Automatic stacking equipment and method based on suction cup negative pressure structure

Abstract

The invention relates to the field of packaging stacking equipment, and discloses automatic stacking equipment and method based on a suction cup negative pressure structure. The automatic stacking equipment comprises a suction cup fixing frame, a plurality of suction cup height adjusting assemblies, a plurality of suction cups and a control assembly; the end, away from the suction cup fixing frame, of each suction cup height adjusting assembly is provided with a suction cup, and the control assembly is electrically connected with the multiple suction cup height adjusting assemblies and used for adjusting the heights of the multiple suction cup height adjusting assemblies according to the structural design parameters of the foam products. And therefore, the adsorption heights of the plurality of suckers to different positions of the foam product can be adjusted. The suction cup height adjusting assemblies are arranged on the suction cup fixing frame, the suction cup position adjusting assemblies are arranged on the suction cup fixing frame, the suction cup height adjusting assemblies are arranged on the suction cup position adjusting assemblies, and the suction cup position adjusting assemblies are electrically connected with the control assembly. The position of the adsorption head of the foam product is prevented from being frequently adjusted, and the foam product is prevented from being fractured.

Description

Technical Field

[0001] The present application relates to the technical field of packaging and palletizing equipment, and more specifically, to an automated palletizing equipment and method based on a suction cup negative pressure structure. Background Art

[0002] Foam products are polymer materials with a large number of closed or interconnected pore structures formed by chemically or physically foaming plastic materials. The density of foam products is much lower than that of their raw materials, usually between tens to hundreds of kilograms per cubic meter, which makes foam products very light and easy to handle and transport. The pore structure of foam products can effectively block the transfer of heat, so they have good thermal insulation properties. The thermal insulation properties make foam products have important applications in the fields of thermal insulation materials, refrigerated insulation packaging, etc. The flexibility and elasticity of foam products enable them to absorb and disperse external impact forces, thereby playing a shock-absorbing and protective role. Foam molding products have been widely used in packaging, construction, automobiles and other fields due to their advantages such as light weight, thermal insulation and shock absorption.

[0003] In the production process of large foam molded products, after the production of large foam molded products is completed, the foam products need to be palletized. When palletizing large foam products, the existing palletizing equipment mainly uses multiple adsorption heads to adsorb the foam and then palletize. The surface structure of the foam product is relatively soft, and because the surface structure of the foam product often needs to be designed according to the application and presents an uneven structure, the existing palletizing equipment needs to frequently adjust the position of the adsorption head according to the structure of the foam product, and the adsorption head is easy to crack the surface structure of the foam product, resulting in large foam products prone to quality defects, affecting the production efficiency of large foam products. Summary of the invention

[0004] The purpose of the present application is to provide an automated palletizing device and method based on a suction cup negative pressure structure, which solves the technical problems that the existing palletizing equipment needs to frequently adjust the position of the suction head according to the structure of the foam product and is easy to crack the foam product, thereby achieving the technical effect of avoiding frequent adjustment of the position of the suction head of the foam product and avoiding cracking of the foam product.

[0005] An embodiment of the present application provides an automated palletizing device based on a suction cup negative pressure structure, comprising a suction cup fixing frame, a plurality of suction cup height adjustment components, a plurality of suction cups and a control component, wherein the plurality of suction cup height adjustment components are connected to the suction cup fixing frame, and a suction cup is provided at one end of each suction cup height adjustment component away from the suction cup fixing frame, and the control component is electrically connected to the plurality of suction cup height adjustment components, and the control component is used to adjust the heights of the plurality of suction cup height adjustment components according to the structural design parameters of the foam product, so as to adjust the adsorption heights of the plurality of suction cups on different positions of the foam product.

[0006] In a possible implementation, it also includes a suction cup position adjustment component, multiple suction cup position adjustment components are arranged on the suction cup fixing frame, multiple suction cup height adjustment components are arranged on the multiple suction cup position adjustment components, the multiple suction cup position adjustment components are electrically connected to the control component, and the control component is used to control the multiple suction cup position adjustment components to adjust the positions of the multiple suction cup height adjustment components on the suction cup fixing frame according to the structural design parameters of the foam product, so as to adjust the adsorption position of the suction cup on the foam product.

[0007] In another possible implementation, the suction cup height adjustment assembly includes a vertical screw motor, a vertical screw and a suction cup seat, the vertical screw motor is used to drive the vertical screw to move vertically perpendicular to the suction cup fixing frame, the suction cup seat is connected to the end of the vertical screw, and the suction cup is connected to the suction cup seat; the suction cup position adjustment assembly includes a transverse screw motor, a transverse screw, a guide rail and a sliding seat, the transverse screw motor is used to drive the transverse screw to rotate, the transverse screw is used to drive the sliding seat to move along the guide rail, the vertical screw motor is fixedly connected to the sliding seat, and the vertical screw is arranged through the sliding seat.

[0008] In another possible implementation, the through hole on the sliding seat for passing the vertical screw rod and the through hole for passing the transverse screw rod are staggered with each other, and the suction cup fixing frame is provided with a screw rod movable hole arranged corresponding to the suction cup position adjustment component, and the screw rod movable hole is used to pass the vertical screw rod.

[0009] In another possible implementation, a limit block for limiting the position of the sliding seat is provided at the end of the guide rail, and the limit block and the movable hole of the screw rod are arranged in the same line.

