Multi-directional positioning regular type automatic stacking equipment based on stacking robot

Abstract

The invention provides multi-directional positioning regular type automatic stacking equipment based on a stacking robot, and relates to the technical field of stacking robots, the multi-directional positioning regular type automatic stacking equipment comprises a rack base, a boxed cigarette surface conveying rack and a boxed cigarette surface layering rack, and the boxed cigarette surface conveying rack and the boxed cigarette surface layering rack are installed at the two ends of the rack base; the machine further comprises a connecting rod type translation transmission mechanism, the connecting rod type translation transmission mechanism comprises a machine frame body fixedly connected to the machine frame base, and side beam supports are fixedly connected to the two ends of the interior of the machine frame body. According to the design, the stability of box cigarette surface grabbing is improved through the bending clamping mechanism, the box cigarette surface is prevented from shaking or falling in the conveying and stacking process, the stacking uniformity and stability are ensured, the damage risk of the box cigarette surface in the operation process is reduced, and the safety of the box cigarette is improved. The problem that sliding or toppling is prone to occurring when traditional equipment grabs irregular or easily-deformed box cigarette surfaces is effectively solved, and the adaptability of the equipment to the box cigarette surfaces of different types is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizing robots, and in particular to a multi-directional positioning and regular automatic palletizing device based on a palletizing robot. Background Art

[0002] In the fields of industrial production and logistics warehousing, especially in the tobacco industry, automatic palletizing equipment has been receiving extensive attention as a key piece of equipment for improving warehousing efficiency and reducing labor costs. Tobacco production is characterized by high speed and continuous production. For example, the shapes of cigarette cartons and boxes are relatively regular but their texture is light and soft, which places extremely high demands on the stability and appearance of the stacking.

[0003] However, in actual operation, when tobacco boxes and cigarette cartons are transported on conveyor belts in the tobacco industry, conveyor speed fluctuations often cause cigarette box tilting and cigarette cartons misalignment. Because the conveyor belt and the robotic arm operate independently, the robotic arm must frequently pause operations to wait and make corresponding adjustments when faced with such material conveying anomalies. This significantly reduces production efficiency and increases quality risks and rework costs caused by tilted and collapsed cigarette boxes.

[0004] Therefore, in order to solve the above problems, a multi-directional positioning and regular automatic palletizing equipment based on a palletizing robot is proposed. Summary of the Invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and provide a multi-directional positioning regular automatic palletizing device based on a palletizing robot.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a multi-directional positioning and regular automatic palletizing equipment based on a palletizing robot, comprising a frame base, a box cigarette surface conveying frame and a box cigarette surface stratification material frame, the box cigarette surface conveying frame and the box cigarette surface stratification material frame being mounted on both ends of the frame base, and also comprising a connecting rod type translation transmission mechanism, the connecting rod type translation transmission mechanism comprising a frame body fixedly connected to the frame base, both ends of the interior of the frame body being fixedly connected to side beam supports, the outer side of the side beam supports being fixedly connected to a cylinder mounting support, the interior of the cylinder mounting support being slidably connected to a translation driving cylinder, the outer ends of the translation driving cylinder being fixedly connected to a linear slider, the top end of the linear slider being rotatably connected to an articulated transmission shaft, the outer side of one of the articulated transmission shafts being rotatably connected to a first transmission link, the outer side of the other articulated transmission shaft being rotatably connected to a second transmission link, the bottom end of the first transmission link being fixedly connected to an extension transmission shaft, and the bottom ends of the two extension transmission shafts being fixedly connected to a connecting support;

[0007] A top vacuum adsorption device, comprising an adsorption top plate fixedly connected to the bottom ends of two connecting supports, wherein the four inner corners of the adsorption top plate are fixedly connected to adsorption lifting cylinders, and the driving ends of each two adsorption lifting cylinders are fixedly connected to suction cup mounting plates;

[0008] A bending clamping mechanism, the bending clamping mechanism comprising a limit block fixedly connected to the inner side of the side beam bracket, the limit block being rotatably connected to an end thereof away from the side beam bracket, and the inner ends of the bending swing arm being rotatably connected to a swing arm rotating shaft;

