Automatic stacking device for production line

Abstract

The automatic stacking device for the production line comprises a mechanical arm and a workbench, a mounting plate is fixedly mounted at the top of the workbench, the back face of the mounting plate is movably connected with the end of the mechanical arm, and a fixing mechanism used for positioning cartons is arranged at the bottom of the workbench. A supporting mechanism used for preventing the cartons from being separated from the clamping plates is arranged behind the fixing mechanism. The extending end of a hydraulic cylinder is controlled to be shrunk to be the shortest, two transmission plates are driven to rotate through a second shifting rod, so that a lifting rod moves downwards and is matched with a lifting plate to drive two binding tools to press the adhesive tape to enable the adhesive tape to be attached to a plurality of cartons, and the two binding tools fix the two ends of the adhesive tape to the two cartons on the outermost side through staples correspondingly. In the process that the conveying device is moved by a forklift, the adhesive tape is matched with staples to limit the positions of a plurality of cartons, the carton located on the uppermost portion of the bearing frame is prevented from collapsing, and the carton conveying efficiency is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of automatic palletizing, in particular to an automatic palletizing device for a production line. Background Art

[0002] Automated palletizing device, also known as palletizer or automatic palletizing system, is a mechanical device that can automatically stack materials according to certain rules; it is widely used in various production lines, such as food, beverage, medicine, chemical, building materials and other industries, to complete the handling, classification, palletizing and depalletizing of goods. Modern automated palletizing devices usually use PLC or industrial computers as the control core;

[0003] When stacking cartons, the existing automated palletizing device uses a mechanical gripper to clamp multiple cartons at one time and transport them to a supporting frame. However, during the process of the mechanical gripper clamping multiple cartons and moving them, the carton in the middle is prone to falling due to the effect of centrifugal force, affecting the efficiency of carton stacking. At the same time, after stacking multiple cartons on the supporting frame in sequence, they need to be transported to the warehouse by a forklift. During the movement of the forklift, the carton at the top is prone to collapse, affecting the efficiency of carton transportation. Summary of the invention

[0004] The technical problems solved by this solution are:

[0005] (1) How to solve the problem that the cartons at the top of the support frame are prone to collapse during the movement of the forklift, affecting the efficiency of carton transportation;

[0006] (2) How to solve the problem that when a mechanical gripper is moving multiple cartons, the carton in the middle is prone to falling due to the centrifugal force, thus affecting the palletizing of the cartons.

[0007] The object of the present invention can be achieved by the following technical solutions: An automatic palletizing device for a production line, comprising a mechanical arm and a workbench, a mounting plate is fixedly mounted on the top of the workbench, the back of the mounting plate is movably connected to the end of the mechanical arm, a fixing mechanism for positioning a carton is provided at the bottom of the workbench, and a supporting mechanism for preventing the carton from being separated from the clamping plate is provided behind the fixing mechanism;

[0008] Both sides of the workbench are rotatably connected with L-shaped rods, the bottom ends of the L-shaped rods are fixedly installed with clamping plates, the clamping plates are fixedly embedded with rubber plates on the sides facing the carton, and the middle of the L-shaped rods is provided with L-shaped sliding grooves.

[0009] A further technical improvement of the present invention is that a longitudinally arranged hydraulic cylinder is fixedly connected to the front of the mounting plate, a transversely arranged lifting frame is fixedly installed on the protruding end of the hydraulic cylinder, and both ends of the lifting frame are slidably connected to the corresponding L-shaped sliding groove through a first lever.

[0010] A further technical improvement of the present invention is that the fixing mechanism includes a strip hole opened on the top of the workbench, and the workbenches on both sides of the strip hole are fixedly connected with connecting frames, and a transmission plate is rotatably provided on the top of the connecting frame. Two lifting rods are movably inserted on the workbench, and the tops of the two lifting rods are movably connected to one end of the corresponding transmission plate respectively.

[0011] A further technical improvement of the present invention is that the two lifting rods are arranged longitudinally, and the bottom ends of the two lifting rods are commonly fixedly connected to a lifting plate, both ends of the bottom of the lifting plate are fixedly installed with binding tooling, the binding tooling is the existing technology, and a tension spring is fixedly connected between the top of the lifting plate and the bottom of the workbench.