[0010] In another possible implementation, a pressure sensor is provided on the adsorption side of the suction cup, and the pressure sensor is electrically connected to the control component. The pressure sensor is used to detect the squeezing force when the suction cup adsorbs the foam product, and the control component is used to adjust the height of the suction cup height adjustment component according to the squeezing force when the suction cup adsorbs the foam product.

[0011] In another possible implementation, a movable arm is rotatably connected to the suction cup fixing frame, and the movable arm is provided with a rotation driving component for driving the suction cup fixing frame to rotate. A vibration detection component is provided in the suction cup seat for detecting the vibration state of the suction cup seat. The rotation driving component and the vibration detection component are both electrically connected to the control component, and the control component is used to issue maintenance prompt information according to the rotation state of the rotation driving component and the vibration state of the vibration detection component.

[0012] In another possible implementation, the embodiment of the present application further provides an automated palletizing method, using any of the automated palletizing equipment based on the suction cup negative pressure structure described above, the method comprising: obtaining structural design parameters of the foam product, determining the height of each suction cup height adjustment component according to the structural design parameters of different positions of the foam product, and adjusting the height of each suction cup by the suction cup height adjustment component; and stacking the foam products by adsorbing the suction cups on the multiple suction cup height adjustment components on the suction cup fixing frame.

[0013] In another possible implementation, the method further includes: determining the adsorption position of each suction cup position adjustment component according to the structural design parameters of different positions of the foam product, and adjusting the position of each suction cup by the suction cup position adjustment component; and adsorbing and stacking the foam products by the suction cups on the multiple suction cup height adjustment assemblies on the suction cup fixing frame.

[0014] In another possible implementation, the method also includes: determining a plurality of suction cups located on the circumference of the foam product as a circumferential suction cup group; determining a plurality of suction cups located on the inner side of the circumferential suction cup group as an inner suction cup group; during the process of suction cups adsorbing and stacking the foam products, obtaining the adsorption extrusion force detected by the pressure sensor on each suction cup in the inner suction cup group; when the adsorption extrusion force of the first suction cup of the inner suction cup group is greater than or equal to the first adsorption extrusion force, reducing the height of the suction cup height adjustment component corresponding to the first suction cup by a first height; when the adsorption extrusion force of the first suction cup of the inner suction cup group is less than the second adsorption extrusion force, increasing the height of the suction cup height adjustment component corresponding to the first suction cup by a first height.

[0015] In another possible implementation, the method also includes: in the process of the rotation drive component driving the suction cup fixing frame to rotate, the amplitude value and vibration frequency value of the suction cup seat of each suction cup height adjustment component are obtained through the vibration detection component, and the maximum amplitude value and maximum vibration frequency value of each suction cup seat are determined; when the maximum amplitude value of the first suction cup seat is greater than or equal to the preset amplitude value, or the maximum vibration frequency value of the first suction cup seat is greater than or equal to the preset vibration frequency value, the control component issues a prompt message to inspect the suction cup height adjustment component and the suction cup position adjustment component corresponding to the first suction cup seat.

[0016] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0017] The embodiment of the present application provides an automated palletizing device based on a suction cup negative pressure structure, including a suction cup fixing frame, a plurality of suction cup height adjustment components, a plurality of suction cups and a control component, wherein the plurality of suction cup height adjustment components are connected to the suction cup fixing frame, and each suction cup height adjustment component is provided with a suction cup at one end away from the suction cup fixing frame, and the control component is electrically connected to the plurality of suction cup height adjustment components, and the control component is used to adjust the heights of the plurality of suction cup height adjustment components according to the structural design parameters of the foam product, so as to adjust the adsorption heights of the plurality of suction cups to different positions of the foam product. The automated palletizing device based on a suction cup negative pressure structure in the embodiment of the present application can adjust the adsorption height according to the structural characteristics of the foam product, can avoid the adsorption head from fracturing the surface structure of the foam product, avoids the quality defects of large foam products, and improves the production efficiency of large foam products. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 A schematic diagram of the main structure of an automated palletizing device based on a suction cup negative pressure structure provided in an embodiment of the present application;

[0020] Figure 2 for Figure 1 A schematic diagram of the local structure of an automated palletizing device based on a suction cup negative pressure structure;

[0021] Figure 3 A schematic diagram of the structure of a suction cup height adjustment assembly provided in an embodiment of the present application;

[0022] Figure 4 A left-side structural schematic diagram of an automated palletizing device based on a suction cup negative pressure structure provided in an embodiment of the present application;

[0023] Figure 5 A schematic diagram of the control structure of an automated palletizing device based on a suction cup negative pressure structure provided in an embodiment of the present application;

[0024] Figure 6 A schematic diagram of a process of an automated palletizing method provided in an embodiment of the present application;

[0025] Figure 7 A schematic flow chart of another automated palletizing method provided in an embodiment of the present application;

[0026] In the figure, 1. suction cup fixing frame; 11. screw rod movable hole; 12. movable arm; 13. rotation drive assembly; 2. suction cup height adjustment assembly; 21. vertical screw rod motor; 22. vertical screw rod; 23. suction cup seat; 3. suction cup; 31. pressure sensor; 32. vibration detection assembly; 4. control assembly; 5. suction cup position adjustment assembly; 51. transverse screw rod motor; 52. transverse screw rod; 53. guide rail; 531. limit block; 54. sliding seat. DETAILED DESCRIPTION

[0027] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0028] It should be noted that when a component or structure is referred to as being "fixed to" or "disposed on" another component or structure, it may be directly on the other component or structure or indirectly on the other component or structure. When a component or structure is referred to as being "connected to" another component or structure, it may be directly connected to the other component or structure or indirectly connected to the other component or structure.

