended position, the two second lower layer positioning members 321 apply forces to different ends of the two ends of the lower material frame 62 in the second direction W. At this time, the two second lower layer positioning members 321 together can realize reliable positioning of the lower material frame 62 in the second direction W, and since each of the two second lower layer positioning members 321 only applies forces to one end of the two ends of the lower material frame 62 in the second direction W, rather than each of the two second lower layer positioning members 321 applying forces to both ends of the lower material frame 62 in the second direction W, the structure is simpler. It can be seen that by making the two second lower layer positioning members 321 apply forces to different ends of the two ends of the lower material frame 62 in the second direction W, reliable positioning of the lower material frame 62 in the second direction W can be achieved based on a simpler structure.

[0080] Also, see Figure 5-Figure 10In some embodiments, the second lower layer positioning mechanism 32 further includes a telescopic driving mechanism 323, which is drivingly connected to the two second lower layer positioning members 321 and drives the two second lower layer positioning members 321 to move between the extended position and the retracted position along the second direction W. In this way, the automatic movement of the two second lower layer positioning members 321 can be achieved, which is more efficient than the manual movement method and is more conducive to improving the palletizing efficiency.

[0081] The telescopic drive mechanism 323 can adopt various structural forms. As an example, see Figure 5-Figure 10 The telescopic drive mechanism 323 includes two telescopic drive members 324, which are connected to the two second lower layer positioning members 321 in a one-to-one driving manner. In this way, the two second lower layer positioning members 321 are respectively equipped with special telescopic drive members 324, which are driven by the corresponding telescopic drive members 324. Compared with the case where the two second lower layer positioning members 321 are driven by the same mechanism, it is not only conducive to more accurately and reliably driving the two second lower layer positioning members 321 to move, but also conducive to reducing the requirements for the specifications of the telescopic drive members 324, so that only a smaller-sized telescopic drive member 324 is needed to achieve the required function. In addition, the two telescopic drive members 324 correspond to the two second lower layer positioning members 321 in a one-to-one manner, which is also more convenient for the arrangement of the two telescopic drive members 324.

[0082] As an example of the transport device 10 in the above embodiments, see Figure 1-Figure 10 The transport device 10 includes a transport mechanism 1 and an upper frame positioning mechanism 2. The transport mechanism 1 is movably arranged. The upper frame positioning mechanism 2 is arranged on the transport mechanism 1 and is used to position the upper material frame 61 so as to transport the upper material frame 61 under the drive of the transport mechanism 1.

[0083] In the above scheme, the handling equipment 10 picks up and positions the upper material frame 61 through the upper frame positioning mechanism 2, and drives the upper frame positioning mechanism 2 to move through the handling mechanism 1 to realize the handling of the upper material frame 61. In this case, the lower frame positioning mechanism 3 is set on the upper frame positioning mechanism 2, which is more convenient for the lower frame positioning mechanism 3 to contact with the lower material frame 62 and position the lower material frame 62. In particular, it is more convenient for the lower frame positioning mechanism 3 to move relative to the upper frame positioning mechanism 2 to realize the positioning of the lower material frame 62 after the handling equipment 10 picks up the upper material frame 61 and before placing the upper material frame 61 on the lower material frame 62, so as to more reliably reduce the position deviation between the upper and lower material frames and more effectively improve the stacking efficiency.

[0084] The upper frame positioning mechanism 2 can position the upper material frame 61 in at least one direction. Figure 5-Figure 10In some embodiments, the upper frame positioning mechanism 2 includes at least one of a top positioning mechanism 23, a first upper layer positioning mechanism 21, a second upper layer positioning mechanism 22 and a supporting member 24, wherein: the top positioning mechanism 23 is used to press on the top of the upper layer material frame 61 to position the top of the upper layer material frame 61; the first upper layer positioning mechanism 21 is used to apply a force to both ends of the upper layer material frame 61 along the first direction L to position the upper layer material frame 61 in the first direction L; the second upper layer positioning mechanism 22 is used to apply a force to both ends of the upper layer material frame 61 along the second direction W to position the upper layer material frame 61 in the second direction W; the supporting member 24 is used to extend to the bottom of the upper layer material frame 61 to support the upper layer material frame 61.

[0085] Since the top positioning mechanism 23, the supporting member 24, the first upper layer positioning mechanism 21 and the second upper layer positioning mechanism 22 can respectively position the top end, the bottom end, the two ends of the first direction L and the two ends of the second direction W of the upper layer material frame 61, the upper frame positioning mechanism 2 includes any one of them, which can realize the positioning function of the upper layer material frame 61 to a certain extent and realize the smooth transportation of the upper layer material frame 61. In particular, when the upper frame positioning mechanism 2 simultaneously includes at least two of the top positioning mechanism 23, the supporting member 24, the first upper layer positioning mechanism 21 and the second upper layer positioning mechanism 22, the upper layer material frame 61 can be positioned more reliably and the upper layer material frame 61 can be transported more smoothly.

