Corrugated carton turnover stacking device and stacking method thereof

Abstract

The invention provides a corrugated carton turnover stacking device and a stacking method thereof.The corrugated carton turnover stacking device comprises a driving seat and a first mechanical arm, the driving seat comprises a mounting seat and a driving box rotationally arranged on the mounting seat, a first driving motor used for driving the driving box to rotate is arranged in the mounting seat, and the first mechanical arm is rotationally connected to the driving box; a second driving motor used for driving the first mechanical arm to swing is arranged in the driving box, a second mechanical arm is rotationally arranged on the side, away from the first mechanical arm, of the driving box, and a power assembly used for driving the first mechanical arm and the second mechanical arm to swing synchronously is arranged in the driving box. According to the corrugated carton stacking device, the second mechanical arm is designed on the driving box, synchronous driving is achieved through the power assembly, the two mechanical arms can be used for stacking corrugated cartons at the same time, the stacking efficiency is greatly improved, and the problem that a traditional stacking device is low in stacking efficiency only through one mechanical arm is solved.

Description

Technical Field

[0001] The invention relates to the technical field of article stacking, in particular to a corrugated paper box turnover stacking device and a stacking method thereof. Background Art

[0002] The corrugated cardboard box stacking device is a special equipment used for automatic or semi-automatic handling, stacking and storage of corrugated cardboard boxes. Its core function is to replace manual operation with a mechanical structure to achieve efficient and stable stacking of cardboard boxes.

[0003] Existing corrugated cardboard box stacking usually uses a conveyor belt or a feeding system to deliver the cardboard box to a fixed position, and then uses sensors to detect the size, position and direction of the cardboard box, and then transmits the data to the stacking device through the PLC. The stacking device usually includes a drive seat, on which a robotic arm is rotatably arranged, and a vacuum suction cup or gripper is arranged at the end of the robotic arm. The robotic arm action command is triggered according to the sensor data, and then the robotic arm of the stacking device is rotated to the corrugated cardboard box placement position, and the suction cup at the end of the robotic arm is aimed at the carton. The vacuum generator is controlled by the PLC to start, and the carton is adsorbed after reaching the set negative pressure. The robotic arm moves the carton to the target position (such as a pallet, another conveyor belt or shelf) according to the preset path, and the robotic arm returns to the initial position and waits for the next round of grabbing instructions.

[0004] Existing stacking devices usually rely on a single robotic arm to carry out cargo handling. When the number of cargoes surges, they are prone to efficiency bottlenecks and mechanical wear problems. For example, the robotic arm has a fixed cycle time for single grabbing, moving and stacking, and cannot respond quickly when the number of cargoes surges. The robotic arm needs to frequently travel back and forth between the pickup point and the stacking point, resulting in a high proportion of invalid travel. At the same time, high-frequency starting, stopping and swinging cause the drive motor to heat up and increase wear (especially the joint motor and reducer). Repetitive swinging accelerates metal fatigue of the robotic arm's connecting rods, bearings and other components, shortening their service life. Summary of the invention

[0005] The purpose of the present invention is to provide a corrugated cardboard box turnover stacking device and a stacking method thereof, aiming to solve the problem in the prior art that only a single mechanical arm can be used to stack the corrugated cardboard boxes, which is not convenient for efficient processing when the number of corrugated cardboard boxes increases sharply.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a corrugated cardboard box turnover stacking device and a stacking method thereof, comprising a driving seat and a first mechanical arm, the driving seat comprising a mounting seat and a driving box rotatably arranged on the mounting seat, a first driving motor for driving the driving box to rotate is arranged in the mounting seat, the first mechanical arm is rotatably connected to the driving box, a second driving motor for driving the first mechanical arm to swing is arranged in the driving box, a second mechanical arm is rotatably arranged on a side of the driving box away from the first mechanical arm, a power assembly for driving the first mechanical arm and the second mechanical arm to swing synchronously is arranged in the driving box, the power assembly comprises a first transmission assembly and a second transmission assembly, and the second driving motor A transmission shaft is coaxially fixedly connected to the front end of the machine, and the first transmission assembly includes a first transmission rod coaxially fixedly connected to the first mechanical arm, and the first transmission rod and the transmission shaft are connected by chain transmission. The second transmission assembly includes a second transmission rod coaxially fixedly connected to the second mechanical arm, a first sub-bevel gear is coaxially arranged on the transmission shaft, and a second sub-bevel gear is coaxially arranged on the second transmission rod, and a connecting shaft is rotatably arranged between the transmission shaft and the second transmission rod, and a first mother bevel gear meshing with the first sub-bevel gear and a second mother bevel gear meshing with the second sub-bevel gear are respectively arranged at both ends of the connecting shaft, and a clutch mechanism for controlling the separation of the second sub-bevel gear and the second mother bevel gear is arranged in the drive box.

