Television box stacking method

Abstract

The invention discloses a television box stacking method, which is characterized in that a plurality of boxes form a box unit, four groups of box units form a layer, and the box units on each layer are perpendicular to one another and form a structure shaped like a Chinese character'hui ', so that the area of a stacking clamping plate is utilized to the maximum extent, and as many boxes can be stacked on one stacking clamping plate as possible; arrangement of the concentric-square-shaped structure of the box body units is achieved through the grabbing mechanism arranged in a targeted mode and grabbing steps. The grabbing mechanism comprises a grabbing frame, the grabbing frame is provided with a supporting plate, a first clamping plate, a second clamping plate, a first side frame, a second side frame, an opening and closing driving mechanism for driving the first side frame and the second side frame to be opened and closed and a telescopic driving unit for driving the supporting plate to stretch out and draw back, and the first clamping plate, the supporting plate and the telescopic driving unit are arranged on the first side frame. The second clamping plate is arranged on the second side frame.

Description

Technical Field

[0001] The invention relates to a palletizing method, in particular to a television cabinet palletizing method. Background Art

[0002] For the convenience of transportation, after the TV is packed into cartons, it is transported from the production line to the transfer point, where it is grabbed by a robot and placed on a palletizing pallet. After being neatly stacked on the pallet, it is taken away by a forklift for loading into the container.

[0003] However, the utilization rate of the stacking pallets in the ordinary stacking structure is not high, and there is a layer of plastic packaging film on the outside of the TV cabinet, so the use of an ordinary suction cup structure to grab it will cause the plastic packaging film to break. Therefore, the applicant has designed a TV cabinet stacking method, which not only improves the utilization rate of the stacking pallets but also enables the grabbing of cartons. Summary of the invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides a method for stacking television cabinets.

[0005] The technical solution adopted by the present invention to solve the technical problem is:

[0006] A method for stacking TV cabinets, comprising cabinets, a stacking pallet and a grabbing manipulator, wherein the cabinets are stacked on the stacking pallet into a cabinet pile, characterized in that the cabinet pile is composed of a plurality of layers, each of which comprises four cabinet units composed of a plurality of cabinets, the cabinet units comprise an inner end face, an outer end face and a bottom face, the cabinet units are arranged perpendicular to each other and form a "U"-shaped structure, the grabbing manipulator is connected with a grabbing mechanism, the grabbing mechanism comprises a grabbing frame, the grabbing frame is provided with a support plate, a clamping plate 1 and a clamping plate 2, a side frame 1 and a side frame 2, an opening and closing driving mechanism for driving the side frame 1 and the side frame 2 to open and close, and a telescopic driving unit for driving the support plate to extend and retract, the clamping plate 1, the support plate and the telescopic driving unit are arranged on the side frame 1, the clamping plate 2 is arranged on the side frame 2, and the grabbing steps are as follows:

[0007] S1: The manipulator drives the grabbing frame to move to the top of the box unit and descend to the grabbing position, and the opening and closing drive mechanism drives the first clamping plate and the second clamping plate to close, the first clamping plate contacts the outer end surface of the box unit and the supporting plate extends to support the bottom surface of the box unit at the same time; the second clamping plate contacts the upper area of ​​the inner end surface of the box unit to achieve clamping;

[0008] S2: The robot drives the grabbing frame to move to the corresponding placement area above the palletizing pallet and descends to the safe height of the current layer. The telescopic drive unit drives the pallet to retract, and then the opening and closing drive mechanism drives the first and second splints to open, and the box unit can fall into the corresponding area.

[0009] S3: Repeat steps S1 and S2 to complete the stacking of the “U”-shaped structure of this layer.

[0010] S4: Repeat steps S1 and S2 to complete the stacking of the next layer until the box stack is formed.

[0011] The box unit comprises four boxes, which are arranged side by side and have flat end faces.

[0012] The opening and closing driving mechanism includes an opening and closing motor, an opening and closing screw connected to the opening and closing motor, and two opening and closing nuts matched with the opening and closing screw. The side frame 1 and the side frame 2 are connected to the opening and closing nuts through corresponding connecting plates.

[0013] The second clamping plate is provided with a hanging rod and a driving unit, the bottom end of the hanging rod is provided with a hook plate, and the hanging rod is driven by the driving unit to rise and fall.

[0014] A positioning block is provided on the hanging rod, and a limiting block capable of abutting against the positioning block is provided on the second clamping plate.

[0015] The driving unit is a cylinder, the end of the driving unit is hinged to the second clamping plate, and the piston end of the driving unit is hinged to the hanging rod.

[0016] The side frame 1 is provided with a positioning plate, the clamping plate 1 is located above the side frame 1, and the positioning plate is located below the side frame 1.