[0086] In the case where the upper frame positioning mechanism 2 includes the first upper layer positioning mechanism 21, see Figure 5-Figure 10 The lower frame positioning mechanism 3 can be arranged on the first upper positioning mechanism 21. In this way, not only the structure is simple and compact, but also the lower frame positioning mechanism 3 can move closer to or away from the lower material frame 62 together with the first upper positioning mechanism 21, and realize the positioning of the lower material frame 62 by moving relative to the first upper positioning mechanism 21, thereby effectively improving the palletizing efficiency.

[0087] In addition, when the upper frame positioning mechanism 2 includes the top positioning mechanism 23, see Figure 5-Figure 10 In some embodiments, a detection member 27 is provided on the top positioning mechanism 23, and the detection member 27 detects whether the top positioning mechanism 23 has been pressed down into place. In this way, the top positioning mechanism 23 can be detected in place, which can not only accurately determine the position of the top positioning mechanism 23, but also facilitate the control of the action of the top positioning mechanism 23 to achieve the positioning function, and also prevent the top positioning mechanism 23 from being excessively lowered, play a safety protection role, and improve the safety of the upper material frame positioning process.

[0088] Specifically, see Figure 5-Figure 10In some embodiments, the top positioning mechanism 23 includes a downward drive cylinder 234, and the detection member 27 is arranged on the downward drive cylinder 234. The downward drive cylinder 234 is fully extended before contacting the upper material frame 61 and is turned into an internal pressure-free state. It is simple and convenient to use the downward drive cylinder 234 to drive the top positioning of the upper material frame 61. The detection member 27 is arranged on the downward drive cylinder 234, and the downward drive cylinder 234 is fully extended before contacting the upper material frame 61, so that the downward drive cylinder 234 can be quickly and passively lifted when it touches the top of the upper material frame 61, so as to realize the in-place detection.

[0089] Next, Figure 1-Figure 10 The illustrated embodiment is further described.

[0090] like Figure 1-Figure 10 As shown, in this embodiment, the stacking mechanism 100 is used to stack the material frames 6 layer by layer to form a stack of about 3 meters high.

[0091] like Figure 1-Figure 3 As shown, in this embodiment, the top and bottom ends of the material frame 6 are respectively provided with a slot 63 and a post 64. In any two adjacent material frames 6 of the stack, the post 64 of the upper material frame 61 located at the upper layer is inserted into the slot 63 of the lower material frame 62 located at the lower layer, so that the upper material frame 61 is stacked on the lower material frame 62 by being inserted into the top of the lower material frame 62. In addition, in this embodiment, the material frame 6 is roughly rectangular, and its length direction and width direction are respectively used as the first direction L and the second direction W, and notches 65 are respectively provided on the end surfaces of both ends in the first direction L, which are used to cooperate with the second lower layer positioning mechanism 32 of the stacking mechanism 100.

[0092] like Figure 1 As shown, in this embodiment, the palletizing mechanism 100 includes a handling device 10 , a lower frame positioning mechanism 3 and a cover shell 4 .

[0093] The handling device 10 is used to pick up and carry the upper material frame 61 to the lower material frame 62, so that the upper material frame 61 is embedded at the top of the lower material frame 62, and the upper material frame 61 is stacked on the lower material frame 62. Figure 1 It can be seen that in this embodiment, the handling device 10 picks up the upper material frame 61 from the conveyor 5, that is, the conveyor 5 conveys the material frame 6 to the handling device 10 for the handling device 10 to pick up as the upper material frame 61. However, it should be noted that in other embodiments, the handling device 10 can also directly pick up the material frame 6 from the ground or from the pile as the upper material frame 61. When the handling device 10 picks up the material frame 6 from the pile as the upper material frame 61, the handling device 10 is not only used for stacking, but also for destacking, that is, the handling device 10 integrates the stacking and destacking functions.

[0094] like Figure 1 and Figure 4 As shown, in this embodiment, the handling device 10 includes a handling mechanism 1 and an upper frame positioning mechanism 2. The handling mechanism 1 is a robot 11. The upper frame positioning mechanism 2 is arranged at the end of the robot 11, connected to the end of the robot 11 through a flange 26, and used to combine with the upper material frame 61 to pick up and position the upper material frame 61, and under the drive of the robot 11, the upper material frame 61 is moved to carry the upper material frame 61 to the top of the lower material frame 62, and the upper material frame 61 is stacked on the lower material frame 62 to complete the palletizing of the upper material frame 61. A cover 4 is provided at the upper frame positioning mechanism 2 to protect the upper frame positioning mechanism 2 and make the appearance more beautiful.

[0095] like Figure 5-Figure 10 As shown, in this embodiment, the upper frame positioning mechanism 2 achieves combination with the upper material frame 61 by positioning the upper and lower ends (i.e., the two ends in the depth direction H), the two ends in the first direction L, and the two ends in the second direction W of the upper material frame 61.