[0007] Preferably, a cross-shaped rod is fixedly connected to one end of the connecting shaft away from the transmission shaft, and a cross-shaped groove cooperating with the cross-shaped rod is formed on the second female bevel gear.

[0008] Preferably, the clutch mechanism includes a circular ring slidably sleeved on a cross rod, a connecting frame fixedly provided on the circular ring, a cylinder fixedly provided inside the driving box for driving the connecting frame to reciprocate along the extension direction of the axis of the connecting shaft, a limiting bevel gear matching the tooth surface of the second sub-bevel gear fixedly provided on the connecting frame, and when the cylinder drives the connecting frame to move close to the connecting shaft, the limiting bevel gear and the tooth surface of the second sub-bevel gear engage with each other to fix the second sub-bevel gear.

[0009] Preferably, a connecting shaft support frame is provided inside the driving box, and a first through hole matching the diameter of the connecting shaft is opened on the support frame.

[0010] Preferably, a plurality of transmission rod support frames are arranged inside the driving box, and a second through hole matching the diameter of the first transmission rod and the second transmission rod is opened on the support frame.

[0011] Preferably, the front ends of the first robotic arm and the second robotic arm are hinged with vacuum suction cups, and the first robotic arm and the second robotic arm are each provided with an installation box, and the installation box is provided with a vacuum generator, and the vacuum generator is connected to the vacuum suction cup through a hose.

[0012] Preferably, a sub-flange is fixedly provided inside the second mechanical arm, a mother flange is coaxially fixedly connected to a side of the second transmission rod close to the second mechanical arm, and the sub-flange is detachably connected to the mother flange by bolts.

[0013] Preferably, an inspection cover is detachably connected to the outer side of the second mechanical arm at a position corresponding to the sub-flange by bolts.

[0014] A corrugated paper box turnover stacking device and a stacking method thereof, using the corrugated paper box turnover stacking device and a stacking method thereof as described in any one of claims 1 to 8, characterized in that it comprises the following steps: S1: First, two stacking areas are set on both sides of the stacking device and fork plates are placed, and a placement area is set on one side adjacent to the stacking area; S2: Place the corrugated paper boxes to be stacked into two placement areas; S3: The sensor detects the size, position and direction of the carton, and then transmits the data to the stacking device through the PLC. The first drive motor in the mounting seat drives the drive seat to rotate so that the two mechanical arms are located above the two placement areas respectively; S4: Start the vacuum generator to absorb the corrugated paper box with the vacuum suction cup, start the first drive motor in the mounting seat again to drive the drive seat to rotate, control the first robot arm and the second robot arm to rotate to the stacking area respectively, and turn off the vacuum generator to place the corrugated paper box on the fork plate; S4: When the fork plate is full of corrugated boxes, it is transported by forklift; S5: When the number of corrugated cardboard boxes that need to be stacked decreases, the second motor is started to flip the first and second robotic arms inward, and the cylinder is started to pull the connecting frame backward. The ring on the connecting frame pulls the second mother bevel gear and the second sub-bevel gear to separate, thereby realizing the clutch of the second robotic arm. The limit bevel gear on the connecting frame is engaged with the second sub-bevel gear on the second transmission rod to fix the second transmission rod, and the second robotic arm is stored and deactivated.