[0012] A further technical improvement of the present invention is that: a fixing rod is fixedly connected to the bottom of the lifting frame, and a second lever arranged laterally is fixedly connected to the bottom of the fixing rod, the position of the second lever corresponds to the position of the strip hole, and one end of the two transmission plates away from the corresponding lifting rod is slidably connected to the second lever; the lifting frame and the two first levers are raised by contracting the extended end of the hydraulic cylinder from the longest to half the length, and the first lever slides from the bottom of the L-shaped slide groove to the middle thereof. At this time, multiple cartons are clamped and fixed by two clamping plates, the extended end of the first cylinder is controlled to extend, and the end of the tape is clamped by the clamping tool, and then the first cylinder is controlled The extended end of the hydraulic cylinder is contracted to lengthen the tape; the extended end of the hydraulic cylinder is controlled to contract to the shortest, and the two transmission plates are driven to rotate through the second lever to move the lifting rod downward, and the lifting plate will drive the two binding tools to press the tape to make it fit with multiple cartons, and the two binding tools fix the two ends of the tape on the two outermost cartons with staples, and the cutting tool is used to cut the tape, and then the multiple cartons are stacked on the supporting frame in turn. In the process of being moved by the forklift, the positions of the multiple cartons are limited by the tape and the staples, so that the cartons located at the top of the supporting frame are prevented from collapsing, thereby ensuring the efficiency of carton transportation.

[0013] A further technical improvement of the present invention is that a first cylinder arranged laterally is fixedly installed on the front of one of the clamping plates, a clamping tool for clamping the end of the tape is fixedly installed on the protruding end of the first cylinder, a winding tool for placing the tape is fixedly installed on the other clamping plate, and a cutting tool for cutting the tape is arranged behind the winding tool.

[0014] A further technical improvement of the present invention is that the supporting mechanism includes a vertical plate fixedly connected to the bottom of the workbench, a fixed shaft is fixedly installed at the bottom of the vertical plate through a mounting seat, support rods are rotatably arranged at both ends of the fixed shaft, and one end of the two support rods is commonly fixedly connected to a support bar.

[0015] A further technical improvement of the present invention lies in that a second cylinder arranged longitudinally is fixedly installed on the side of the vertical plate away from the carton, and a pressing bar is fixedly connected to the protruding end of the second cylinder, and the pressing bar is slidably connected to the other end of the two support rods; when the robot arm is controlled to lift the multiple cartons fixed by the two clamping plates, the protruding end of the second cylinder is controlled to extend from the shortest to the longest, so that the pressing bar presses the two support rods to flip, thereby providing support for the bottom of the multiple cartons fixed by the two clamping plates through the support bar, preventing the carton in the middle from falling and affecting the efficiency of carton stacking.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] When the present invention is in use, the extended end of the hydraulic cylinder is retracted from the longest to half the length, so that the lifting frame and the two first levers are raised, and the first lever slides from the bottom of the L-shaped slide groove to the middle thereof. At this time, the multiple cartons are clamped and fixed by the two clamping plates, the extended end of the first cylinder is controlled to extend, the end of the tape is clamped by the clamping tool, and then the extended end of the first cylinder is controlled to contract, so that the tape is stretched; the extended end of the hydraulic cylinder is controlled to contract to the shortest, and the two transmission plates are driven to rotate by the second lever, so that the lifting rod moves downward, and the lifting plate drives the two binding tools to press the tape so that it fits with the multiple cartons, and the two binding tools fix the two ends of the tape on the two outermost cartons respectively by staplers, and the cutting tool is cooperated to cut the tape, and then the multiple cartons are stacked on the supporting frame in sequence. In the process of the forklift moving them, the positions of the multiple cartons are limited by the tape and the staplers, so that the cartons located at the top of the supporting frame are prevented from collapsing, thereby ensuring the efficiency of the carton transportation.

[0018] When the present invention is in use, when the robot arm is controlled to lift a plurality of cartons fixed by two clamping plates, the extended end of the second cylinder is controlled to extend from the shortest to the longest, so that the pressing bar presses the two support rods to flip, thereby providing support for the bottom of the plurality of cartons fixed by the two clamping plates through the support bar, preventing the carton in the middle from falling and affecting the efficiency of carton stacking. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a front structural schematic diagram of the working table of the present invention;

[0022] Figure 3 It is a three-dimensional schematic diagram of the structure of the working table of the present invention;

[0023] Figure 4 It is a schematic diagram of the fixing mechanism structure of the present invention;

[0024] Figure 5 It is a side structural schematic diagram of the working table of the present invention;

[0025] Figure 6 For the present invention Figure 5 A magnified view of the structure at center;

[0026] Figure 7 It is a three-dimensional schematic diagram of the supporting mechanism structure of the present invention.