[0096] Specifically, Figure 5-Figure 7 As shown, in this embodiment, the upper frame positioning mechanism 2 is connected to the transport mechanism 1 through a support 25, and includes a first upper layer positioning mechanism 21, a second upper layer positioning mechanism 22, a top end positioning mechanism 23, a supporting member 24 and a detection member 27.

[0097] The support 25 is connected to the end of the robot 11 through the flange 26 to achieve the connection between the upper frame positioning mechanism 2 and the transport mechanism 1. Figure 5-Figure 7 As shown, in this embodiment, the support 25 is in the shape of a rectangular plate. When the upper frame positioning mechanism 2 and the lower frame positioning mechanism 3 are combined with the material frame 6, the length direction, width direction and thickness direction of the support 25 are respectively consistent with the first direction L, second direction W and depth direction H of the material frame 6. Therefore, the first direction L, second direction W and depth direction H of the material frame 6 can also be referred to as the first direction L, second direction W and depth direction H of the support 25.

[0098] The first upper layer positioning mechanism 21 is disposed on the support 25 and positions the upper layer material frame 61 in the first direction L by applying forces to both ends of the upper layer material frame 61 in the first direction L. Figure 5-Figure 7It can be seen that, in this embodiment, the first upper layer positioning mechanism 21 includes two first upper layer positioning members 211, a mounting plate 215, a guide mechanism 216 and a moving drive mechanism 213. The two first upper layer positioning members 211 are arranged on the support 25 at intervals along the first direction L, and protrude downward (away from the flange 26 and the end of the robot 11) from the support 25, and at least one of the two first upper layer positioning members 211 is movable along the first direction L, so that the two first upper layer positioning members 211 can move closer to or farther from each other to clamp or release the two ends of the first direction L of the upper material frame 61. Specifically, in this embodiment, one of the two first upper layer positioning members 211 ( Figure 5 The first upper positioning member 211 on the right side of the middle is fixedly arranged on the support 25 and cannot be moved in the first direction L, while the other one ( Figure 5 The first upper positioning member 211 on the left side of the middle is connected to the mounting plate 215 movably connected to the support 25 through a guide mechanism 216 (such as a slide rail), so that when the mounting plate 215 moves along the guide mechanism 216, the corresponding first upper positioning member 211 can move relative to the support 25 along the first direction L, close to or away from the fixed first upper positioning member 211, so as to clamp the end faces of the upper material frame 61 along the first direction L, and achieve clamping and positioning of the upper material frame 61 in the first direction L. In this embodiment, the first upper positioning member 211 includes an upper clamping plate 212 to fully contact the end faces of the upper material frame 61 along the first direction L, so as to achieve a better clamping and positioning effect. The moving drive mechanism 213 is arranged on the support 25 and is drivingly connected to the movable first upper positioning member 211 to drive the movable first upper positioning member 211 to automatically move along the first direction L, close to or away from the fixed first upper positioning member 211. Depend on Figure 5-Figure 7 It can be seen that in this embodiment, the mobile driving mechanism 213 includes a mobile driving cylinder 214, the cylinder barrel of the mobile driving cylinder 214 is fixed on the support 25, and the cylinder rod is connected to the mounting plate 215, so that the mobile driving cylinder 214 can drive the mounting plate 215 to drive the first upper positioning member 211 to move along the first direction L through extension and retraction, thereby realizing automatic clamping and positioning of the upper material frame 61 in the first direction L.

[0099] The second upper layer positioning mechanism 22 is disposed on the support 25, and realizes the positioning of the upper layer material frame 61 in the second direction W by exerting an action on both ends of the upper layer material frame 61 along the second direction W. Figure 5-Figure 7As shown, in this embodiment, the second upper layer positioning mechanism 22 includes two groups of second upper layer positioning members 221, which are arranged at intervals along the first direction L, and each group of second upper layer positioning members 221 includes two second upper layer positioning members 221 arranged at intervals along the second direction W, so that the second upper layer positioning mechanism 22 includes a total of four second upper layer positioning members 221. Figure 7 It can be seen that in this embodiment, in the first direction L, the four second upper-layer positioning members 221 are located between the two first upper-layer positioning members 211 of the first upper-layer positioning mechanism 21. At this time, the second upper-layer positioning mechanism 22 is located as a whole along the first direction L between the two first upper-layer positioning members 211 of the first upper-layer positioning mechanism 21, so that when the two first upper-layer positioning members 211 clamp and position the two ends of the upper-layer material frame 61 in the first direction L on the outside of the upper-layer material frame 61, the second upper-layer positioning mechanism 22 is located inside the upper-layer material frame 61, and exerts force on the inner walls of the two ends of the upper-layer material frame 61 along the second direction W.