[0015] The beneficial effects of the present invention are: 1. When the present invention is in use, by designing a second mechanical arm on the drive box and synchronously driving it through a power component, two mechanical arms can be used simultaneously to stack corrugated paper boxes, thereby greatly improving the stacking efficiency and solving the problem that the traditional stacking device can only stack with one mechanical arm and has low efficiency.

[0016] 2. When the present invention is in use, when the number of corrugated paper boxes decreases, the second sub-bevel gear is controlled to separate from the second mother bevel gear through the provided clutch mechanism, so that the transmission shaft cannot transmit the torque to the second sub-bevel gear through the second mother bevel gear, thereby achieving clutch, so that the second motor can only drive the first mechanical arm to operate, and at the same time, the second mechanical arm can be quickly removed by removing the sub-flange and the mother flange, thereby reducing the burden on the stacking device during operation.

[0017] 3. When the present invention is in use, the first drive motor only needs to control the drive box to rotate in one direction, so that the first robot arm and the second robot arm alternately stack the corrugated cardboard boxes in the two placement areas, thereby reducing the loss of the drive motor caused by the traditional stacking device that can only rely on one robot arm to swing back and forth between the placement area and the stacking area. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood. In the accompanying drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein: Figure 1 It is a schematic diagram of the overall structure of a specific embodiment of the present invention; Figure 2 1 is a schematic diagram of a top cross-sectional structure of a drive box according to a specific embodiment of the present invention; Figure 3 is a schematic structural diagram of a cross-shaped rod according to a specific embodiment of the present invention; Figure 4 It is a structural schematic diagram of a flange according to a specific embodiment of the present invention; Figure 5 It is a schematic diagram of the front cross-sectional structure of the installation box of a specific embodiment of the present invention; Figure 6 It is a specific embodiment of the present invention Figure 2 A schematic diagram of the structure enlargement at the center A; Figure 7 It is a specific embodiment of the present invention Figure 2 A magnified schematic diagram of the structure at point B in the middle.

[0019] In the figure: 1, mounting seat; 2, drive box; 3, second mechanical arm; 4, mounting box; 5, vacuum suction cup; 6, ring; 7, swing arm; 8, vacuum generator; 9, hose; 10, second drive motor; 11, transmission shaft; 12, chain; 13, first transmission rod; 14, first sub-bevel gear; 15, first mother bevel gear; 16, transmission rod support frame; 17, connecting shaft; 18, cross rod; 19, second mother bevel gear; 20, second sub-bevel gear; 21, second transmission rod; 22, connecting frame; 23, limit bevel gear; 24, cylinder; 25, inspection cover; 26, mother flange; 27, sub-flange; 28, motor shaft; 29, first mechanical arm; 30, driving seat; 31, connecting shaft support frame. DETAILED DESCRIPTION

[0020] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings.