[0009] A rack and pinion transverse transmission mechanism, wherein the rack and pinion transverse transmission mechanism includes a transmission rack, an inner frame is slidably connected to the interior of the frame base, both sides of the inner wall of the inner frame are fixedly connected to linear guide rails, the outer side of the linear guide rails is slidably connected to a guide rail slider, the outer side of the guide rail slider is fixedly connected to a moving platform, the inner wall of the inner frame is fixedly connected to a travel limit pin at one end away from the transmission rack, and the outer sides of the moving platform and the travel limit pin are both provided with a load-bearing mounting shaft;

[0010] The height adjustment mechanism includes a height adjustment cylinder fixedly connected to the four corners of the outer side of the frame base, the driving end of the height adjustment cylinder is fixedly connected to the lifting adjustment frame, the outer ends of the lifting adjustment frame are fixedly connected to guide positioning columns, and a guide slot is opened inside the frame body.

[0011] Preferably, a plurality of suction cup support columns are fixedly connected to the interior of the suction cup mounting plate, and a vacuum adsorption cup is fixedly connected to the bottom end of the suction cup support column.

[0012] Preferably, a plurality of clamping support columns are fixedly connected to the interior of the bending swing arm, and a clamping vacuum suction cup is fixedly connected to the bottom end of the clamping support column.

[0013] Preferably, clamping drive cylinders are installed on both sides of the bottom end of the side beam bracket, and the driving ends of the clamping drive cylinders are fixedly connected to the swing arm rotation shaft.

[0014] Preferably, a driving motor is installed inside the mobile platform, a driving end of the driving motor is fixedly connected to a transmission gear, and the transmission gear is meshed with a transmission rack.

[0015] Preferably, the top ends of the four load-bearing mounting shafts are fixedly connected to the cigarette box surface load-bearing plates, the outer sides of two of the load-bearing mounting shafts are slidingly connected to the cigarette box surface conveying frame of the bending clamping mechanism, and the outer sides of the other two load-bearing mounting shafts are fixedly connected to the mobile platform.

[0016] Preferably, the inner portion of the linear slider is slidably connected to the outer side of the side beam bracket, and the bottom end of the second transmission link is rotatably connected to the first transmission link.

[0017] Preferably, the outer side of the guide positioning column is slidably connected to the guide sliding groove, and the outer side of the inner frame is fixedly connected to the lifting adjustment frame.

[0018] Preferably, the outer side of the transmission rack is fixedly connected to the inner frame.

[0019] Compared with the prior art, the advantages and positive effects of the present invention are:

[0020] 1. The piston rod of the clamping drive cylinder extends or retracts, driving the swing arm's rotating shaft to rotate, and the bending swing arm swings around the shaft, causing the clamping support column and the clamping vacuum suction cup to move toward and contact the side of the cigarette box surface. The clamping vacuum suction cup adsorbs the side of the cigarette box surface and cooperates with the top vacuum adsorption device. This design improves the stability of the cigarette box surface grasping through the bending clamping mechanism, preventing the cigarette box surface from shaking or falling during transportation and stacking, ensuring the neatness and stability of stacking, reducing the risk of damage to the cigarette box surface during operation, and effectively solving the problem of traditional equipment easily sliding or tipping over when grasping irregular or easily deformed cigarette box surfaces, thereby improving the equipment's adaptability to different types of cigarette box surfaces.

[0021] 2. The driving motor drives the transmission gear to engage with the transmission rack, so that the mobile platform moves horizontally along the linear guide rail. The load-bearing mounting shaft drives the load-bearing plate on the surface of the box to move above the designated stacking position. The height adjustment cylinder operates synchronously, and the lifting adjustment frame and the inner frame rise and fall vertically. The guide positioning column slides in the guide slide to lower the surface of the box to the target height corresponding to the first layer of the layered material rack on the surface of the box. Then the adsorption lifting cylinder and the clamping drive cylinder retract, and the adsorption is released under the action of gravity, releasing the box surface. This design enables the equipment to accurately control the horizontal and vertical position of the box surface, adapt to the stacking requirements of different heights and levels, improve the accuracy and flexibility of stacking, and effectively solve the problem that traditional equipment has poor adaptability to stacking at different heights.