[0027] In the figure: 1. Robotic arm; 2. Rotating base; 3. Support mechanism; 4. Workbench; 5. Fixing mechanism; 6. Mounting plate; 7. Hydraulic cylinder; 8. Lifting frame; 9. L-shaped slide; 10. L-shaped rod; 11. Cutting tool; 12. Winding tool; 13. Clamping tool; 14. First cylinder; 15. Clamping plate; 16. First lever; 17. Rubber plate; 18. Strip hole; 31. Support bar; 32. Support rod; 33. Fixed shaft; 34. Pressing bar; 35. Second cylinder; 36. Vertical plate; 51. Fixed rod; 52. Connecting frame; 53. Second lever; 54. Lifting plate; 55. Binding tool; 56. Tension spring; 57. Lifting rod; 58. Transmission plate. DETAILED DESCRIPTION

[0028] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] See also Figure 1-Figure 7 As shown, an automatic palletizing device for a production line includes a robot arm 1 and a workbench 4, a mounting plate 6 is fixedly installed on the top of the workbench 4, the back of the mounting plate 6 is movably connected to the end of the robot arm 1, a fixing mechanism 5 for positioning a carton is provided at the bottom of the workbench 4, and a supporting mechanism 3 for preventing the carton from detaching from the clamping plate 15 is provided behind the fixing mechanism 5.

[0030] See also Figure 1-Figure 3As shown, both sides of the above-mentioned workbench 4 are rotatably connected with L-shaped rods 10, the bottom end of the L-shaped rod 10 is fixedly installed with a clamping plate 15, the clamping plate 15 is fixedly embedded with a rubber plate 17 on the side of the carton, and an L-shaped slide groove 9 is opened in the middle of the L-shaped rod 10.

[0031] See also Figure 2 and Figure 3 As shown, the front side of the mounting plate 6 is fixedly connected with a longitudinally arranged hydraulic cylinder 7, the extended end of the hydraulic cylinder 7 is fixedly installed with a transversely arranged lifting frame 8, and the two ends of the lifting frame 8 are slidably connected with the corresponding L-shaped sliding groove 9 through a first shifting rod 16 respectively.

[0032] See also Figure 2 , Figure 3 and Figure 4 As shown, the above-mentioned fixing mechanism 5 includes a strip hole 18 opened on the top of the workbench 4, and a connecting frame 52 is fixedly connected to the workbench 4 on both sides of the strip hole 18. A transmission plate 58 is rotatably provided on the top of the connecting frame 52, and two lifting rods 57 are movably inserted on the workbench 4. The tops of the two lifting rods 57 are movably connected to one end of the corresponding transmission plate 58 respectively.

[0033] See also Figure 2 and Figure 3 As shown, the two lifting rods 57 are longitudinally arranged, and the bottom ends of the two lifting rods 57 are commonly fixedly connected to a lifting plate 54, and binding tooling 55 are fixedly installed at both ends of the bottom of the lifting plate 54. The binding tooling 55 is the existing technology, and a tension spring 56 is fixedly connected between the top of the lifting plate 54 and the bottom of the workbench 4.

[0034] See also Figure 2 and Figure 4As shown, the bottom of the lifting frame 8 is fixedly connected with a fixing rod 51, and the bottom of the fixing rod 51 is fixedly connected with a transversely arranged second lever 53, the position of the second lever 53 corresponds to the position of the strip hole 18, and the ends of the two transmission plates 58 away from the corresponding lifting rod 57 are slidably connected with the second lever 53; the extended end of the hydraulic cylinder 7 is retracted from the longest to half the length, so that the lifting frame 8 and the two first levers 16 rise, and the first lever 16 slides from the bottom of the L-shaped slide groove 9 to the middle thereof. At this time, the two clamping plates 15 clamp and fix a plurality of cartons, control the extension of the extended end of the first cylinder 14, clamp the end of the tape through the clamping tool 13, and then control the first cylinder 1 The extended end of the hydraulic cylinder 4 is contracted, so that the tape is stretched; the extended end of the hydraulic cylinder 7 is controlled to be contracted to the shortest, and the two transmission plates 58 are driven to rotate through the second lever 53, so that the lifting rod 57 moves downward, and the lifting plate 54 is used to drive the two binding tools 55 to press the tape to make it fit with multiple cartons, and the two binding tools 55 fix the two ends of the tape to the two outermost cartons respectively through staples, and cooperate with the cutting tool 11 to cut the tape, and then stack the multiple cartons on the supporting frame in turn. In the process of moving them by the forklift, the positions of the multiple cartons are limited by the tape and the staples, so as to avoid the collapse of the cartons located at the top of the supporting frame, thereby ensuring the efficiency of the carton transportation.