[0021] In order to facilitate the understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments. Preferred embodiments of the present invention are provided in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0022] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0023] Embodiment 1. This embodiment provides a corrugated cardboard box turnover stacking device and a stacking method thereof, as shown in Figures 1-7, including a driving seat 30 and a first mechanical arm 29, the driving seat 30 includes a mounting seat 1 and a driving box 2 rotatably arranged on the mounting seat 1, a first driving motor for driving the driving box 2 to rotate is arranged in the mounting seat 1, the first mechanical arm 29 is rotatably connected to the driving box 2, a second driving motor 10 for driving the first mechanical arm 29 to swing is arranged in the driving box 2, a second mechanical arm 3 is rotatably arranged on the side of the driving box 2 away from the first mechanical arm 29, a power assembly for driving the first mechanical arm 29 and the second mechanical arm 3 to swing synchronously is arranged in the driving box 2, the power assembly includes a first transmission assembly and a second transmission assembly, a transmission shaft 11 is coaxially fixedly connected to the front end of the second driving motor 10, the first transmission assembly includes a first transmission rod 13 coaxially fixedly connected to the first mechanical arm 29, the first transmission rod 13 and the transmission shaft 11 are connected to each other through a chain 12, and the second transmission assembly includes a first transmission rod 13 coaxially fixedly connected to the second mechanical arm 3 The second transmission rod 21, the transmission shaft 11 is coaxially provided with a first sub-bevel gear 14, the second transmission rod 21 is coaxially provided with a second sub-bevel gear 20, a connecting shaft 17 is rotatably provided between the transmission shaft 11 and the second transmission rod 21, and the two ends of the connecting shaft 17 are respectively provided with a first mother bevel gear 15 meshing with the first sub-bevel gear 14 and a second mother bevel gear 19 meshing with the second sub-bevel gear 20, a clutch mechanism for controlling the separation of the second sub-bevel gear 20 and the second mother bevel gear 19 is provided in the drive box 2, and the process of this embodiment in specific operation is as follows: By designing a second mechanical arm 3 on the drive box 2 and driving it synchronously through a power component, two mechanical arms can be used at the same time to stack corrugated cardboard boxes, which greatly improves the stacking efficiency and solves the problem that the traditional stacking device can only stack with one mechanical arm and has low efficiency. When the number of corrugated cardboard boxes decreases, the second sub-bevel gear 20 is separated from the second mother bevel gear 19 by a set clutch mechanism, so that the transmission shaft 11 cannot transmit the torque to the second sub-bevel gear 20 through the second mother bevel gear 19, thereby achieving clutch, so that the second motor can only drive the first mechanical arm 29 to operate. At the same time, the second mechanical arm 3 can be quickly removed by removing the sub-flange 27 and the mother flange 26, thereby reducing the burden on the stacking device during operation.

[0024] Example 2, based on Example 1, Figure 3 As shown, a cross-shaped rod 18 is fixedly connected to one end of the connecting shaft 17 away from the transmission shaft 11, and a cross-shaped groove cooperating with the cross-shaped rod 18 is provided on the second female bevel gear 19. When the embodiment is working, the process is as follows: The cross rod 18 may also be a spline, and a spline groove matching the spline is provided in the second female bevel gear 19, so that the second female bevel gear 19 can realize axial movement and transmit torque through the spline.

[0025] Example 3, based on Example 1, Figure 7 As shown, the clutch mechanism includes a ring 6 slidably sleeved on the cross rod 18, a connecting frame 22 is fixedly arranged on the ring 6, a cylinder 24 is fixedly arranged inside the drive box 2 to drive the connecting frame 22 to reciprocate along the axis extension direction of the connecting shaft 17, a limiting bevel gear 23 matching the tooth surface of the second sub-bevel gear 20 is fixedly arranged on the connecting frame 22, and when the cylinder 24 drives the connecting frame 22 to move in the direction close to the connecting shaft 17, the limiting bevel gear 23 and the tooth surface of the second sub-bevel gear 20 engage with each other to fix the second sub-bevel gear 20. When the embodiment is working, the process is as follows: The ring 6 has an annular groove inside, and the rear end of the second female bevel gear 19 has a ring 6 that matches the annular groove, so that the second female bevel gear 19 can rotate freely on the ring 6 and will not be separated, so that when the connecting shaft 17 drives the cross rod 18 to rotate and the second female bevel gear 19 to rotate, it will not drive the connecting frame 22 to rotate. The starting cylinder 24 can pull the connecting frame 22 to move and drive the second female bevel gear 19 to separate from the second sub-bevel gear 20. At this time, when the connecting shaft 17 rotates, the torque cannot be transmitted to the second female bevel gear 19 through the second female bevel gear 19. Sub-bevel gear 20, at this time the second motor can only drive the first mechanical arm 29 to swing, the limiting bevel gear 23 on the connecting frame 22 is engaged with the second sub-bevel gear 20 on the second transmission rod 21, the second transmission rod 21 is fixed, and the second mechanical arm 3 is fixed to prevent the second mother bevel gear 19 from separating from the second sub-bevel gear 20 and losing supporting force. When the second mother bevel gear 19 and the second sub-bevel gear 20 are disengaged, the limiting bevel gear 23 can immediately engage with the second sub-bevel gear 20 to position the second transmission rod 21 and the second mechanical arm 3.