[0100] In order to enable the second upper layer positioning mechanism 22 to apply a force to the inner walls at both ends of the upper layer material frame 61 along the second direction W, in this embodiment, each second upper layer positioning member 221 can be moved relative to the support 25 along the second direction W, and the two second upper layer positioning members 221 in the same group move in opposite directions, while the two second upper layer positioning members 221 located on the same side of the second direction W move in the same direction, so that the second upper layer positioning mechanism 22 can apply a reverse force to the inner walls at both ends of the upper layer material frame 61 along the second direction W inside the upper layer material frame 61, and apply a force in the same direction at two different positions to any one of the inner walls at both ends of the upper layer material frame 61 along the second direction W. In this way, the second upper layer positioning mechanism 22 can perform a four-point push on the upper layer material frame 61 in the second direction W, thereby realizing the positioning of the upper layer material frame 61 in the second direction W. By Figure 5-Figure 7 It can be seen that, in this embodiment, the second upper positioning member 221 includes an upper top plate 222 , and the upper top plate 222 can more fully contact the end surface of the upper material frame 61 along the second direction W to achieve a better push-up positioning effect.

[0101] In addition, if Figure 5-Figure 7 As shown, in this embodiment, the second upper layer positioning mechanism 22 further includes a retractable driving mechanism 223, which is drivingly connected to the two sets of second upper layer positioning members 221 to drive the two sets of second upper layer positioning members 221 to move relative to the support 25 along the second direction W, thereby realizing automatic pushing and positioning of the upper layer material frame 61 in the second direction W. Specifically, Figure 5-Figure 7It can be seen that, in this embodiment, the retractable driving mechanism 223 includes four retractable driving members 224, and the four retractable driving members 224 are drivingly connected with the four second upper layer positioning members 221 in a one-to-one correspondence, so as to respectively drive the four second upper layer positioning members 221 to move relative to the support 25 along the second direction W. More specifically, in this embodiment, the retractable driving member 224 includes a retractable driving cylinder 225, and the retractable driving cylinder 225 can drive the corresponding second upper layer positioning member 221 to move relative to the support 25 along the second direction W.

[0102] In this embodiment, the second upper-layer positioning mechanism 22 is connected to the conveying mechanism 1, so that the second upper-layer positioning mechanism 22 can position the upper-layer material frame 61 in the second direction W during the entire conveying process of the upper-layer material frame 61 after the conveying equipment 10 picks up the upper-layer material frame 61. This is beneficial to improving the stability and reliability of the conveying of the upper-layer material frame 61 by the conveying equipment 10 compared with the situation where the second upper-layer positioning mechanism 22 is not arranged on the conveying mechanism 1 and is only positioned during the process of picking up the upper-layer material frame 61, and is no longer positioned during the conveying process after picking up.

[0103] The top positioning mechanism 23 is disposed on the support 25 and is used to apply a force to the top of the upper material frame 61 to position the top of the upper material frame 61. Figure 5-Figure 7 As shown, in this embodiment, the top positioning mechanism 23 includes a top positioning member 231, which is movably arranged up and down relative to the support 25, so as to release or press the top of the upper material frame 61 by moving up and down. In this embodiment, the top positioning member 231 includes a lower pressing plate 232, so as to more reliably press and position the top of the upper material frame 61. In addition, in this embodiment, the top positioning mechanism 23 includes four top positioning members 231, which are arranged at intervals in the first direction L and the second direction W, so as to press and position four different positions of the top of the upper material frame 61.

[0104] In addition, by Figure 5-Figure 7 It can be seen that in this embodiment, the top positioning mechanism 23 also includes a downward pressing driving mechanism 233, which is connected to the top positioning member 231 to drive the top positioning member 231 to move up and down relative to the support 25, so as to automatically press and position the top of the upper material frame 61. Figure 5-Figure 7 As shown, in this embodiment, the downward pressing driving mechanism 233 includes four downward pressing driving cylinders 234, and the four downward pressing driving cylinders 234 are drivingly connected to the four top positioning members 231 in a one-to-one correspondence to respectively drive the four top positioning members 231 to move up and down relative to the support 25.

[0105] And, if Figure 5-Figure 7As shown, in this embodiment, each downward driving cylinder 234 is provided with a detection member 27 for detecting whether the downward driving cylinder 234 has reached a position in contact with the top of the upper material frame 61, so as to realize the in-place detection of the downward driving cylinder 234. Specifically, in this embodiment, the detection member 27 is a displacement sensor, and is arranged on the cylinder barrel of the downward driving cylinder 234 fixedly connected to the support 25. During operation, the downward driving cylinder 234 is pressed down and gradually approaches the upper material frame 61 in the process that the conveying mechanism 1 drives the upper frame positioning mechanism 2 to move downward, and before pressing down, the cylinder rod of the downward driving cylinder 234 is fully extended and converted into an internal pressure-free state, so that when the cylinder rod of the downward driving cylinder 234 hits the top of the lower material frame 62, it can be quickly lifted up, generating a displacement relative to the cylinder barrel, and the corresponding displacement is detected by the detection member 27, so that it can be determined that the downward driving cylinder 234 has reached a position in contact with the top of the upper material frame 61, thereby realizing in-place detection, preventing the upper frame positioning mechanism 2 from being excessively lowered as a whole, and performing safety protection.