[0029] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or a component or structure referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0030] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0031] The surface structure of foam products often needs to be designed according to the application and presents an uneven structure, which causes the existing palletizing equipment to frequently adjust the position of the suction head according to the structure of the foam products. In addition, the suction head is prone to cracking the surface structure of the foam products, causing large foam products to easily have quality defects, affecting the production efficiency of large foam products.

[0032] Based on the above reasons, the embodiment of the present application provides an automated palletizing device based on a suction cup negative pressure structure, including a suction cup fixing frame, a plurality of suction cup height adjustment components, a plurality of suction cups and a control component, wherein the plurality of suction cup height adjustment components are connected to the suction cup fixing frame, and each suction cup height adjustment component is provided with a suction cup at one end away from the suction cup fixing frame, and the control component is electrically connected to the plurality of suction cup height adjustment components, and the control component is used to adjust the heights of the plurality of suction cup height adjustment components according to the structural design parameters of the foam product, so as to adjust the adsorption heights of the plurality of suction cups to different positions of the foam product. The automated palletizing device based on a suction cup negative pressure structure in the embodiment of the present application can adjust the adsorption height according to the structural characteristics of the foam product, can avoid the adsorption head from crushing the surface structure of the foam product, avoids the quality defects of large foam products, and improves the production efficiency of large foam products.

[0033] In some scenarios, an automated palletizing device based on a suction cup negative pressure structure according to an embodiment of the present application can be applied to the adsorption palletizing of foam products, which can improve the adsorption palletizing effect of foam products.

[0034] The following is a detailed description of an automated palletizing device based on a suction cup negative pressure structure provided in an embodiment of the present application with reference to specific examples.

[0035] Figure 1 This is a schematic diagram of the main structure of an automated palletizing device based on a suction cup negative pressure structure provided in an embodiment of the present application. Figure 2 for Figure 1 A schematic diagram of the local structure of an automated palletizing device based on a suction cup negative pressure structure, Figure 3 A schematic diagram of the structure of a suction cup height adjustment assembly provided in an embodiment of the present application, Figure 4 A left-side structural schematic diagram of an automated palletizing device based on a suction cup negative pressure structure provided in an embodiment of the present application is shown in FIG. Figures 1 to 4 As shown, the automatic palletizing equipment based on the suction cup negative pressure structure includes a suction cup fixing frame 1, a plurality of suction cup height adjustment components 2, a plurality of suction cups 3 and a control component 4. The plurality of suction cup height adjustment components 2 are connected to the suction cup fixing frame 1. A suction cup 3 is provided at one end of each suction cup height adjustment component 2 away from the suction cup fixing frame 1. The control component 4 is electrically connected to the plurality of suction cup height adjustment components 2. The control component 4 is used to adjust the heights of the plurality of suction cup height adjustment components 2 according to the structural design parameters of the foam product, so as to adjust the adsorption heights of the plurality of suction cups 3 to different positions of the foam product.

[0036] like Figures 1 to 4 As shown, structurally, the suction cup fixing frame 1 of the automatic palletizing equipment based on the suction cup negative pressure structure is used to fix the suction cup 3, and then the foam products are adsorbed and palletized after a plurality of suction cups 3 are fixed by the suction cup fixing frame 1.

[0037] Structurally, multiple suction cup height adjustment components 2 are used to directly fix multiple suction cups 3. Multiple suction cup height adjustment components 2 are connected to a suction cup fixing frame 1. Each suction cup height adjustment component 2 is provided with a suction cup 3 at one end away from the suction cup fixing frame 1, so that the suction cup 3 can directly contact the foam product at the end of the suction cup height adjustment component 2, thereby adsorbing the foam product.

[0038] Figure 5 A schematic diagram of the control structure of an automated palletizing device based on a suction cup negative pressure structure provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, structurally, the control component 4 is electrically connected to the multiple suction cup height adjustment components 2, so that the control component 4 can control the working states of the multiple suction cup height adjustment components 2. When working, the control component 4 can adjust the heights of the multiple suction cup height adjustment components 2 according to the structural design parameters of the foam product, so as to adjust the adsorption heights of the multiple suction cups 3 on different positions of the foam product, so that the multiple suction cups 3 can adsorb foam products of different heights.

[0039] Structurally, the automatic palletizing equipment based on the suction cup negative pressure structure may also include a driving structure for driving the suction cup fixing frame 1 to move, which can drive the suction cup fixing frame 1 to move after adsorbing the foam products through the multiple suction cups 3 on the suction cup fixing frame 1, and adsorb, move and palletize the foam products through the suction cup fixing frame 1.

[0040] The beneficial effect of the above-mentioned implementation method is that the adsorption height can be adjusted according to the structural characteristics of the foam product, the surface structure of the foam product can be prevented from being crushed by the adsorption head, quality defects of large foam products can be avoided, and the production efficiency of large foam products can be improved.

[0041] The beneficial effect of the above-mentioned implementation method is that when adsorbing foam products, compared with the traditional adsorption stacking with fixed adsorption positions, the adsorption position can be adjusted to adapt to the adsorption height of the foam products, and can adapt to the structural characteristics of the foam products from the adsorption position, thereby improving the protection effect of the overall structure of the foam products and improving the production efficiency of large foam products.