[0035] See also Figure 1 and Figure 3 As shown, a first cylinder 14 arranged transversely is fixedly installed on the front of one of the clamping plates 15, a clamping tool 13 for clamping the end of the tape is fixedly installed on the protruding end of the first cylinder 14, a winding tool 12 for placing the tape is fixedly installed on the other clamping plate 15, and a cutting tool 11 for cutting the tape is arranged behind the winding tool 12.

[0036] See also Figure 2 As shown, the above-mentioned clamping tool 13 , cutting tool 11 and winding tool 12 are all prior arts, and the positions of the clamping tool 13 and the winding tool 12 correspond to the positions of the two binding tools 55 .

[0037] See also Figure 5-Figure 7 As shown, the above-mentioned supporting mechanism 3 includes a vertical plate 36 fixedly connected to the bottom of the workbench 4, and a fixed shaft 33 is fixedly installed at the bottom of the vertical plate 36 through a mounting seat, and support rods 32 are rotatably provided at both ends of the fixed shaft 33, and one end of the two support rods 32 is commonly fixedly connected to a support bar 31.

[0038] See also Figure 6 and Figure 7As shown, the vertical plate 36 is fixedly installed with a longitudinally arranged second cylinder 35 on the side away from the carton, and the protruding end of the second cylinder 35 is fixedly connected with a pressing bar 34, and the pressing bar 34 is slidably connected to the other end of the two support rods 32; when the robot arm 1 is controlled to lift the multiple cartons fixed by the two clamping plates 15, the protruding end of the second cylinder 35 is controlled to extend from the shortest to the longest, so that the pressing bar 34 presses the two support rods 32 to flip, thereby providing support for the bottom of the multiple cartons fixed by the two clamping plates 15 through the support bar 31, preventing the carton in the middle from falling and affecting the efficiency of carton stacking.

[0039] See also Figure 1 As shown, a rotating base 2 is fixedly disposed at the bottom end of the above-mentioned mechanical arm 1.

[0040] Working principle: When the present invention is used, first, Figure 1 As shown, the workbench 4 is driven to move to the clamping position by rotating the base 2 in cooperation with the robot arm 1. At this time, the workbench 4 is located at the output end of the conveyor belt of the production line, as shown in FIG. Figure 1 and Figure 2 As shown, the extended end of the hydraulic cylinder 7 is retracted from the longest to half the length, so that the lifting frame 8 and the two first levers 16 are raised, so that the first levers 16 slide from the bottom of the L-shaped slide groove 9 to the middle thereof. At this time, as shown in FIG. Figure 2 and Figure 3 As shown, two clamping plates 15 are used to clamp and fix multiple cartons at the output end of the conveyor belt, and the rubber plate 17 is used to improve the stability of the multiple cartons. The extended end of the first cylinder 14 is controlled to extend, and the end of the tape is clamped by the clamping tool 13, and then the extended end of the first cylinder 14 is controlled to contract, so that the tape is stretched; Figure 2 and Figure 4 As shown, the extended end of the hydraulic cylinder 7 is controlled to be retracted to the shortest, and the two transmission plates 58 are driven to rotate through the second lever 53, so that the lifting rod 57 moves downward, and the lifting plate 54 is used to drive the two binding tools 55 to press the tape to make it fit with multiple cartons, and the two binding tools 55 fix the two ends of the tape to the two outermost cartons respectively through staples, and cooperate with the cutting tool 11 to cut the tape, and then stack the multiple cartons on the support frame in sequence. In the process of moving them by the forklift, the positions of the multiple cartons are limited by the tape and the staples, so as to avoid the collapse of the cartons located at the top of the support frame, thereby ensuring the efficiency of the carton transportation; as shown in FIG. Figure 2 and Figure 3 As shown, in the process of the extended end of the hydraulic cylinder 7 being retracted to the shortest, the first lever 16 slides from the middle of the L-shaped slide 9 to the top thereof, and at this time, the positions of the two L-shaped rods 10 and the two clamping plates 15 do not change, so as to prevent the carton from being squeezed and deformed; Figure 5-Figure 7As shown, when the robot arm 1 is controlled to lift the multiple cartons fixed by the two clamping plates 15, the extended end of the second cylinder 35 is controlled to extend from the shortest to the longest, so that the pressing bar 34 presses the two support rods 32 to flip, thereby providing support for the bottom of the multiple cartons fixed by the two clamping plates 15 through the support bar 31, preventing the carton in the middle from falling and affecting the efficiency of carton stacking.