[0022] 3. The piston rod of the translational drive cylinder is extended and retracted, driving the linear slider to slide linearly along the side beam bracket. After being transmitted through the articulated transmission shaft, the first transmission link and the second transmission link convert the linear motion into planar motion, so that the connecting support and the adsorption top plate are translated to be just above the surface of the box smoke. Subsequently, the adsorption lifting cylinder pushes the suction cup mounting plate, the suction cup support column and the vacuum adsorption plate down to contact the surface of the box smoke. The vacuum system is started, and after the vacuum adsorption plate adsorbs the surface of the box smoke, the adsorption lifting cylinder retracts to separate the surface of the box smoke from the conveying surface. This design can accurately grasp the surface of the box smoke, adapt to the stacking needs of the box smoke surface in different positions, and improve the flexibility and adaptability of stacking. Traditional equipment needs to pause and adjust when the material posture deviates. This structure can adjust the grasping position in real time without stopping, thus ensuring production continuity. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A three-dimensional diagram of a multi-directional positioning regular automatic palletizing device based on a palletizing robot provided by the present invention;

[0024] Figure 2 A schematic diagram of the height adjustment mechanism structure of a multi-directional positioning regular automatic palletizing device based on a palletizing robot provided by the present invention;

[0025] Figure 3 A schematic diagram of the bending and clamping mechanism structure of a multi-directional positioning and regular automatic palletizing device based on a palletizing robot provided by the present invention;

[0026] Figure 4 for Figure 3 A magnified view of point A in the figure;

[0027] Figure 5 A schematic structural diagram of a connecting rod type translation transmission mechanism of a multi-directional positioning and regular automatic palletizing device based on a palletizing robot provided by the present invention;

[0028] Figure 6 This is a structural schematic diagram of a top vacuum adsorption device of a multi-directional positioning regular automatic palletizing equipment based on a palletizing robot provided by the present invention.

[0029] Legend:

[0030] 1. Rack base;

[0031] 2. Link-type translation transmission mechanism; 21. Frame body; 22. Side beam bracket; 23. Cylinder mounting bracket; 24. Translation drive cylinder; 25. Linear slider; 26. Articulated transmission shaft; 27. First transmission link; 28. Second transmission link; 29. Extension transmission shaft; 210. Connecting bracket;

[0032] 3. Top vacuum adsorption device; 31. Adsorption top plate; 32. Adsorption lifting cylinder; 33. Suction cup mounting plate; 34. Suction cup support column; 35. Vacuum adsorption plate;

[0033] 4. Bending clamping mechanism; 41. Limit stopper; 42. Bending swing arm; 43. Swing arm rotation axis; 44. Clamping support column; 45. Clamping vacuum suction cup; 46. Clamping drive cylinder;

[0034] 5. Gear rack transverse transmission mechanism; 51. Transmission rack; 52. Linear guide; 53. Guide rail slider; 54. Moving platform; 55. Transmission gear; 56. Drive motor; 57. Travel limit pin; 58. Load-bearing mounting shaft; 59. Load-bearing plate on the surface of the cigarette box;

[0035] 6. Height adjustment mechanism; 61. Height adjustment cylinder; 62. Lifting adjustment frame; 63. Guide positioning column; 64. Guide chute; 65. Inner frame;

[0036] 7. Conveyor rack on the surface of cigarette boxes; 8. Layered material rack on the surface of cigarette boxes. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] like Figure 1 and Figure 5As shown, this embodiment provides a technical solution: a multi-directional positioning regular automatic palletizing device based on a palletizing robot, comprising a frame base 1, a box cigarette surface conveying frame 7 and a box cigarette surface stratification material frame 8, the box cigarette surface conveying frame 7 and the box cigarette surface stratification material frame 8 are mounted on both ends of the frame base 1, characterized in that it also includes a connecting rod type translation transmission mechanism 2, the connecting rod type translation transmission mechanism 2 includes a frame body 21 fixedly connected to the frame base 1, both ends of the interior of the frame body 21 are fixedly connected to side beam brackets 22, the outer side of the side beam bracket 22 is fixedly connected to a cylinder mounting support 23, the inner sliding connection of the cylinder mounting support 23 There is a translation drive cylinder 24, both ends of the outer side of the translation drive cylinder 24 are fixedly connected to linear sliders 25, the top of the linear slider 25 is rotatably connected to an articulated transmission shaft 26, the outer side of one articulated transmission shaft 26 is rotatably connected to a first transmission link 27, the outer side of the other articulated transmission shaft 26 is rotatably connected to a second transmission link 28, the bottom end of the first transmission link 27 is fixedly connected to an extension transmission shaft 29, the bottom ends of the two extension transmission shafts 29 are fixedly connected to a connecting support 210, the inner side of the linear slider 25 is slidably connected to the outer side of the side beam bracket 22, and the bottom end of the second transmission link 28 is rotatably connected to the first transmission link 27;