[0106] The supporting member 24 is disposed on the first upper layer positioning mechanism 21, and is used to extend to the bottom of the upper layer material frame 61, support the upper layer material frame 61, and position the bottom end of the upper layer material frame 61. Figure 5-Figure 7 As shown, in this embodiment, the supporting member 24 includes two supporting plates 241, which are respectively arranged at the lower ends of the two first upper positioning members 211 of the first upper positioning mechanism 21, and are bent from the connected first upper positioning member 211 toward the other first upper positioning member 211. In this way, the two supporting plates 241 can be inserted under the upper material frame 61 as the first upper positioning mechanism 21 clamps the upper material frame 61, and support the upper material frame 61.

[0107] The lower frame positioning mechanism 3 is arranged on the upper frame positioning mechanism 2, and is used to position the lower material frame 62 during the process from when the conveying equipment 10 conveys the upper material frame 61 to a preset distance (for example, 15 to 30 mm, specifically, for example, 20 mm) above the lower material frame 62 until the upper material frame 61 is completely placed on the lower material frame 62, so as to correct the position of the lower material frame 62 before placing the upper material frame 61 on the lower material frame 62, and prevent the lower material frame 62 from shifting during the process of placing the upper material frame 61 on the lower material frame 62, so that during the entire placement process of the upper material frame 61, the upper and lower material frames can remain aligned up and down, and the upper material frame 61 can be smoothly embedded in the lower material frame 62 to complete the stacking and palletizing of the upper material frame 61.

[0108] like Figure 1 as well as Figure 4 As shown, in this embodiment, the lower frame positioning mechanism 3 is externally provided with a cover shell 4 to protect the lower frame positioning mechanism 3 and make the appearance more beautiful.

[0109] And, if Figure 5-Figure 7 As shown, in this embodiment, the lower frame positioning mechanism 3 includes a first lower layer positioning mechanism 31 and a second lower layer positioning mechanism 32 .

[0110] The first lower layer positioning mechanism 31 is used to clamp the end surfaces of the lower layer material frame 62 at both ends in the first direction L, so as to realize the positioning of the lower layer material frame 62 in the first direction L. Figure 5-Figure 7 It can be seen that in this embodiment, the first lower layer positioning mechanism 31 includes a flip driving device 313 and two first lower layer positioning members 311. The two first lower layer positioning members 311 are respectively arranged at the lower ends of the two first upper layer positioning members 211 of the first upper layer positioning mechanism 21, and are located on the outer sides of the two first upper layer positioning members 211 along the first direction L, so that the two first lower layer positioning members 311 are arranged at intervals along the first direction L, and can move with the transport device 10, and when the transport device 10 transports the upper layer material frame 61 to the top of the lower layer material frame 62, they can be located on both sides of the first direction L of the lower layer material frame 62, and clamp the two end faces of the first direction L of the lower layer material frame 62.

[0111] The flip driving device 313 is used to drive the two first lower layer positioning members 311 to flip up and down between the stowed position and the unfolded position to clamp or release the two end surfaces of the lower layer material frame 62 in the first direction L. Figure 5-Figure 7As shown, in this embodiment, the flip driving device 313 includes two flip driving mechanisms 314, which correspond to the two first lower layer positioning members 311 one by one, and each includes a flip driving cylinder 315, a connecting rod 316 and a rotating shaft 317. The rotating shaft 317 is rotatably arranged at the lower end of the first upper layer positioning member 211. The first lower layer positioning member 311 is arranged on the rotating shaft 317 and rotates with the rotating shaft 317 to rotate between the unfolded position and the stowed position. In this embodiment, the first lower layer positioning member 311 includes two lower clamping plates 312, which are arranged at intervals along the second direction W to clamp the end surface of the lower layer material frame 62 along the first direction L at two different positions along the second direction W. The connecting rod 316 is arranged on the rotating shaft 317, located between the two lower clamping plates 312, and connected to the flip driving cylinder 315, so that when the flip driving cylinder 315 is extended and retracted, the rotating shaft 317 can be driven to rotate by the connecting rod 316, and then the rotating shaft 317 drives the first lower layer positioning member 311 to flip up and down, and switch between the unfolded position and the retracted position. Among them, the flip driving cylinder 315 of one flip driving mechanism 314 is fixed on the support 25 and does not move along the first direction L, while the flip driving cylinder 315 of the other flip driving mechanism 314 is arranged on the mounting plate 215 of the upper frame positioning mechanism 2, so that the flip driving cylinder 315 arranged on the mounting plate 215 can move along the first direction L with the first upper layer positioning member 211 and the first lower layer positioning member 311 on the same side, so that when the first lower layer positioning member 311 moves along the first direction L with the first upper layer positioning member 211, it is always kept in driving connection with the first lower layer positioning member 311.