[0042] In some implementations, the automated palletizing equipment based on the suction cup negative pressure structure further includes a suction cup position adjustment component 5, multiple suction cup position adjustment components 5 are arranged on the suction cup fixing frame 1, multiple suction cup height adjustment components 2 are arranged on the multiple suction cup position adjustment components 5, and the multiple suction cup position adjustment components 5 are electrically connected to the control component 4. The control component 4 is used to control the multiple suction cup position adjustment components 5 to adjust the positions of the multiple suction cup height adjustment components 2 on the suction cup fixing frame 1 according to the structural design parameters of the foam product, so as to adjust the adsorption position of the suction cup 3 on the foam product.

[0043] like Figures 1 to 4 As shown, in terms of structure, the suction cup position adjustment component 5 is used to adjust the suction position of the foam product, thereby further improving the adaptability to the foam product. In terms of structure, multiple suction cup position adjustment components 5 are arranged on the suction cup fixing frame 1, and multiple suction cup height adjustment components 2 are arranged on multiple suction cup position adjustment components 5, so that the suction cup position adjustment component 5 can adjust the position of the suction cup height adjustment component 2 on the suction cup fixing frame 1.

[0044] Structurally, the multiple suction cup position adjustment components 5 are electrically connected to the control component 4, so that the control component 4 can control the working states of the multiple suction cup position adjustment components 5, thereby realizing the control of the positions of the multiple suction cup position adjustment components 5 by the control component 4.

[0045] When working, the control component 4 is used to control multiple suction cup position adjustment components 5 to adjust the positions of multiple suction cup height adjustment components 2 on the suction cup fixing frame 1 according to the structural design parameters of the foam product, so as to adjust the adsorption position of the suction cup 3 on the foam product, so that the adsorption position of the suction cup 3 on the foam product can adapt to the structure of the foam product, thereby improving the adaptability to the foam product.

[0046] The beneficial effect of the above implementation method is that the positions of multiple suction cup height adjustment components on the suction cup fixing frame can be adjusted so that the positions of multiple suction cup height adjustment components on the suction cup fixing frame can adapt to the structure of the foam product, thereby improving the adaptability to the foam product.

[0047] In some implementations, the suction cup height adjustment assembly 2 includes a vertical screw motor 21, a vertical screw 22 and a suction cup seat 23. The vertical screw motor 21 is used to drive the vertical screw 22 to move vertically perpendicular to the suction cup fixing frame 1. The suction cup seat 23 is connected to the end of the vertical screw 22, and the suction cup 3 is connected to the suction cup seat 23.

[0048] like Figure 3 As shown, structurally, the suction cup height adjustment assembly 2 includes a vertical screw motor 21, a vertical screw 22 and a suction cup seat 23. When working, the vertical screw motor 21 is used to drive the vertical screw 22 to move vertically perpendicular to the suction cup fixing frame 1. The suction cup seat 23 is connected to the end of the vertical screw 22, and the suction cup 3 is connected to the suction cup seat 23, so that the suction cup 3 can adjust its height as the vertical screw motor 21 is driven, thereby realizing the adjustment of the adsorption height.

[0049] Structurally, the suction cup 3 can be made of soft rubber, and the foam product can be adsorbed by the suction cup 3. The suction cup 3 can be connected to an air source pipeline for pumping negative pressure into the suction cup 3. The suction cup 3 can be pumped or released with negative pressure through the air source pipeline to achieve adsorption and release of the foam product.

[0050] Structurally, the vertical screw rod 22 can be a trapezoidal screw rod or a triangular screw rod, so that the vertical screw rod 22 has a self-locking function. When the vertical screw rod motor 21 does not drive the vertical screw rod motor 21 to move up and down, the vertical screw rod 22 can be fixed relative to the vertical screw rod motor 21, which can prevent the vertical screw rod 22 from sliding during the process of adsorbing foam products, thereby ensuring the stability of the adsorption of foam products.

[0051] Structurally, the vertical screw rod 22 is arranged through the sliding seat 54, so that the vertical screw rod 22 can move up and down relative to the sliding seat 54, and the height of the suction cup 3 can be adjusted by the up and down movement of the vertical screw rod 22.

[0052] In some implementations, the suction cup position adjustment assembly 5 includes a transverse screw motor 51, a transverse screw 52, ​​a guide rail 53 and a sliding seat 54. The transverse screw motor 51 is used to drive the transverse screw 52 to rotate, the transverse screw 52 is used to drive the sliding seat 54 to move along the guide rail 53, the vertical screw motor 21 is fixedly connected to the sliding seat 54, and the vertical screw 22 is arranged through the sliding seat 54.

[0053] like Figure 2 As shown, structurally, the suction cup position adjustment assembly 5 includes a transverse screw motor 51, a transverse screw 52, ​​a guide rail 53 and a sliding seat 54. The transverse screw motor 51 is used to drive the transverse screw 52 to rotate. The transverse screw 52 is rotatably connected to the guide rail 53. The transverse screw 52 is used to drive the sliding seat 54 to move along the guide rail 53, so that the transverse screw motor 51 can drive the transverse screw 52 to rotate and drive the sliding seat 54 to move along the guide rail 53.