[0039] The frame body 21 serves as the installation basis for the entire connecting rod type translation transmission mechanism 2. It is fixed on the frame base 1 to provide stable support for subsequent components and ensure that the entire transmission system can operate under a stable framework. On the one hand, the side beam brackets 22 are fixed at both ends inside the frame body 21 to strengthen the structural strength of the frame body 21; on the other hand, they provide a platform for connection and support for components such as the cylinder mounting bracket 23 and the linear slider 25. The cylinder mounting bracket 23 is used to install and fix the translation drive cylinder 24, so that it can be firmly set on the outside of the side beam bracket 22 and ensure that the cylinder is evenly and stably stressed during operation. , to avoid the cylinder from causing deviation or damage due to loose installation. The translation drive cylinder 24 serves as the power source. The telescopic movement of its piston rod can drive the components connected to it to achieve translational movement. It is the key component for the entire transmission mechanism to generate movement and control the left and right movement of actuators such as the stacking arm. The linear slider 25 is installed on the outside of the side beam bracket 22 and is connected to the translation drive cylinder 24. The cylinder drives the linear slider 25 to perform linear movement on the side beam bracket 22. At the same time, the linear slider 25 serves as a connecting part to transmit the movement of the translation drive cylinder 24 to the articulated transmission shaft 26, thereby realizing the conversion and transmission of force and motion. The articulated transmission shaft 26 One end is connected to the linear slider 25, and the other end is connected to the transmission connecting rod, which plays the role of connecting and transmitting motion. It can convert the linear motion of the linear slider 25 into the swinging or rotating motion of the transmission connecting rod. It is a key connecting component for realizing translation transmission. The first transmission connecting rod 27 and the second transmission connecting rod 28 are respectively connected to the articulated transmission shaft 26, and the bottom end of the second transmission connecting rod 28 is also rotatably connected to the first transmission connecting rod 27. This connecting rod combination can convert the linear motion generated by the translation drive cylinder 24 into a more complex motion form, such as curved motion or swinging motion, through the transmission of the connecting rod, thereby driving the subsequent actuator to rotate according to the rotation direction. The set trajectory is translated or rotated to achieve accurate stacking of the surface of the box cigarettes. The extended transmission shaft 29 further transmits the movement of the transmission connecting rod to the bottom. The connecting support 210 connects the various extended transmission shafts 29 together to form an integrated motion mechanism, so that the entire translation transmission mechanism can drive the top vacuum adsorption device 3 and other executive components to achieve stable and accurate translation movement, completing the grabbing and stacking operations on the surface of the box cigarettes. This connecting rod type translation transmission mechanism 2 can achieve translation movement over a long distance, and through the combination and transmission of the connecting rod, the motion trajectory can be accurately controlled to ensure the accuracy and stability of palletizing;

[0040] like Figure 2 and Figure 5As shown, the top vacuum adsorption device 3 includes an adsorption top plate 31 fixedly connected to the bottom ends of the two connecting supports 210, and the four inner corners of the adsorption top plate 31 are fixedly connected to the adsorption lifting cylinders 32. The driving ends of each two adsorption lifting cylinders 32 are fixedly connected to the suction cup mounting plate 33, and the interior of the suction cup mounting plate 33 is fixedly connected to a plurality of suction cup support columns 34, and the bottom ends of the suction cup support columns 34 are fixedly connected to the vacuum adsorption cup 35;