[0112] The second lower layer positioning mechanism 32 is disposed on the first lower layer positioning mechanism 31, and is used to apply force to both ends of the lower layer material frame 62 along the second direction W, so as to position the lower layer material frame 62 in the second direction W. Figure 5-Figure 7As shown, in this embodiment, the second lower layer positioning mechanism 32 includes two telescopic drive cylinders 325 and two second lower layer positioning members 321. The two telescopic drive cylinders 325 are respectively arranged on the inner side of the two first lower layer positioning members 311, and the two second lower layer positioning members 321 are respectively connected to the telescopic drive mechanism 323. In this way, the second lower layer positioning mechanism 32 is located on the inner side of the two first lower layer positioning members 311, so that when the two first lower layer positioning members 311 clamp the two end faces of the lower layer material frame 62 along the first direction L on the outer side of the lower layer material frame 62, the second lower layer positioning mechanism 32 is embedded in the notch 65 on the two end faces of the lower layer material frame 62 along the first direction L, so as to position the lower layer material frame 62 in the second direction W. Furthermore, in this embodiment, the two second lower layer positioning members 321 move in opposite directions under the drive of the two telescopic drive cylinders 325, switching between the extended position and the retracted position, so as to push one end of one notch 65 along the second direction W and the other end of the other notch 65 along the second direction W, respectively, to achieve the pushing and positioning of both ends of the lower layer material frame 62 along the second direction W. Figure 5-Figure 7 It can be seen that, in this embodiment, the second lower layer positioning member 321 includes a lower top plate 322, and the lower top plate 322 contacts one end of the notch 65 along the second direction W, and the contact area is large, which can achieve a better push positioning effect.

[0113] In this embodiment, the moving drive cylinder 214, the retracting drive cylinder 225, the pressing drive cylinder 234, the turning drive cylinder 315 and the telescopic drive cylinder 325 are all pneumatic cylinders, and the actions of these cylinders are all controlled by the pneumatic valve island 28. Figure 5-Figure 7 As shown, in this embodiment, the pneumatic valve island 28 is arranged on the support 25 and is gas-connected to the moving drive cylinder 214, the retracting drive cylinder 225, the pressing drive cylinder 234, the flipping drive cylinder 315 and the telescopic drive cylinder 325 to control the extension or retraction of these cylinders by controlling the air intake and exhaust of these cylinders.

[0114] The stacking mechanism 100 of this embodiment can not only pick up and carry the upper material frame 61, but also position the lower material frame 62 during the process of inserting the upper material frame 61 into the lower material frame 62. The working process is roughly as follows:

[0115] (1) Picking and positioning the upper material frame: The upper material frame 611 is transported to the handling device 10 via the conveyor 5. The handling mechanism 1 (specifically, the robot 11) of the handling device 10 drives the upper frame positioning mechanism 2 and the lower frame positioning mechanism 3 to the top of the upper material frame 61 and starts to perform relevant picking and positioning actions. Specifically, see Figure 8First, the transport mechanism 1 lowers the upper frame positioning mechanism 2 to a suitable position, and the corresponding position is detected by the detection member 27 installed on the downward pressure driving cylinder 234. Before pressing down, the downward pressure driving cylinder 234 is fully extended downward, and then turned to a non-air pressure state, which is convenient for passive lifting when contacting the upper material frame 61 to achieve in-place detection. Then, the downward pressure driving cylinder 234 is lifted up, and the transport mechanism 1 moves to make the fixed first upper positioning member 211 close to the upper material frame 61. After that, the movable first upper positioning member 211 is driven by the corresponding movable driving cylinder 214 to approach the fixed first upper positioning member 211, and the two first upper positioning members 211 move the upper material frame 61 along the first direction L. The outer end surface is clamped to complete the positioning of the upper material frame 61 in the first direction L. In the corresponding process, the two support plates 241 on the two first upper positioning members 211 are also inserted into the bottom of the upper material frame 61 to support the bottom of the upper material frame 61 to complete the positioning of the bottom end of the upper material frame 61. At the same time, the four retracting and extending driving cylinders 225 are extended to make the four second upper positioning members 221 all support the inner walls of the two ends of the upper material frame 61 along the second direction W to complete the positioning of the upper material frame 61 in the second direction W. Finally, the four pressing driving cylinders 234 are lowered and pressed on the top of the upper material frame 61 to complete the positioning of the top of the upper material frame 61. At this point, the handling equipment 10 has completed the positioning and picking up of the upper material frame 61.