[0054] Structurally, the vertical screw motor 21 is fixedly connected to the sliding seat 54 , so that the vertical screw motor 21 can move along the guide rail 53 driven by the sliding seat 54 to adjust the adsorption position of the suction cup 3 .

[0055] The beneficial effect of the above-mentioned implementation method is that the adsorption position and adsorption height of the suction cup can be adjusted by driving the screw motor to move the screw, which simplifies the structure for adjusting the adsorption position and adsorption height of the foam product, makes the structure of the automatic stacking equipment simple, reduces the weight of the automatic stacking equipment, and improves the use effect of the automatic stacking equipment.

[0056] In some implementations, the through hole on the sliding seat 54 for passing the vertical screw rod 22 and the through hole for passing the transverse screw rod 52 are staggered with each other, and the suction cup fixing frame 1 is provided with a screw rod movable hole 11 arranged corresponding to the suction cup position adjustment component 5, and the screw rod movable hole 11 is used to pass the vertical screw rod 22.

[0057] like Figure 2 and Figure 3As shown, structurally, the through hole on the sliding seat 54 for passing the vertical screw rod 22 and the through hole for passing the transverse screw rod 52 are staggered with each other, so that the vertical screw rod 22 and the transverse screw rod 52 will not interfere with each other.

[0058] Structurally, the suction cup fixing frame 1 is provided with a screw rod movable hole 11 which is arranged corresponding to the suction cup position adjustment component 5. The screw rod movable hole 11 is used to pass the vertical screw rod 22. The screw rod movable hole 11 can make way for the vertical screw rod 22 so that the vertical screw rod 22 will not interfere with the suction cup fixing frame 1 during the movement of the suction cup position adjustment component 5.

[0059] The beneficial effect of the above-mentioned implementation method is that the through hole on the sliding seat for passing the vertical screw rod and the through hole for passing the transverse screw rod are staggered with each other, so that the position of the suction cup can be smoothly adjusted in vertical height and transverse position, thereby improving the effect of adjusting the suction cup position.

[0060] In some implementations, a limit block 531 for limiting the position of the sliding seat 54 is provided at the end of the guide rail 53 , and the limit block 531 and the screw rod movable hole 11 are arranged in the same line.

[0061] like Figure 2 As shown, a limit block 531 is provided at the end of the guide rail 53 for limiting the sliding seat 54. The limit block 531 can limit the sliding seat 54, thereby avoiding collision and interference between the end of the vertical screw rod 22 and the screw rod movable hole 11, thereby effectively protecting the structure of the vertical screw rod 22.

[0062] Structurally, the limit block 531 and the screw rod movable hole 11 are arranged in the same line, so that the limit block 531 can limit the sliding seat 54 on the center line of the screw rod movable hole 11, thereby improving the stability of limiting the sliding seat 54.

[0063] The beneficial effect of the above implementation method is that the limit block limits the sliding seat, which can avoid collision and interference between the end of the vertical screw rod and the screw rod movable hole, and can protect the structure of the vertical screw rod.

[0064] The beneficial effect of the above implementation is that the limit block limits the sliding seat on the center line of the screw rod movable hole, thereby improving the stability of limiting the sliding seat.

[0065] In some implementations, a pressure sensor 31 is provided on the adsorption side of the suction cup 3, and the pressure sensor 31 is electrically connected to the control component 4. The pressure sensor 31 is used to detect the squeezing force when the suction cup 3 adsorbs the foam product. The control component 4 is used to adjust the height of the suction cup height adjustment component 2 according to the squeezing force when the suction cup 3 adsorbs the foam product.

[0066] like Figure 3As shown, a pressure sensor 31 is provided on the adsorption side of the suction cup 3 , and the pressure sensor 31 is electrically connected to the control component 4 , so that the control component 4 can control the working state of the automatic palletizing equipment according to the detection value of the pressure sensor 31 .

[0067] During operation, the pressure sensor 31 is used to detect the squeezing force when the suction cup 3 adsorbs the foam product, and the control component 4 is used to adjust the height of the suction cup height adjustment component 2 according to the squeezing force when the suction cup 3 adsorbs the foam product, thereby realizing the monitoring of the adsorption state of the suction cup 3 on the foam product, which can improve the protection effect on the foam product.

[0068] Exemplarily, the pressure sensor 31 may be a patch capacitive pressure sensor.

[0069] The beneficial effect of the above implementation method is that the height of the suction cup height adjustment component can be adjusted according to the squeezing force when the suction cup adsorbs the foam product, thereby realizing the monitoring of the adsorption state of the suction cup on the foam product to improve the protection effect on the foam product.

[0070] In some implementations, a movable arm 12 is rotatably connected to the suction cup fixing frame 1, and a rotation driving component 13 for driving the suction cup fixing frame 1 to rotate is provided on the movable arm 12. A vibration detection component 32 for detecting the vibration state of the suction cup seat 23 is provided in the suction cup seat 23. The rotation driving component 13 and the vibration detection component 32 are both electrically connected to the control component 4. The control component 4 is used to issue maintenance prompt information according to the rotation state of the rotation driving component 13 and the vibration state of the vibration detection component 32.

[0071] like Figure 4 As shown, structurally, a movable arm 12 is rotatably connected to the suction cup fixing frame 1, and the movable arm 12 is used to fix the suction cup fixing frame 1. A rotation driving component 13 for driving the suction cup fixing frame 1 to rotate is provided on the movable arm 12, and the suction cup fixing frame 1 can be driven to rotate by the rotation driving component 13.