[0041] The suction top plate 31 serves as the mounting base of the entire vacuum suction device and is fixedly connected to the bottom of the connecting support 210, providing a mounting platform for components such as the suction lifting cylinder 32 and the suction cup mounting plate 33, ensuring the connection strength and stability between the components, so that the entire suction device can form a whole, which is convenient for lifting and adsorption operations. The driving end of the suction lifting cylinder 32 is connected to the suction cup mounting plate 33 to control the up and down movement of the suction cup mounting plate 33, thereby realizing the lifting of the vacuum suction plate 35, so that when the surface of the box smoke needs to be adsorbed, the suction plate can be accurately moved down to the surface of the box smoke, and moved up after the adsorption is completed, so that the surface of the box smoke is separated from the supporting surface such as the conveyor belt, so as to prepare for subsequent stacking operations. The suction cup mounting plate 33 is used to install and fix the suction cup support column 34, and multiple suction cup support columns 34 are evenly arranged on the mounting plate to ensure that each vacuum suction plate 35 can be evenly distributed to form an effective adsorption area, thereby improving the adsorption force and stability on the surface of the box smoke, and avoiding the box smoke surface from tilting or falling during the adsorption process. The column 34 connects the suction cup mounting plate 33 and the vacuum adsorption plate 35, which plays the role of supporting and transmitting force, ensuring that the vacuum adsorption plate 35 can withstand a certain tension and pressure when adsorbing and moving the box smoke surface, and its length can be adjusted according to actual needs to adapt to the adsorption requirements of box smoke surfaces of different heights. When the vacuum adsorption plate 35 is pressed down, negative pressure is formed inside, thereby generating adsorption force, which can firmly adsorb the surface of the box smoke, lift the box smoke surface and transport it to the designated position for palletizing during the movement of the palletizing robot, and is a key executive component for realizing automated palletizing. The top vacuum adsorption device 3 has the characteristics of strong adsorption force, flexible movement, and simple structure. Through the control of the adsorption lifting cylinder 32, the distance between the adsorption plate and the box smoke surface can be accurately adjusted to ensure the reliability and stability of adsorption, and can adapt to box smoke surfaces of various shapes and sizes, thereby improving the versatility and applicability of the equipment. At the same time, the vacuum adsorption method has no pollution or damage to the box smoke surface, and is suitable for palletizing box smoke surfaces with high surface quality requirements.

[0042] like Figure 3 and Figure 6As shown, the bending clamping mechanism 4 includes a limit block 41 fixedly connected to the inner side of the side beam bracket 22, and the end of the limit block 41 away from the side beam bracket 22 is rotatably connected to a bending swing arm 42, and the two ends of the inner side of the bending swing arm 42 are rotatably connected to the swing arm rotating shaft 43. The inner side of the bending swing arm 42 is fixedly connected to a plurality of clamping support columns 44, and the bottom end of the clamping support column 44 is fixedly connected to a clamping vacuum suction cup 45. Clamping drive cylinders 46 are installed on both sides of the bottom end of the side beam bracket 22, and the driving end of the clamping drive cylinder 46 is fixedly connected to the swing arm rotating shaft 43;

[0043] The limit stopper 41 is fixed on the inner side of the side beam bracket 22 to limit the swing range of the bending swing arm 42 and prevent the bending swing arm 42 from exceeding the designed stroke during movement, thereby ensuring the accuracy and safety of the clamping action and avoiding damage to the equipment or the surface of the box smoke due to excessive swing of the swing arm. The two ends of the inner part of the bending swing arm 42 are rotatably connected with the swing arm rotating shaft 43, one end is clamped and fixed to the box smoke surface through the clamping support column 44 and the clamping vacuum suction cup 45, and the other end is connected to the clamping drive cylinder 46 through the swing arm rotating shaft 43. When the clamping drive cylinder 46 is working, the bending swing arm 42 rotates around the swing arm rotating shaft 43, thereby driving the clamping vacuum suction cup 45 to approach Or away from the surface of the box smoke, to achieve the clamping or releasing operation on the surface of the box smoke, it is a key component that directly contacts and clamps the surface of the box smoke, the swing arm rotating shaft 43 serves as the rotation center and connecting component of the bending swing arm 42, connecting the bending swing arm 42 with the clamping drive cylinder 46 and the limit block 41 and other components, so that the bending swing arm 42 can rotate around it stably under the action of the drive cylinder, and ensure the accuracy and stability during the rotation process, and ensure the accuracy and reliability of the clamping action, the clamping support column 44 connects the bending swing arm 42 and the clamping vacuum suction cup 45, fixes the clamping vacuum suction cup 45 on the bending swing arm 42, and ensures that the clamping vacuum suction cup 45 is in During the swinging process, it can maintain a stable position and posture. At the same time, the length and layout of the clamping support column 44 can be designed according to the shape and size of the box cigarette surface to achieve effective clamping of different box cigarette surfaces. The clamping vacuum suction cup 45 is similar to the vacuum adsorption cup 35. When connected to the negative pressure source, it can generate adsorption force and cooperate with the bending swing arm 42 to clamp the box cigarette surface from the side to prevent the box cigarette surface from displacement or tipping during the stacking process. In particular, when the box cigarette surface needs to be bent or the angle needs to be adjusted, it can provide a stable clamping force to ensure that the shape and position of the box cigarette surface meet the stacking requirements. The clamping drive cylinder 46 is installed on both sides of the bottom end of the side beam bracket 22. The driving end is connected to the swing arm rotating shaft 43, and the bending swing arm 42 is driven to rotate around the swing arm rotating shaft 43 through the telescopic movement of the piston rod, thereby realizing the clamping and releasing action of the clamping vacuum suction cup 45. It is the power source for controlling the operation of the bending clamping mechanism 4, and can accurately control the timing and strength of clamping. The bending clamping mechanism 4 can effectively clamp and fix the surface of the cigarette box during the stacking process, especially when stacking some cigarette box surfaces that need to be bent or angle adjusted. It can ensure the shape and position of the cigarette box surface is stable, improve the neatness and stability of the stacking, and at the same time realize multi-point fixation and support of the cigarette box surface, reducing the risk of the cigarette box surface falling or being damaged.

