A method for stacking television cabinets

Abstract

The present invention discloses a method for stacking television cabinets. The present invention groups a plurality of cabinets into cabinet units, and four groups of cabinet units form a layer. The cabinet units of each layer 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 the goal of stacking as many cabinets as possible on one stacking pallet. The "U"-shaped arrangement of the cabinet units is achieved through a specifically arranged grabbing mechanism and grabbing steps. The grabbing mechanism includes a grabbing frame, which is provided with a support plate, a first and second clamping plate, a first and second side frame, an opening and closing drive mechanism for driving the first and second side frames to open and close, and a telescopic drive unit for driving the support plate to extend and retract. The first clamping plate, the support plate, and the telescopic drive unit are arranged on the first side frame, and 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 palletizing method for television cabinets. 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 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. Therefore, using 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 that 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 its technical problem is:

[0006] A method for stacking television 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 several layers, each of which comprises four groups of cabinet units composed of several cabinets, the cabinet units comprising inner end faces, outer end faces, and bottom faces, the cabinet units being arranged perpendicular to each other and forming a "U"-shaped structure, the grabbing manipulator being connected to a grabbing mechanism, the grabbing mechanism comprising a grabbing frame, the grabbing frame being provided with a supporting plate, a first clamping plate and a second clamping plate, a first side frame and a second side frame, an opening and closing driving mechanism for driving the first side frame and the second side frame to open and close, and a telescopic driving unit for driving the supporting plate to extend and retract, the first clamping plate, the supporting plate, and the telescopic driving unit being arranged on the first side frame, and the second clamping plate being arranged on the second side frame, and the grabbing steps are as follows:

[0007] S1: The manipulator drives the grabbing frame to move above the box unit and descend to the grabbing position. The opening and closing drive mechanism drives the first and second clamping plates to close. The first clamping plate contacts the outer end surface of the box unit and the support plate extends to support the bottom surface of the box unit. 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 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 includes four boxes, which are arranged side by side, and the end surfaces of the boxes are flat.

[0012] The opening and closing drive 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 raised and lowered by the driving unit.

[0014] A positioning block is provided on the hanging rod, and a limiting block capable of counteracting 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] A positioning plate is provided on the side frame 1, 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 groups a number of boxes into box units, and four groups of box units form a layer, and the box units of each layer are arranged perpendicular to each other and form a "U"-shaped structure, thereby maximizing the use of the area of ​​the stacking pallet, and realizing that as many boxes as possible can be stacked on one stacking pallet, and the "U"-shaped structure of the box units is arranged through targeted grabbing mechanisms and grabbing steps. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the accompanying drawings and examples.

[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 grabbing box unit;

[0022] Figure 4 It 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 illustrated 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 construed 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. Furthermore, the present disclosure is limited only by the scope of the claims.

[0027] The shapes, sizes, proportions, angles and numbers disclosed in the drawings for describing the embodiments of the present disclosure are merely 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 a detailed description of a related known function or configuration is determined to be unnecessary to obscure the focus of the present disclosure, the detailed description will be omitted. Where “including”, “having” and “comprising” described in this specification are used, other components may be added unless “only” is used. Unless otherwise indicated, 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," one or more parts may be arranged between two other parts, unless "immediately" or "directly" is used.

[0030] When describing a temporal relationship, for example, when a temporal order 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 this disclosure.