[0116] (2) Run to the top of the lower material frame: see Fig. 9 In the leftmost figure, the handling device 10 runs to a preset distance (e.g., 20 mm) above the lower material frame 62 according to the planned stacking sequence and position, and begins to prepare for stacking;

[0117] (3) Complete the positioning of the lower material frame: see Fig. 9 The middle picture and Fig.10 First, the two flip driving cylinders 315 act simultaneously to drive the two first lower layer positioning members 311 to flip downward from the stowed position to the unfolded position, clamping the two outer end surfaces of the lower layer material frame 62 in the first direction L, thereby completing the positioning of the lower layer material frame 62 in the first direction L; then, see Fig. 9 In the rightmost figure, the two second lower-layer positioning members 321 are extended at the same time under the drive of the corresponding telescopic driving cylinders 325, and reversely support the end surfaces of the two notches 65 of the lower-layer material frame 62, so as to complete the positioning of the lower-layer material frame 62 in the second direction W. At this point, the handling device 10 has completed the positioning action of the lower-layer material frame 62, so that the lower-layer material frame 62 is aligned with the upper-layer material frame 61 up and down, and the lower-layer material frame 62 will not move easily during the embedding process of the upper-layer material frame 61;

[0118] (4) Complete the stacking of upper and lower material frames: see Fig. 9In the rightmost figure, the conveying mechanism 1 performs a lowering action to place the upper material frame 61 on the lower material frame 62, so that the clamping column 64 at the bottom of the upper material frame 61 is embedded in the clamping groove 63 at the top of the lower material frame 62, and the stacking and palletizing of the upper material frame 61 is completed. In the process of the conveying mechanism 1 lowering the upper material frame 61 onto the lower material frame 62, the lower basket positioning mechanism 3 can still position the lower material frame 62 to reliably prevent the lower material frame 62 from accidentally shifting during the corresponding process, but the force of the lower basket positioning mechanism 3 on the lower material frame 62 can be reduced, so that the lower basket positioning mechanism 3 can move with the conveying mechanism while positioning the lower material frame 62. 1 moves downward together, thus, it can meet the requirement that during the process of placing the upper material frame 61 down and stacking, the upper material frame 61 descends, while the upper material frame 62 does not descend and is positioned by the lower basket positioning mechanism 3; or, the lower basket positioning mechanism 3 and the conveying mechanism 1 can be constructed to be relatively lifted and lowered in the corresponding process (i.e., during the process of the conveying mechanism 1 placing the upper material frame 61 down on the lower material frame 62), so that during the process of the conveying mechanism 1 driving the upper material frame 61 down, the lower basket positioning mechanism 3 does not descend accordingly, thus, it can also meet the requirement that during the process of placing the upper material frame 61 down and stacking, the upper material frame 61 descends, while the upper material frame 62 does not descend and is positioned by the lower basket positioning mechanism 3.

[0119] It can be seen that this embodiment adopts a mechanical positioning mechanism. During the palletizing process, the upper material frame 61 is positioned in three dimensions of space, and before the upper material frame 61 is embedded in the lower material frame 62, the lower material frame 62 is positioned in two dimensions of space, and then the embedded action of the positioned upper and lower material frames is completed. This makes the position deviation of the upper and lower material frames corrected before the upper and lower material frames are embedded, and during the embedded process, the lower material frame 62 will not move easily. Therefore, the embedded action can be completed smoothly, effectively improving the palletizing efficiency. Practice shows that the mechanical upper frame positioning mechanism 2 and the lower frame positioning mechanism 3 of this embodiment can meet the deviation positioning requirements of ±40mm, which can effectively improve the palletizing efficiency.

[0120] In addition, the corresponding mechanical positioning mechanism has a simple structure, low cost, is not limited by the stack height, does not require manual intervention, and has broad application prospects.

[0121] The above description is only an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A palletizing mechanism (100), characterized in that: include: A handling device (10) is used to carry an upper material frame (61) and place the upper material frame (61) on a lower material frame (62) for palletizing; and The lower frame positioning mechanism (3) is constructed to position the lower material frame (62) before the transport device (10) places the upper material frame (61) on the lower material frame (62) so that the upper material frame (61) and the lower material frame (62) are aligned vertically.

2. The palletizing mechanism (100) according to claim 1, characterized in that: The lower frame positioning mechanism (3) comprises at least one of the following: A first lower layer positioning mechanism (31) is used to apply a force to both ends of the lower layer material frame (62) along a first direction (L) to position the lower layer material frame (62) in the first direction (L), wherein the first direction (L) is perpendicular to a depth direction (H) of the lower layer material frame (62); The second lower layer positioning mechanism (32) is used to apply a force to both ends of the lower layer material frame (62) along a second direction (W) to position the lower layer material frame (62) in the second direction (W), wherein the second direction (W) is perpendicular to the depth direction (H) and the first direction (L) of the lower layer material frame (62).

3. The palletizing mechanism (100) according to claim 2, characterized in that: The first lower layer positioning mechanism (31) comprises two first lower layer positioning members (311), the two first lower layer positioning members (311) are arranged at intervals along the first direction (L), and both can rotate between an expanded position and a stowed position located above the expanded position, wherein, when in the expanded position, the two first lower layer positioning members (311) act on the two ends of the lower layer material frame (62) along the first direction (L) to position the lower layer material frame (62) in the first direction (L), and when in the stowed position, the two first lower layer positioning members (311) release their effects on the two ends of the lower layer material frame (62) along the first direction (L).