[0017] The beneficial effects of the present invention are as follows: the present invention combines a plurality of boxes into a box unit, and four groups of box units form a layer, each layer of box units are arranged perpendicular to each other and form a "U"-shaped structure, thereby maximizing the use of the area of ​​the stacking pallet, and achieving as many boxes as possible stacked on one stacking pallet, and realizing the arrangement of the "U"-shaped structure of the box unit through targeted grabbing mechanisms and grabbing steps. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0019] Figure 1 It is a structural view of the grabbing mechanism of the present invention;

[0020] Figure 2 This is a structural view of the gripping mechanism of the present invention from another direction;

[0021] Figure 3 It is a structural view of the grab box unit;

[0022] Figure 4 is to grab the structural view of the second cabinet unit;

[0023] Figure 5 It is to grab the structural view of the third cabinet unit;

[0024] Figure 6 It is to grab the structural view of the fourth cabinet unit;

[0025] Figure 7 It is a structural view of the grasping robot. DETAILED DESCRIPTION

[0026] The advantages and features of the present disclosure and its implementation methods will be explained by the following embodiments described with reference to the accompanying drawings. However, the present disclosure can be embodied in different forms and should not be interpreted as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure will be comprehensive and complete, and will fully convey the scope of the present disclosure to those skilled in the art. In addition, the present disclosure is limited only by the scope of the claims.

[0027] The shapes, sizes, ratios, angles and numbers disclosed in the drawings for describing the embodiments of the present disclosure are only examples, and therefore the present disclosure is not limited to the details shown. Throughout this specification, the same reference numerals refer to the same elements. In the following description, when the detailed description of the relevant known functions or configurations is determined to be unnecessary to blur the focus of the present disclosure, the detailed description will be omitted. In the case of using "including", "having" and "comprising" described in this specification, other parts may be added unless "only" is used. Unless otherwise indicated, the terms in the singular may include plural forms.

[0028] When explaining an element, although not explicitly described, the element is understood to include a range of error.

[0029] When describing a positional relationship, for example, when the positional relationship is described as "on," "above," "below," and "adjacent to," unless "immediately" or "directly" is used, one or more parts may be arranged between two other parts.

[0030] When describing a time relationship, for example, when a time sequence is described as “after,” “subsequently,” “next,” and “before,” discontinuous cases may be included unless “just” or “directly” is used.

[0031] It should be understood that although the terms "first", "second", etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from other elements. For example, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element without departing from the scope of the present disclosure.

[0032] As those skilled in the art can fully understand, the features of the different embodiments of the present disclosure can be coupled or combined with each other in part or in whole, and can cooperate with each other in various ways and be driven technically. The embodiments of the present disclosure can be performed independently of each other, or can be performed together in a mutually dependent relationship.

[0033] Reference Figures 1 to 7 The present invention discloses a method for stacking TV cabinets, including a cabinet 1, a stacking pallet 2 and a grabbing manipulator 3. The stacking pallet 2 and the grabbing manipulator 3 are both standard equipment, so their specific structures are not described in detail. The cabinets 1 are stacked on the stacking pallet 2 to form a cabinet pile. The cabinet pile is composed of several layers, each of which includes four groups of cabinet units 8 composed of several cabinets 1. The cabinet unit 8 includes an inner end face 4, an outer end face 5, an inner side face 6, an outer side face 7 and a bottom face. In this application, the end faces and side faces adjacent to other cabinet units 8 are referred to as inner end faces 4 and inner side faces 6; and the end faces facing the outside are referred to as the inner end faces 4 and the inner side faces 6. The front and side surfaces are called outer end surfaces 5 and outer side surfaces 7; the box units 8 are arranged perpendicular to each other and connected end to end to form a "U"-shaped structure, specifically: the inner end surface 4 of the box unit 8 is in contact with the inner side surface 6 of the adjacent box unit 8; and the outer side surface 7 of the box unit 8 is flush with the outer end surface 5 of the adjacent box unit 8; and the inner end surface 4 of another adjacent box unit 8 is in contact with the inner side surface 6 of the box unit 8, and the outer side surface 7 of another adjacent box unit 8 is flush with the outer end surface 5 of the box unit 8, thereby forming a neat "U"-shaped structure to achieve maximum area utilization of the stacking pallet 2.