[0026] Example 4, based on Example 1, Figure 6 As shown, a connecting shaft support frame 31 is provided inside the driving box 2, and a first through hole matching the diameter of the connecting shaft 17 is provided on the support frame. When the embodiment is working, the process is as follows: The connecting shaft 17 is stably supported by setting a connecting shaft support frame 31 to keep the first mother bevel gear 15 on the connecting shaft 17 and the first sub-bevel gear 14 on the transmission shaft 11 and the second mother bevel gear 19 on the connecting shaft 17 and the second sub-bevel gear 20 on the second transmission rod 21 stably connected.

[0027] Example 5, based on Example 1, Figure 6 As shown, a plurality of transmission rod support frames 16 are arranged inside the driving box 2, and a second through hole matching the diameter of the first transmission rod 13 and the second transmission rod 21 is opened on the support frame. When the embodiment is working, the process is as follows: The transmission rod support frame 16 is provided to provide support for the first transmission rod 13 and the second transmission rod 21 .

[0028] Example 6, based on Example 1, Figure 1 As shown, the front ends of the first mechanical arm 29 and the second mechanical arm 3 are both hinged with a vacuum suction cup 5, and the first mechanical arm 29 and the second mechanical arm 3 are both provided with an installation box 4, and the installation box 4 is provided with a vacuum generator 8, and the vacuum generator 8 is connected to the vacuum suction cup 5 through a hose 9. When the embodiment is working, the process is as follows: When the vacuum suction cup 5 is located at the upper end of the corrugated paper box in the placement area, the vacuum generator 8 can be started to generate negative pressure to make the vacuum suction cup 5 suck the corrugated paper box tightly for stacking.

[0029] Example 7, based on Example 1, Figure 4 As shown, a sub-flange 27 is fixedly arranged inside the second mechanical arm 3, a female flange 26 is coaxially fixedly connected to the second transmission rod 21 near the second mechanical arm 3, and the sub-flange 27 and the female flange 26 are detachably connected by bolts. When the embodiment is working, the process is as follows: The second mechanical arm 3 can be quickly dismantled by removing the inspection cover 25 and removing the bolts on the sub-flange 27 and the mother flange 26, leaving only the first mechanical arm 29 to operate normally, thereby reducing the load on the stacking device during operation.

[0030] Example 8, based on Example 1, Figure 4 As shown, the outer side of the second mechanical arm 3 and the corresponding position of the sub-flange 27 are detachably connected with an inspection cover 25 by bolts. When the embodiment is working, the process is as follows: By providing the inspection cover 25 , when the sub-flange 27 and the mother flange 26 need to be disassembled or installed, the bolts on the inspection cover 25 can be removed and the inspection cover 25 can be taken off for disassembly or installation.