[0072] Exemplarily, the rotation driving assembly 13 may be a servo motor.

[0073] Structurally, a vibration detection component 32 for detecting the vibration state of the suction cup seat 23 is provided in the suction cup seat 23. The vibration detection component 32 can detect the vibration state of the suction cup seat 23 and the suction cup 3 when adsorbing the foam product, thereby improving the working effect when adsorbing the foam product.

[0074] Structurally, the rotating drive component 13 and the vibration detection component 32 are electrically connected to the control component 4, so that the control component 4 can monitor the adsorption process of the foam product according to the working status of the rotating drive component 13 and the vibration detection component 32, thereby improving the stability and reliability of the working status when adsorbing the foam product.

[0075] When working, the control component 4 is used to issue maintenance prompt information according to the rotation state of the rotation drive component 13 and the vibration state of the vibration detection component 32 to prompt the maintenance of the automatic palletizing equipment, thereby improving the reliability of the automatic palletizing equipment.

[0076] The beneficial effect of the above implementation is that the adsorption process of the foam product can be monitored according to the working status of the rotation drive component and the vibration detection component, thereby improving the stability and reliability of the adsorption of the foam product.

[0077] The embodiment of the present application also provides an automated palletizing method, using any of the automated palletizing equipment based on the suction cup negative pressure structure described above, Figure 6 A schematic diagram of a process of an automated palletizing method provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the method includes S110 to S120, and S110 to S120 are described in detail below.

[0078] S110 , obtaining structural design parameters of the foam product, determining the height of each suction cup height adjustment component 2 according to the structural design parameters at different positions of the foam product, and adjusting the height of each suction cup 3 through the suction cup height adjustment component 2 .

[0079] During operation, the structural design parameters of the foam product can be obtained first, and then the height of each suction cup height adjustment component 2 can be determined according to the structural design parameters of different positions of the foam product, and the height of each suction cup 3 can be adjusted through the suction cup height adjustment component 2, so that the suction cup height adjustment component 2 can adapt to the height of different positions of the foam product.

[0080] Exemplarily, the structural design parameters of the foam product may include height information of different positions of the foam product, and the adsorption height of each suction cup 3 may be adjusted according to the height information of different positions of the foam product.

[0081] Exemplarily, the structural design parameters of the foam product can be automatically input into the control component 4 through the coordinate system, and the control component 4 can adjust the height of the suction cup according to the structural design parameters of the foam product at different positions.

[0082] S120, the foam products are stacked by suction using the suction cups 3 on the plurality of suction cup height adjustment components 2 on the suction cup fixing frame 1.

[0083] After adjusting the height of each suction cup 3 , the foam products can be stacked by suction using the suction cups 3 on the plurality of suction cup height adjustment assemblies 2 on the suction cup fixing frame 1 .

[0084] The beneficial effect of the above implementation method is that the height of the suction cup can be adjusted according to the structural design parameters of the foam products at different positions, thereby improving the adsorption and stacking efficiency of the foam products.

[0085] Figure 7 A schematic diagram of another automated palletizing method provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the above method further includes S130 to S140, and S130 to S140 are described in detail below.

[0086] S130 , determining the adsorption position of each suction cup position adjustment component 5 according to the structural design parameters of different positions of the foam product, and adjusting the position of the suction cup 3 to the adsorption position through the suction cup position adjustment component 5 .

[0087] During operation, the adsorption position of each suction cup position adjustment component 5 can be determined according to the structural design parameters of different positions of the foam product. The adsorption position is the key position for adsorbing the foam product. Then, the position of each suction cup 3 can be adjusted to the adsorption position through the suction cup position adjustment component 5 to adjust the position of the suction cup 3.

[0088] For example, when determining the adsorption position of the foam product, the adsorption position may be determined comprehensively based on parameters such as thickness and flatness of each part of the foam product to ensure the structural safety of the foam product during adsorption palletizing.

[0089] S140, the foam products are stacked by suction using the suction cups 3 on the plurality of suction cup height adjustment components 2 on the suction cup fixing frame 1.

[0090] After adjusting the position of the suction cup 3, the foam products can be adsorbed and stacked by the suction cups 3 on the multiple suction cup height adjustment components 2 on the suction cup fixing frame 1, thereby achieving adsorption and stacking of the foam products according to the suction cups 3 after the positions are adjusted.

[0091] The beneficial effect of the above implementation method is that the position of each suction cup is adjusted to the adsorption position through the suction cup position adjustment component, so as to adjust the position of the suction cup and improve the safety and stability of the foam product during adsorption.

[0092] In some implementations, the above method further includes S210 to S220, and S210 to S220 are described in detail below.

[0093] S210, determining a plurality of suction cups 3 located on the circumference of the foam product as a circumferential suction cup group. Determining a plurality of suction cups 3 located inside the circumferential suction cup group as an inner suction cup group. In the process of suctioning and stacking the foam product by the suction cups 3, obtaining the squeezing force detected by the pressure sensor 31 on each suction cup 3 in the inner suction cup group.

[0094] During the process of adsorption and palletizing of foam products, a plurality of suction cups 3 located in the circumferential direction of the foam products can be determined as a circumferential suction cup group, and the suction cups in the circumferential suction cup group are used to fix and adsorb the foam products from the circumferential direction.