[0034] As shown in the figure, the grasping manipulator 3 is connected to the grasping mechanism by screws, and the grasping mechanism includes a grasping frame 9, on which a support plate 10, a clamp plate 11 and a clamp plate 2 12, a side frame 13 and a side frame 2 14, an opening and closing driving mechanism for driving the side frame 13 and the side frame 2 14 to open and close, and a telescopic driving unit 15 for driving the support plate 10 to extend and retract. The clamp plate 11, the support plate 10 and the telescopic driving unit 15 are arranged on the side frame 13, the clamp plate 2 12 is arranged on the side frame 2 14, and the clamp plate 11 is located above the support plate 10. The grasping steps are as follows:

[0035] S1: The manipulator drives the grabbing frame 9 to move to the top of the box unit 8 and descend to the grabbing position, and the opening and closing drive mechanism drives the clamping plate 1 11 and the clamping plate 2 12 to close, the clamping plate 1 11 contacts the outer end surface 5 of the box unit 8 and the support plate 10 extends out to support the bottom surface of the box unit 8; the clamping plate 2 12 contacts the upper area of ​​the inner end surface 4 of the box unit 8 to achieve clamping;

[0036] S2: The manipulator drives the grabbing frame 9 to move to the corresponding placement area above the stacking pallet 2 and descends to the safety height of the current layer. The telescopic drive unit 15 drives the pallet 10 to retract, and then the opening and closing drive mechanism drives the clamping plate 11 and the clamping plate 2 12 to open, and the box unit 8 can fall into the corresponding area.

[0037] S3: Repeat steps S1 and S2 in a clockwise or counterclockwise direction and at a predetermined placement position to grab the second box unit 8 and place it adjacent to the previous box unit 8, then grab the third box unit 8 and place it adjacent to the second box unit 8, and finally grab the fourth box unit 8 and place it adjacent to the third box unit 8, thus completing the stacking of the “U”-shaped structure of this layer.

[0038] S4: Repeat steps S1 and S2 to complete the stacking of the next layer until the box stack is formed.

[0039] Because the box body 1 of the present application has a packaging film on the outside, suction cup suction cannot be used, and only clamping can be used. However, because the present application aims to achieve the highest utilization efficiency of the stacking pallet 2, the box body 1 is composed of box units 8, and then the box units 8 are arranged in a "U" shape structure. Because the "U" shape structure is a closed arrangement structure, when the last box unit 8 constituting the "U" shape structure is arranged, the inner end surface 4 of the box unit 8 is in close contact with the inner side surface 6 of the adjacent box unit 8, and there is no accommodating space for the splint. If the box unit 8 is released at a higher position, there is space for accommodating and operating the splint. However, if the box unit 8 is released at too high a position and allowed to fall freely, it may cause damage to the products in the box body 1. Therefore, we designed a splint 12 to clamp the box unit 8 on one side. The upper area of ​​the inner end surface 4, and the outer end surface 5 of the box unit 8 has a larger space, which can be clamped by the clamping plate 11 and the support plate 10 underneath. Of course, in order to balance the clamping force, the clamping plate 11 clamps the upper area of ​​the outer end surface 5 of the box unit 8. When clamping the last box unit 8, we can lower the box unit 8 as much as possible until the lower edge of the clamping plate 12 is flush with the top surface of the adjacent box unit 8. This position is a safe height for the box unit 8 to fall, and the clamping plate 12 does not need to be inserted between the box units 8 to have operating space. At this time, the telescopic drive unit 15 drives the support plate 10 to retract, and then the opening and closing drive mechanism drives the clamping plate 11 and the clamping plate 2 12 to open, and the box unit 8 can fall into the corresponding area with a low falling height, which can ensure the safety of clamping as much as possible and realize the arrangement of the "U" shaped structure.

[0040] As shown in the figure, the preferred embodiment of the present application is that the box unit 8 includes four boxes 1, and the four boxes 1 are arranged side by side, and the end faces of the boxes 1 are flat. The number of boxes 1 that the box unit 8 is composed of is determined according to the size and shape of the stacking pallet 2. Therefore, the above number is only preferred and does not constitute a limitation to the present application.

[0041] As shown in the figure, the opening and closing driving mechanism includes an opening and closing motor 16, an opening and closing screw rod 17 connected to the opening and closing motor 16, and two opening and closing nuts 18 matched with the opening and closing screw rod 17. The side frame 13 and the side frame 2 14 are connected to the opening and closing nuts 18 through corresponding connecting plates 19. When the opening and closing motor 16 is started, the opening and closing screw rod 17 drives the opening and closing nuts 18 to move, thereby realizing the opening and closing of the side frame 13 and the side frame 2 14. Of course, the support plate 10 is arranged on the side frame 13 through a linear guide assembly; and the side frame 13 and the side frame 2 14 are arranged on the grab frame 9 through a linear guide assembly.