[0044] like Figure 3 and Figure 4As shown, the rack and pinion transverse transmission mechanism 5 includes a transmission rack 51, an inner frame 65 is slidably connected to the interior of the frame base 1, and both sides of the inner wall of the inner frame 65 are fixedly connected with linear guide rails 52, and the outer side of the linear guide rail 52 is slidably connected to the guide rail slider 53, and the outer side of the guide rail slider 53 is fixedly connected to the moving platform 54, and the inner wall of the inner frame 65 is fixedly connected to the end away from the transmission rack 51 with a stroke limit pin 57. The outer sides of the moving platform 54 and the stroke limit pin 57 are both provided with a bearing mounting shaft 58, and a driving motor 56 is installed inside the moving platform 54, and the driving end of the driving motor 56 is fixedly connected to the transmission gear 55, and the transmission gear 55 is meshed with the transmission rack 51. The top ends of the four bearing mounting shafts 58 are fixedly connected to the box cigarette surface bearing plate 59, of which the outer sides of two bearing mounting shafts 58 are slidably connected to the box cigarette surface conveying frame 7 of the bending clamping mechanism 4, and the outer sides of the other two bearing mounting shafts 58 are fixedly connected to the moving platform 54;

[0045] The fixed bar gear of the transmission rack 51 meshes with the transmission gear 55, providing a transmission path for the transmission gear 55. When the transmission gear 55 rotates, it moves along the length direction of the transmission rack 51, thereby driving the mobile platform 54 and other components connected to the transmission gear 55 to achieve lateral linear motion, controlling the moving direction and distance of the mobile platform 54. The linear guide 52 is installed on both sides of the inner wall of the inner frame 65 to provide guidance and support for the guide slider 53, ensuring that the guide slider 53 can make linear motion in the inner frame 65, ensuring that the mobile platform 54 maintains stability and linear motion during the lateral movement, avoiding shaking or offset of the mobile platform 54, affecting the stacking accuracy, and the guide slider 53 is sleeved on the outside of the linear guide 52 and connected to the mobile platform 5 4 is connected and can slide on the linear guide rail 52, thereby transmitting the guiding function of the linear guide rail 52 to the mobile platform 54, so that the mobile platform 54 moves along the predetermined linear direction, and the guide rail slider 53 can withstand the pressure and friction generated by the mobile platform 54 during the movement, ensuring the smooth movement of the mobile platform 54. The mobile platform 54 serves as a platform for carrying the bearing plate 59 and other related components on the surface of the cigarette box. It is connected to the linear guide rail 52 through the guide rail slider 53 and is driven by the transmission gear 55 to move along the direction of the transmission rack 51 to achieve the horizontal position adjustment of the cigarette box surface and accurately transport the cigarette box surface to the stacking position. It is a key executive component for the horizontal transmission and stacking of the cigarette box surface. The travel limit pin 57 is fixed to the inner wall of the inner frame 65 One end away from the transmission rack 51 is used to limit the movement range of the mobile platform 54, prevent the mobile platform 54 from exceeding the designed stroke, avoid equipment damage and accidents such as falling off the box cigarette surface, and ensure the safe operation of the equipment. One end of the load-bearing installation shaft 58 is fixed on the mobile platform 54 or the lifting adjustment frame 62, and the other end is connected to the box cigarette surface load-bearing plate 59, which is used to support and install the box cigarette surface load-bearing plate 59, so that the box cigarette surface load-bearing plate 59 can move with the mobile platform 54, and the load-bearing installation shaft 58 needs to have sufficient strength and rigidity to withstand the weight of the box cigarette surface and the impact force generated during the stacking process. The drive motor 56 is installed inside the mobile platform 54 as the power source for horizontal transmission, and its drive end is connected to the transmission gear 55. The rotation direction of the transmission gear 55 is controlled by the forward and reverse rotation of the motor, thereby realizing the left and right lateral movement of the mobile platform 54 and adjusting the lateral position of the box cigarette surface to meet the requirements of different stacking positions. The transmission gear 55 is connected to the drive motor 56 and meshes with the transmission rack 51, converting the rotational motion of the drive motor 56 into linear motion along the direction of the transmission rack 51 and transmitting it to the mobile platform 54. It is a key transmission component connecting the drive motor 56 and the transmission rack 51. Its transmission accuracy directly affects the movement accuracy and stacking accuracy of the mobile platform 54. The box cigarette surface bearing plate 59 is fixed to the top of the bearing mounting shaft 58, which is used to place the box cigarette surface to be stacked. Driven by the mobile platform 54, the box cigarette surface is transported to the designated stacking position.It is a direct component for carrying and transporting the surface of the cigarette box. Its size and layout should be designed according to the shape and size of the cigarette box surface to ensure that the cigarette box surface can be stably placed and transported. The gear rack transverse transmission mechanism 5 can achieve precise transverse position control. Through the cooperation of the drive motor 56, the transmission gear 55 and the rack, the cigarette box surface can be accurately moved to the specified transverse position, improving the neatness and efficiency of palletizing. The use of the linear guide 52 and the guide slider 53 ensures the stability and straightness of the mobile platform 54, so that the cigarette box surface will not deviate during the transmission process, ensuring the quality of palletizing. At the same time, the design of the travel limit pin 57 effectively prevents excessive operation of the equipment and improves the safety of the equipment.