[0095] Illustratively, the plurality of suction cups 3 located in the circumferential direction of the foam product may be suction cups 3 located at four corner points of the foam product, and the suction cups 3 located at the corner points of the foam product constitute a circumferential suction cup group.

[0096] During the process of adsorbing and stacking the foam products, a plurality of suction cups 3 located inside the circumferential suction cup group are determined as the inner suction cup group, and the suction cups in the inner suction cup group are used to adsorb and fix the foam products from the inside.

[0097] Illustratively, the plurality of suction cups 3 located inside the circumferential suction cup group may be suction cups 3 located inside four corner points of the foam product, and the suction cups 3 located inside four corner points of the foam product constitute an inner suction cup group.

[0098] In order to monitor the adsorption and stacking process of foam products, the extrusion pressure during adsorption detected by the pressure sensor 31 on each suction cup 3 in the inner suction cup group can be obtained during the process of the suction cup 3 adsorbing and stacking the foam products. Then, the extrusion pressure during adsorption of each suction cup 3 in the inner suction cup group can be evaluated to avoid the suction cup 3 in the inner suction cup group from generating excessive extrusion pressure on the foam products and damaging the foam products.

[0099] S220: When the squeezing force of the first sucker of the inner sucker group during adsorption is greater than or equal to the first squeezing force during adsorption, the height of the sucker height adjustment component 2 corresponding to the first sucker is reduced by a first height. When the squeezing force of the first sucker of the inner sucker group during adsorption is less than the second squeezing force during adsorption, the height of the sucker height adjustment component 2 corresponding to the first sucker is increased by a first height.

[0100] During operation, when the extrusion force of the first suction cup of the inner suction cup group during adsorption is greater than or equal to the first extrusion force during adsorption, it means that the extrusion force of the first suction cup on the foam product is too large. At this time, the height of the suction cup height adjustment component 2 corresponding to the first suction cup can be reduced by the first height to reduce the extrusion force of the first suction cup on the foam product.

[0101] Exemplarily, the first height may be 10 mm.

[0102] During operation, when the extrusion force of the first suction cup of the inner suction cup group during adsorption is smaller than the extrusion force of the second suction cup group during adsorption, it indicates that the extrusion force of the first suction cup on the foam product is too small. At this time, the first suction cup may have no contact with the foam product. At this time, the height of the suction cup height adjustment component 2 corresponding to the first suction cup can be increased by the first height to ensure that the first suction cup can produce an adsorption effect on the foam product.

[0103] The beneficial effect of the above-mentioned implementation method is that the suction cups in the circumferential suction cup group are used to fix and adsorb the foam product from the circumferential direction. At the same time, when the foam product is adsorbed and fixed by each suction cup in the inner suction cup group, the extrusion pressure state of the suction cups in the inner suction cup group is monitored, which can ensure the adsorption and fixing effect of the suction cups in the inner suction cup group on the middle part of the foam product, thereby improving the adsorption and stacking quality of the foam product.

[0104] The beneficial effect of the above-mentioned implementation method is that, by monitoring the working status of each suction cup in the inner suction cup group, the height of the suction cup height adjustment component can be fine-tuned according to the squeezing force of the first suction cup and the foam product, so that the squeezing force of the first suction cup on the foam product is moderate, thereby improving the protection effect on the foam product.

[0105] The beneficial effect of the above implementation method is that when the squeezing force between the first suction cup and the foam product is small, by reducing the height of the suction cup height adjustment assembly, the first suction cup can effectively adsorb the foam product, thereby ensuring the adsorption and stacking stability of the foam product.

[0106] In some implementations, the above method further includes S310 to S320, and S310 to S320 are described in detail below.

[0107] S310. In the process of the rotation driving component 13 driving the suction cup fixing frame 1 to rotate, the amplitude value and the vibration frequency value of the suction cup seat 23 of each suction cup height adjustment component 2 are obtained through the vibration detection component 32, and the maximum amplitude value and the maximum vibration frequency value of each suction cup seat 23 are determined.

[0108] In order to ensure the stability of the palletizing equipment, in the process of the rotation drive component 13 driving the suction cup fixing frame 1 to rotate, the amplitude value and vibration frequency value of the suction cup seat 23 of each suction cup height adjustment component 2 can be obtained through the vibration detection component 32, and the maximum amplitude value and maximum vibration frequency value of each suction cup seat 23 can be determined. The working state of the suction cup is evaluated through the maximum amplitude value and maximum vibration frequency value of each suction cup seat 23 to ensure the stability of the working state of the suction cup.

[0109] S320. When the maximum amplitude value of the first suction cup seat is greater than or equal to the preset amplitude value, or the maximum vibration frequency value of the first suction cup seat is greater than or equal to the preset vibration frequency value, the control component 4 issues a prompt message to inspect the suction cup height adjustment component 2 and the suction cup position adjustment component 5 corresponding to the first suction cup seat.

[0110] During operation, when the maximum amplitude value of the first suction cup seat is greater than or equal to the preset amplitude value, or the maximum vibration frequency value of the first suction cup seat is greater than or equal to the preset vibration frequency value, it means that the working state of the suction cup on the first suction cup seat is not stable enough. At this time, the control component 4 can send a prompt message to inspect the suction cup height adjustment component 2 and the suction cup position adjustment component 5 corresponding to the first suction cup seat, so as to prompt the first suction cup seat to be inspected.