[0042] As shown in the figure, the second clamping plate 12 is provided with a hanging rod 20 and a driving unit 21, and the bottom end of the hanging rod 20 is provided with a hook plate 22, and the hanging rod 20 is driven by the driving unit 21 to rise and fall, because the grabbing mechanism sometimes needs to grab the stacking pallet 2, so the driving unit 21 drives the hanging rod 20 to drop to the same height as the hook plate 22 and the support plate 10, and the opening and closing driving mechanism is started to close the hook plate 22 and the support plate 10, and the hook plate 22 hooks one side of the bottom surface of the stacking pallet 2, and the support plate 10 holds the other side of the bottom surface, so as to grab the stacking pallet 2, and the driving unit 21 drives the hanging rod 20 to rise and hide behind the second clamping plate 12 when not in use. Of course, the hanging rod 20 is set on the second clamping plate 12 through a linear guide assembly.

[0043] As a further structure, because the stacking pallet 2 is very heavy, the cylinder alone cannot safely support the stacking pallet 2. The hanging rod 20 is provided with a positioning block 23, and the clamping plate 12 is provided with a limit block 24 that can abut against the positioning block 23. The positioning block 23 is supported by the limit block 24 to lift the stacking pallet 2.

[0044] Specifically, the driving unit 21 is a cylinder, the end of the driving unit 21 is hinged to the second clamping plate 12, and the piston end of the driving unit 21 is hinged to the hanging rod 20 through a fisheye joint. The above structure is a prior art and is not described in detail.

[0045] As shown in the figure, a positioning plate 25 is provided on the side frame 13, the clamping plate 11 is located above the side frame 13, and the positioning plate 25 is located below the side frame 13. When grabbing the box unit 8 or the stacking pallet 2, the positioning plate 25 can block its side, thereby improving the safety of grabbing and preventing the box unit 8 or the stacking pallet 2 from being skewed.

[0046] The above is a detailed introduction to a TV cabinet stacking method provided by an embodiment of the present invention. Specific examples are used herein to illustrate the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for stacking TV cabinets, comprising cabinets, a stacking pallet and a grabbing manipulator, wherein the cabinets are stacked on the stacking pallet into a cabinet pile, characterized in that: The box stack is composed of several layers, each of which includes four groups of box units composed of several boxes, the box units include inner end faces, outer end faces and bottom faces, the box units are arranged vertically to each other and form a "U"-shaped structure, the grabbing manipulator is connected with a grabbing mechanism, the grabbing mechanism includes a grabbing frame, the grabbing frame is provided with a support plate, a clamping plate 1 and a clamping plate 2, a side frame 1 and a side frame 2, an opening and closing driving mechanism for driving the side frame 1 and the side frame 2 to open and close, and a telescopic driving unit for driving the support plate to extend and retract, the clamping plate 1, the support plate and the telescopic driving unit are arranged on the side frame 1, the clamping plate 2 is arranged on the side frame 2, and the grabbing steps are as follows: S1: The manipulator drives the grabbing frame to move to the top of the box unit and descend to the grabbing position, and the opening and closing drive mechanism drives the first clamping plate and the second clamping plate to close, the first clamping plate contacts the outer end surface of the box unit and the supporting plate extends to support the bottom surface of the box unit at the same time; the second clamping plate contacts the upper area of ​​the inner end surface of the box unit to achieve clamping; S2: The robot drives the grabbing frame to move to the corresponding placement area above the palletizing pallet and descends to the safe height of the current layer. The telescopic drive unit drives the pallet to retract, and then the opening and closing drive mechanism drives the first and second splints to open, and the box unit can fall into the corresponding area. S3: Repeat steps S1 and S2 to complete the stacking of the "U"-shaped structure of this layer. S4: Repeat steps S1 and S2 to complete the stacking of the next layer until the box stack is formed.

2. A TV cabinet palletizing method according to claim 1, characterized in that: The box unit comprises four boxes, which are arranged side by side and have flat end faces.

3. A TV cabinet palletizing method according to claim 1, characterized in that: The opening and closing driving mechanism includes an opening and closing motor, an opening and closing screw connected to the opening and closing motor, and two opening and closing nuts matched with the opening and closing screw. The side frame 1 and the side frame 2 are connected to the opening and closing nuts through corresponding connecting plates.

4. A TV cabinet palletizing method according to claim 1, characterized in that: The second clamping plate is provided with a hanging rod and a driving unit, the bottom end of the hanging rod is provided with a hook plate, and the hanging rod is driven by the driving unit to rise and fall.

5. A TV cabinet palletizing method according to claim 4, characterized in that: A positioning block is provided on the hanging rod, and a limiting block capable of abutting against the positioning block is provided on the second clamping plate.

6. A method for stacking TV cabinets according to claim 4, characterized in that: The driving unit is a cylinder, the end of the driving unit is hinged to the second clamping plate, and the piston end of the driving unit is hinged to the hanging rod.

7. A TV cabinet palletizing method according to claim 1, characterized in that: The side frame 1 is provided with a positioning plate, the clamping plate 1 is located above the side frame 1, and the positioning plate is located below the side frame 1.

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