[0031] A corrugated paper box turnover stacking device and a stacking method thereof, using the corrugated paper box turnover stacking device and a stacking method thereof as described in any one of claims 1 to 8, characterized in that it comprises the following steps: S1: First, two stacking areas are set on both sides of the stacking device and fork plates are placed, and a placement area is set on one side adjacent to the stacking area; S2: Place the corrugated paper boxes to be stacked into two placement areas; S3: The sensor detects the size, position and direction of the carton, and then transmits the data to the stacking device through the PLC. The first drive motor in the mounting seat 1 drives the drive seat 30 to rotate so that the two mechanical arms are respectively located above the two placement areas; S4: Start the vacuum generator 8, use the vacuum suction cup 5 to absorb the corrugated paper box, start the first drive motor in the mounting base 1 again to drive the drive base 30 to rotate, control the first mechanical arm 29 and the second mechanical arm 3 to rotate to the stacking area respectively, and turn off the vacuum generator 8 to place the corrugated paper box on the fork plate; S4: When the fork plate is full of corrugated boxes, it is transported by forklift; S5: When the number of corrugated cardboard boxes that need to be stacked decreases, start the second motor to flip the first robotic arm 29 and the second robotic arm 3 inward, start the cylinder 24 to pull the connecting frame 22 backward, and the ring 6 on the connecting frame 22 pulls the second mother bevel gear 9 to separate from the second sub-bevel gear 20, thereby realizing the clutch of the second robotic arm 3, and the limiting bevel gear 23 on the connecting frame 22 is engaged with the second sub-bevel gear 20 on the second transmission rod 21, the second transmission rod 21 is fixed, and the second robotic arm 3 is stored and deactivated.

[0032] Working principle: When in use, when there are a large number of corrugated cardboard boxes, dual robotic arms can be used to work simultaneously to stack the goods to improve efficiency. By setting two stacking areas on both sides of the stacking device, placing a conveyor belt or a fork plate in the stacking area, and setting a carton placement area on the side adjacent to the stacking area, the corrugated cardboard boxes that need to be stacked can be placed in the two placement areas. A swing arm 7 is hingedly provided on the first robotic arm 29 and the second robotic arm 3. A suction cup seat is hingedly provided at the front end of the swing arm 7, and is driven to rotate by the swing arm 7 motor and the suction cup seat motor respectively. When in use, the first drive motor in the mounting seat 1 can be started to drive the drive box 2 to rotate, so that the first robotic arm 29 and the second robotic arm 3 are located above the placement area, and the second drive motor in the drive box 2 is driven to rotate. The motor 10 can simultaneously drive the first mechanical arm 29 and the second mechanical arm 3 to flip outward at the same time, and fine-tune the position of the suction cup through the swing arm 7 motor and the suction cup seat motor until it contacts the upper end surface of the corrugated cardboard box, and start the vacuum generator 8 to make the vacuum suction cup 5 suck the upper end of the corrugated cardboard box tightly. At this time, the first motor is started to drive the drive box 2 to rotate, so that each vacuum suction cup 5 corresponds to a stacking area respectively, and then the vacuum generator 8 is turned off to place the corrugated cardboard box on the conveyor belt for transportation or stack on the fork plate, and then use a forklift for transportation. By repeating the above steps, the corrugated cardboard boxes in the subsequent placement area can continue to be stacked. Compared with the traditional stacking device that only uses one mechanical arm for stacking, the use of double mechanical arms for stacking greatly improves the stacking efficiency and avoids corrugated cardboard boxes. When the stacking amount of corrugated cardboard is small, only the first mechanical arm 29 can be retained for stacking to save plant space. The cylinder 24 can be started to pull the connecting frame 22 to move towards the connecting shaft 17, and the ring 6 on the connecting frame 22 pulls the second mother bevel gear 19 and the second sub-bevel gear 20 to separate. The limiting bevel gear 23 on the connecting frame 22 is engaged with the second sub-bevel gear 20 on the second transmission rod 21 to fix the second transmission rod 21 and fix the second mechanical arm 3 to prevent the second mother bevel gear 19 from separating from the second sub-bevel gear 20 and losing the supporting force. At this time, when the second motor drives the transmission shaft 11 to rotate, it can only drive the first mechanical arm 29 to swing, but cannot drive the second mechanical arm 3 to swing. By starting the second mechanical arm 3 The swing arm 7 motor controls the swing arm 7 to flip downward for storage. At this time, only the first mechanical arm 29 is used to stack the goods, which can reduce the space occupied by the stacking device. At the same time, the second mechanical arm 3 can be quickly dismantled by removing the inspection cover 25 and removing the bolts on the sub-flange 27 and the mother flange 26, leaving only the first mechanical arm 29 for normal operation, thereby reducing the load on the stacking device during operation. When the number of stacking increases again, the second mechanical arm 3 can be quickly installed by connecting the sub-flange 27 and the mother flange 26 with bolts, and the second mother bevel gear 19 and the second sub-bevel gear 20 can be driven by the driving cylinder 24 to engage, so that the simultaneous operation of the two mechanical arms can be restored. When in use, double mechanical arms can be used for stacking according to the number of stacking.At the same time, it can also be switched to single robot arm stacking. When the number of corrugated paper boxes is large, two robots can be used to stack them together, which greatly improves the stacking efficiency and solves the problem of low efficiency caused by the traditional stacking device that can only use a single robot arm for stacking. At the same time, when the number of stacking decreases, a single robot arm can be controlled by the clutch mechanism for stacking, and one of the robots can be quickly removed by splitting the sub-flange 27 and the mother flange 26 to reduce the burden of the stacking device during operation and the occupation of the factory space.