[0111] Exemplarily, the preset amplitude value and the preset vibration frequency value may be determined by empirical values.

[0112] The beneficial effect of the above-mentioned implementation method is that in the process of the rotation drive component driving the suction cup fixing frame to rotate, the amplitude value and vibration frequency value of the suction cup seat 23 of each suction cup height adjustment component can be obtained through the vibration detection component, so that the working state stability of the suction cup can be monitored, thereby improving the monitoring effect of the suction cup working state and improving the stability of the foam products during adsorption and stacking.

[0113] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An automated palletizing device based on a suction cup negative pressure structure, characterized in that: The invention comprises a suction cup fixing frame, a plurality of suction cup height adjustment components, a plurality of suction cups and a control component. The plurality of suction cup height adjustment components are connected to the suction cup fixing frame. A suction cup is arranged at one end of each suction cup height adjustment component away from the suction cup fixing frame. The control component is electrically connected to the plurality of suction cup height adjustment components. The control component is used for adjusting the heights of the plurality of suction cup height adjustment components according to the structural design parameters of the foam product so as to adjust the adsorption heights of the plurality of suction cups on different positions of the foam product.

2. The automated palletizing equipment according to claim 1, characterized in that: It also includes a suction cup position adjustment component, multiple suction cup position adjustment components are arranged on the suction cup fixing frame, multiple suction cup height adjustment components are arranged on the multiple suction cup position adjustment components, the multiple suction cup position adjustment components are electrically connected to the control component, and the control component is used to control the multiple suction cup position adjustment components to adjust the positions of the multiple suction cup height adjustment components on the suction cup fixing frame according to the structural design parameters of the foam product, so as to adjust the adsorption position of the suction cup on the foam product.

3. The automated palletizing equipment according to claim 2, characterized in that: The suction cup height adjustment assembly includes a vertical screw motor, a vertical screw and a suction cup seat, the vertical screw motor is used to drive the vertical screw to move vertically perpendicular to the suction cup fixing frame, the suction cup seat is connected to the end of the vertical screw, and the suction cup is connected to the suction cup seat; The suction cup position adjustment assembly includes a transverse screw motor, a transverse screw, a guide rail and a sliding seat. The transverse screw motor is used to drive the transverse screw to rotate, and the transverse screw is used to drive the sliding seat to move along the guide rail. The vertical screw motor is fixedly connected to the sliding seat, and the vertical screw is set through the sliding seat.

4. The automated palletizing equipment according to claim 3, characterized in that: The through hole for passing the vertical screw rod and the through hole for passing the horizontal screw rod on the sliding seat are staggered with each other, and the suction cup fixing frame is provided with a screw rod movable hole corresponding to the suction cup position adjustment component, and the screw rod movable hole is used to pass the vertical screw rod.

5. The automated palletizing equipment according to claim 4, characterized in that: A limit block for limiting the position of the sliding seat is arranged at the end of the guide rail, and the limit block and the movable hole of the screw rod are arranged in the same line.

6. The automated palletizing equipment according to claim 5, characterized in that: A pressure sensor is provided on the adsorption side of the suction cup, and the pressure sensor is electrically connected to the control component. The pressure sensor is used to detect the squeezing force when the suction cup adsorbs the foam product. The control component is used to adjust the height of the suction cup height adjustment component according to the squeezing force when the suction cup adsorbs the foam product.

7. The automated palletizing equipment according to claim 6, characterized in that: A movable arm is rotatably connected to the suction cup fixing frame, and the movable arm is provided with a rotation driving component for driving the suction cup fixing frame to rotate. A vibration detection component is provided in the suction cup seat for detecting the vibration state of the suction cup seat. The rotation driving component and the vibration detection component are both electrically connected to the control component, and the control component is used to issue maintenance prompt information according to the rotation state of the rotation driving component and the vibration state of the vibration detection component.

8. An automated palletizing method, characterized in that: The automated palletizing equipment based on the suction cup negative pressure structure according to any one of claims 1 to 7 is adopted, and the method comprises: Acquire structural design parameters of the foam product, determine the height of each suction cup height adjustment component according to the structural design parameters at different positions of the foam product, and adjust the height of each suction cup through the suction cup height adjustment component; The foam products are stacked by suction using the suction cups on the multiple suction cup height adjustment components on the suction cup fixing frame.

9. The automated palletizing method according to claim 8, characterized in that: The method further comprises: Determine the adsorption position of each suction cup position adjustment component according to the structural design parameters of different positions of the foam product, and adjust the position of each suction cup through the suction cup position adjustment component; The foam products are stacked by suction using the suction cups on the multiple suction cup height adjustment components on the suction cup fixing frame.

10. The automated palletizing method according to claim 9, characterized in that: The method further comprises: Determine a plurality of suction cups located on the circumference of the foam product as a circumferential suction cup group; determine a plurality of suction cups located inside the circumferential suction cup group as an inner suction cup group; and obtain the extrusion force detected by the pressure sensor on each suction cup in the inner suction cup group during the process of the suction cups sucking and stacking the foam product; When the extrusion force of the first suction cup of the inner suction cup group during adsorption is greater than or equal to the first extrusion force during adsorption, the height of the suction cup height adjustment component corresponding to the first suction cup is reduced by the first height; when the extrusion force of the first suction cup of the inner suction cup group during adsorption is less than the second extrusion force during adsorption, the height of the suction cup height adjustment component corresponding to the first suction cup is increased by the first height.

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