[0041] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. An automatic palletizing device for a production line, comprising a robot arm (1) and a workbench (4), wherein a mounting plate (6) is fixedly mounted on the top of the workbench (4), characterized in that: The back side of the mounting plate (6) is movably connected to the end of the mechanical arm (1); a fixing mechanism (5) for positioning the carton is provided at the bottom of the workbench (4); and a supporting mechanism (3) for preventing the carton from being separated from the clamping plate (15) is provided behind the fixing mechanism (5); Both sides of the workbench (4) are rotatably connected with L-shaped rods (10), the bottom end of the L-shaped rod (10) is fixedly installed with a clamping plate (15), the clamping plate (15) is fixedly embedded with a rubber plate (17) on the side facing the carton, and the middle part of the L-shaped rod (10) is provided with an L-shaped sliding groove (9).

2. The automatic palletizing device for a production line according to claim 1, characterized in that: A hydraulic cylinder (7) is fixedly connected to the front of the mounting plate (6), a lifting frame (8) is fixedly installed on the protruding end of the hydraulic cylinder (7), and both ends of the lifting frame (8) are slidably connected to corresponding L-shaped sliding grooves (9) via first shifting rods (16).

3. The automatic palletizing device for a production line according to claim 2, characterized in that: The fixing mechanism (5) comprises a strip hole (18) opened on the top of the workbench (4); the workbench (4) on both sides of the strip hole (18) is fixedly connected with a connecting frame (52); a transmission plate (58) is rotatably provided on the top of the connecting frame (52); two lifting rods (57) are movably inserted on the workbench (4); the tops of the two lifting rods (57) are movably connected to one end of the corresponding transmission plate (58) respectively.

4. The automatic palletizing device for a production line according to claim 3, characterized in that: The bottom ends of the two lifting rods (57) are fixedly connected to a lifting plate (54), both ends of the bottom of the lifting plate (54) are fixedly installed with binding tools (55), and a tension spring (56) is fixedly connected between the lifting plate (54) and the workbench (4).

5. The automatic palletizing device for a production line according to claim 3, characterized in that: The bottom of the lifting frame (8) is fixedly connected to a fixing rod (51), the bottom of the fixing rod (51) is fixedly connected to a second shifting rod (53), the position of the second shifting rod (53) corresponds to the position of the strip hole (18), and the ends of the two transmission plates (58) away from the corresponding lifting rods (57) are both slidably connected to the second shifting rod (53).

6. The automatic palletizing device for a production line according to claim 1, characterized in that: A first cylinder (14) is fixedly mounted on the front of one of the clamping plates (15), and a clamping tool (13) for clamping the end of the tape is fixedly mounted on the protruding end of the first cylinder (14). A winding tool (12) for placing the tape is fixedly mounted on the other clamping plate (15), and a cutting tool (11) for cutting the tape is arranged behind the winding tool (12).

7. The automatic palletizing device for a production line according to claim 1, characterized in that: The support mechanism (3) comprises a vertical plate (36) fixedly connected to the bottom of the workbench (4); a fixed shaft (33) is fixedly installed at the bottom of the vertical plate (36); support rods (32) are rotatably arranged at both ends of the fixed shaft (33); and one end of the two support rods (32) is fixedly connected to a support bar (31).

8. The automatic palletizing device for a production line according to claim 7, characterized in that: A second cylinder (35) is fixedly installed on the side of the vertical plate (36) away from the carton, and a pressing bar (34) is fixedly connected to the protruding end of the second cylinder (35), and the pressing bar (34) is slidably connected to the other ends of the two support rods (32).

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