[0033] In the above description of this specification, unless otherwise clearly specified and limited, the terms "fixed", "installed", "connected" or "connected" should be understood in a broad sense. For example, with regard to the term "connection", it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal connection of two elements or the interaction relationship between two elements. Therefore, unless otherwise clearly defined in this specification, those skilled in the art can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0034] According to the above description of this specification, those skilled in the art may also understand that the terms used below, such as "up", "down", "front", "back", "left", "right", "length", "width", "thickness", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", "center", "longitudinal", "lateral", "clockwise" or "counterclockwise", etc., which indicate the orientation or position relationship, are based on the orientation or position relationship shown in the drawings of this specification, and are only for the purpose of facilitating the explanation of the scheme of the present invention and simplifying the description, rather than explicitly or implicitly indicating that the device or element involved must have the specific orientation, be constructed and operate in a specific orientation. Therefore, the above-mentioned orientation or position relationship terms cannot be understood or interpreted as limitations on the scheme of the present invention.

[0035] In addition, the terms "first" or "second" used in this specification to refer to numbers or ordinals are only used for descriptive purposes and cannot be understood as explicitly or implicitly indicating relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this specification, the meaning of "plurality" is at least two, such as two, three or more, etc., unless otherwise clearly and specifically defined.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A corrugated cardboard box turnover stacking device, comprising a drive seat (30) and a first mechanical arm (29), the drive seat (30) comprising a mounting seat (1) and a drive box (2) rotatably mounted on the mounting seat (1), a first drive motor for driving the drive box (2) to rotate is arranged in the mounting seat (1), the first mechanical arm (29) is rotatably connected to the drive box (2), and a second drive motor (10) for driving the first mechanical arm (29) to swing is arranged in the drive box (2), characterized in that: A second mechanical arm (3) is rotatably arranged on a side of the drive box (2) away from the first mechanical arm (29); a power assembly for driving the first mechanical arm (29) and the second mechanical arm (3) to swing synchronously is arranged in the drive box (2); the power assembly comprises a first transmission assembly and a second transmission assembly; a transmission shaft (11) is coaxially fixedly connected to the front end of the second drive motor (10); the first transmission assembly comprises a first transmission rod (13) coaxially fixedly connected to the first mechanical arm (29); the first transmission rod (13) and the transmission shaft (11) are connected to each other via a chain (12); the second transmission assembly comprises a first transmission rod (13) coaxially fixedly connected to the second mechanical arm (3); A second transmission rod (21) fixedly connected to the shaft, a first sub-bevel gear (14) being coaxially arranged on the transmission shaft (11), a second sub-bevel gear (20) being coaxially arranged on the second transmission rod (21), a connecting shaft (17) being rotatably arranged between the transmission shaft (11) and the second transmission rod (21), a first mother bevel gear (15) meshing with the first sub-bevel gear (14) and a second mother bevel gear (19) meshing with the second sub-bevel gear (20) being respectively arranged at two ends of the connecting shaft (17), and a clutch mechanism for controlling the separation of the second sub-bevel gear (20) and the second mother bevel gear (19) being arranged in the drive box (2).