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

[0033] Reference Figures 1 to 7 The present invention discloses a method for stacking TV cabinets, comprising a cabinet 1, a stacking pallet 2, and a gripping manipulator 3. The stacking pallet 2 and the gripping manipulator 3 are 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 stack. The cabinet stack is composed of several layers, each of which includes four groups of cabinet units 8 composed of several cabinets 1. The cabinet units 8 include 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 the inner end faces 4 and the inner side faces 6; 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. The grasping mechanism includes a grasping frame 9, on which a support plate 10, a clamping plate 11 and a clamping 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 clamping plate 11, the support plate 10 and the telescopic driving unit 15 are arranged on the side frame 13, the clamping plate 2 12 is arranged on the side frame 2 14, and the clamping 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 above the box unit 8 and descend to the grabbing position. The opening and closing drive mechanism drives the first clamping plate 11 and the second clamping plate 12 to close. The first clamping plate 11 contacts the outer end surface 5 of the box unit 8 and the supporting plate 10 extends to support the bottom surface of the box unit 8. The second clamping plate 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 palletizing plate 2 and descends to the safe 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 splint 11 and the splint 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, so 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 into a "U"-shaped structure. Because the "U"-shaped structure is a closed arrangement structure, when the last box unit 8 of the "U"-shaped structure is arranged, the inner end face 4 of the box unit 8 is tightly attached to the inner side face 6 of the adjacent box unit 8, and there is no space for accommodating the plywood. If the box unit 8 is released at a higher position, there is space for accommodating and operating the plywood. 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 plywood 2 12 to clamp the box unit 8 on one side. The upper area of ​​the inner end face 4, and the outer end face 5 of the box unit 8 has a larger space, which can be clamped by the splint 11 and with a support plate 10 underneath. Of course, in order to balance the clamping force, the splint 11 is used to clamp the upper area of ​​the outer end face 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 splint 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 splint 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 splint 11 and the splint 2 12 to open, and the box unit 8 can fall into the corresponding area with a low drop 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 by 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 drive mechanism includes an opening and closing motor 16, an opening and closing screw 17 connected to the opening and closing motor 16, and two opening and closing nuts 18 that cooperate with the opening and closing screw 17. The side frame 13 and the side frame 2 14 are connected to the opening and closing nuts 18 via corresponding connecting plates 19. When the opening and closing motor 16 is started, the opening and closing screw 17 drives the opening and closing nuts 18 to move, thereby achieving the opening and closing of the side frames 13 and 14. Of course, the support plate 10 is mounted on the side frame 13 via a linear guide assembly; and the side frames 13 and 14 are mounted on the grab frame 9 via linear guide assemblies.

[0042] As shown in the figure, a hanging rod 20 and a driving unit 21 are provided on the second splint 12. A hook plate 22 is provided at the bottom end of the hanging rod 20. The hanging rod 20 is raised and lowered by the driving unit 21. Because the grabbing mechanism sometimes needs to grab the stacking pallet 2, 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. The opening and closing driving mechanism is activated to close the hook plate 22 and the support plate 10. 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, thereby grabbing the stacking pallet 2. When not in use, the driving unit 21 drives the hanging rod 20 to rise and hide behind the second splint 12. Of course, the hanging rod 20 is set on the second splint 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 limit block 24 supports the positioning block 23 and can 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 method for stacking television cabinets provided by an embodiment of the present invention. Specific examples are used herein to illustrate the principles and implementation methods 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 ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A method for stacking television cabinets, comprising cabinets, a stacking pallet, and a grabbing robot, wherein the cabinets are stacked on the stacking pallet to form a cabinet stack, characterized in that: The box stack is composed of several layers, each of which includes four groups of box units composed of several boxes, and the box units include inner end faces, outer end faces and bottom faces. The box units are arranged perpendicular to each other and form a "U"-shaped structure. The grasping manipulator is connected to a grasping mechanism, and the grasping mechanism includes a grasping frame. The grasping 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 drive mechanism for driving the side frame 1 and the side frame 2 to open and close, and a telescopic drive unit for driving the support plate to extend and retract. The clamping plate 1, the support plate and the telescopic drive unit are arranged on the side frame 1, and the clamping plate 2 is arranged on the side frame 2. The grasping steps are as follows: S1: The manipulator drives the grabbing frame to move above the box unit and descend to the grabbing position. The opening and closing drive mechanism drives the first and second clamping plates to close. The first clamping plate contacts the outer end surface of the box unit and the support plate extends to support the bottom surface of the box unit. 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 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. 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. The hanging rod is driven by the driving unit to rise and fall. The hanging rod is provided with a positioning block, and the second clamping plate is provided with a limiting block that can abut against the positioning block. 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.

2. A method for stacking TV cabinets according to claim 1, characterized in that: The box unit includes four boxes, which are arranged side by side, and the end surfaces of the boxes are flat.

3. A method for stacking television cabinets according to claim 1, characterized in that: The opening and closing drive 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 method for stacking television cabinets according to claim 1, characterized in that: A positioning plate is provided on the side frame 1, 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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