4. The palletizing mechanism (100) according to claim 3, characterized in that: The first lower layer positioning mechanism (31) further comprises a flipping driving device (313), wherein the flipping driving device (313) is drivingly connected to the two first lower layer positioning members (311) and drives the two first lower layer positioning members (311) to rotate between the unfolded position and the stowed position.

5. The palletizing mechanism (100) according to claim 4, characterized in that: The flip driving device (313) comprises two flip driving mechanisms (314), and the two flip driving mechanisms (314) are drivingly connected to the two first lower layer positioning members (311) in a one-to-one correspondence.

6. The palletizing mechanism (100) according to claim 5, characterized in that: The flipping drive mechanism (314) comprises a flipping drive cylinder (315), a connecting rod (316) and a rotating shaft (317); the first lower layer positioning member (311) is rotatably arranged via the rotating shaft (317); the connecting rod (316) is arranged on the rotating shaft (317) and is drivingly connected to the flipping drive cylinder (315) so as to drive the first lower layer positioning member (311) to rotate between the unfolded position and the stowed position when the flipping drive cylinder (315) is extended or retracted.

7. The palletizing mechanism (100) according to claim 2, characterized in that: The second lower layer positioning mechanism (32) comprises two second lower layer positioning members (321), which are arranged at intervals along the first direction (L) and can move between an extended position and a retracted position along the second direction (W). When in the extended position, the two second lower layer positioning members (321) apply a force to the two ends of the lower layer material frame (62) along the second direction (W) to position the lower layer material frame (62) in the second direction (W). When in the retracted position, the two second lower layer positioning members (321) release the action on the two ends in the second direction (W).

8. The palletizing mechanism (100) according to claim 7, characterized in that: When in the extended position, the two second lower layer positioning members (321) exert forces on different ends of the lower layer material frame (62) at both ends in the second direction (W).

9. The palletizing mechanism (100) according to claim 7, characterized in that: The second lower layer positioning mechanism (32) further comprises a telescopic driving mechanism (323), wherein the telescopic driving mechanism (323) is drivingly connected to the two second lower layer positioning members (321) and drives the two second lower layer positioning members (321) to move along the second direction (W) between the extended position and the retracted position.

10. The palletizing mechanism (100) according to claim 9, characterized in that: The telescopic driving mechanism (323) comprises two telescopic driving members (324), and the two telescopic driving members (324) are drivingly connected to the two second lower layer positioning members (321) in a one-to-one correspondence.

11. The palletizing mechanism (100) according to claim 2, characterized in that: The lower frame positioning mechanism (3) comprises the first lower layer positioning mechanism (31) and the second lower layer positioning mechanism (32); in the first direction (L), the first lower layer positioning mechanism (31) is located outside the second lower layer positioning mechanism (32).

12. The palletizing mechanism (100) according to any one of claims 1 to 11, characterized in that: The lower frame positioning mechanism (3) is arranged on the transporting device (10); and / or the transporting device (10) comprises a transporting mechanism (1) and an upper frame positioning mechanism (2), the transporting mechanism (1) is movably arranged, the upper frame positioning mechanism (2) is arranged on the transporting mechanism (1) and is used to position the upper material frame (61) so as to transport the upper material frame (61) under the drive of the transporting mechanism (1), and the lower frame positioning mechanism (3) is arranged on the upper frame positioning mechanism (2).

13. The palletizing mechanism (100) according to claim 12, characterized in that: The upper frame positioning mechanism (2) comprises at least one of the following: A top end positioning mechanism (23) is used to press on the top end of the upper material frame (61) to position the top end of the upper material frame (61); A first upper layer positioning mechanism (21) is used to apply a force to both ends of the upper layer material frame (61) along a first direction (L) to position the upper layer material frame (61) in the first direction (L), wherein the first direction (L) is perpendicular to a depth direction (H) of the upper layer material frame (61); A second upper layer positioning mechanism (22) is used to apply a force to both ends of the upper layer material frame (61) along a second direction (W) to position the upper layer material frame (61) in the second direction (W), wherein the second direction (W) is perpendicular to the depth direction (H) and the first direction (L) of the upper layer material frame (61); The supporting member (24) is used for extending to the bottom of the upper material frame (61) to support the upper material frame (61).

14. The palletizing mechanism (100) according to claim 13, characterized in that: The upper frame positioning mechanism (2) comprises the top positioning mechanism (23), the top positioning mechanism (23) is provided with a detection member (27), the detection member (27) detects whether the top positioning mechanism (23) has been pressed down into place; and / or, the upper frame positioning mechanism (2) comprises the first upper layer positioning mechanism (21), and the lower frame positioning mechanism (3) is arranged on the first upper layer positioning mechanism (21).

15. The palletizing mechanism (100) according to claim 14, characterized in that: The top positioning mechanism (23) comprises a downward pressure drive cylinder (234), the detection member (27) is arranged on the downward pressure drive cylinder (234), and the downward pressure drive cylinder (234) is fully extended before contacting the upper material frame (61) and is converted into an internal pressure-free state.

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