2. A corrugated paper box turnover stacking device according to claim 1, characterized in that: A cross-shaped rod (18) is fixedly connected to one end of the connecting shaft away from the transmission shaft, and a cross-shaped groove cooperating with the cross-shaped rod (18) is formed on the second female bevel gear (19).

3. The corrugated paper box turnover stacking device according to claim 1, characterized in that: The clutch mechanism comprises a ring (6) slidably sleeved on a cross-shaped rod (18), a connecting frame (22) being fixedly arranged on the ring (6), a cylinder (24) being fixedly arranged inside the drive box (2) for driving the connecting frame (22) to reciprocate along the axial extension direction of the connecting shaft (17), a limiting bevel gear (23) matching the tooth surface of the second sub-bevel gear (20) being fixedly arranged on the connecting frame (22), and when the cylinder (24) drives the connecting frame (22) to move in a direction close to the connecting shaft (17), the limiting bevel gear (23) and the tooth surface of the second sub-bevel gear (20) mesh with each other to fix the second sub-bevel gear (20).

4. The corrugated paper box turnover stacking device according to claim 1, characterized in that: A connecting shaft support frame (31) is arranged inside the driving box (2), and a first through hole matching the diameter of the connecting shaft (17) is provided on the support frame (31).

5. The corrugated paper box turnover stacking device according to claim 1, characterized in that: A plurality of transmission rod support frames (16) are arranged inside the drive box (2), and a second through hole matching the diameter of the first transmission rod (13) and the second transmission rod (21) is provided on the support frame (13).

6. The corrugated paper box turnover stacking device according to claim 1, characterized in that: The front ends of the first mechanical arm (29) and the second mechanical arm (3) are both hinged with a vacuum suction cup (5); the first mechanical arm (29) and the second mechanical arm (3) are both provided with an installation box (4); a vacuum generator (8) is provided in the installation box (4); the vacuum generator (8) is connected to the vacuum suction cup (5) via a hose (9).

7. The corrugated paper box turnover stacking device according to claim 1, characterized in that: A sub-flange (27) is fixedly arranged inside the second mechanical arm (3), a female flange (26) is coaxially fixedly connected to a side of the second transmission rod (21) close to the second mechanical arm (3), and the sub-flange (27) and the female flange (26) are detachably connected by bolts.

8. The corrugated paper box turnover stacking device according to claim 1, characterized in that: An inspection cover (25) is detachably connected to the outer side of the second mechanical arm (3) at a position corresponding to the sub-flange (27) via bolts.

9. A stacking method using a corrugated paper box turnover stacking device as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: S1: First, two stacking areas are set on both sides of the stacking device and fork plates are placed, and a placement area is set on one side adjacent to the stacking area; S2: Place the corrugated paper boxes to be stacked into two placement areas; S3: The sensor detects the size, position and direction of the carton, and then transmits the data to the stacking device through the PLC. The first drive motor in the mounting seat drives the drive seat to rotate so that the two mechanical arms are located above the two placement areas respectively; S4: Start the vacuum generator to absorb the corrugated paper box with the vacuum suction cup, start the first drive motor in the mounting seat again to drive the drive seat to rotate, control the first robot arm and the second robot arm to rotate to the stacking area respectively, and turn off the vacuum generator to place the corrugated paper box on the fork plate; S4: When the fork plate is full of corrugated boxes, it is transported by forklift; S5: When the number of corrugated cardboard boxes that need to be stacked decreases, the second motor is started to flip the first and second robotic arms inward, and the cylinder is started to pull the connecting frame backward. The ring on the connecting frame pulls the second mother bevel gear and the second sub-bevel gear to separate, thereby realizing the clutch of the second robotic arm. The limit bevel gear on the connecting frame is engaged with the second sub-bevel gear on the second transmission rod to fix the second transmission rod, and the second robotic arm is stored and deactivated.

Images