[0046] like Figure 2 and Figure 4 As shown, the height adjustment mechanism 6 includes a height adjustment cylinder 61 fixedly connected to the four corners of the outer side of the frame base 1, the driving end of the height adjustment cylinder 61 is fixedly connected to the lifting adjustment frame 62, and the outer ends of the lifting adjustment frame 62 are fixedly connected to the guide positioning columns 63. A guide groove 64 is provided inside the frame body 21, and the outer side of the guide positioning columns 63 is slidably connected to the guide groove 64. The outer side of the inner frame 65 is fixedly connected to the lifting adjustment frame 62, and the outer side of the transmission rack 51 is fixedly connected to the inner frame 65;

[0047] The height adjustment cylinder 61 is fixed to the four corners of the outer side of the frame base 1 and serves as the power source for height adjustment. The telescopic movement of its piston rod can drive the lifting and adjusting frame 62 to move up and down, thereby realizing the adjustment of the height of the entire stacking device. The lifting and adjusting frame 62 is connected to the driving end of the height adjustment cylinder 61 and serves as an intermediate frame connecting the height adjustment cylinder 61 and the guide positioning column 63 and other components. The movement of the height adjustment cylinder 61 is transmitted to the guide positioning column 63 and the inner frame 65 and other components, driving the inner frame 65 and the related components installed on the inner frame 65 to rise and fall synchronously. The guide positioning column 63 is fixed at both ends of the outer side of the lifting and adjusting frame 62 and inserted into the guide slide groove 64 of the frame body 21. The outer side is slidably connected with the guide slide groove 64, which plays a guiding and positioning role in the lifting and lowering process of the lifting and adjusting frame 62, ensuring the vertical lifting and lowering movement of the lifting and adjusting frame 62 and the inner frame 65, preventing skew or shaking during the lifting process, and ensuring the equipment In order to improve the height adjustment accuracy and stability, the guide slide 64 is opened inside the frame body 21 to accommodate and guide the guide positioning column 63, provide a guide track for the lifting movement of the lifting adjustment frame 62, limit the movement direction of the guide positioning column 63, so that it can only move up and down along the guide slide 64, thereby ensuring the movement accuracy and stability of the entire height adjustment mechanism 6, the outer side of the inner frame 65 is fixedly connected to the lifting adjustment frame 62, and components such as the transmission rack 51 are installed inside. It rises and falls with the lifting and lowering of the lifting adjustment frame 62, driving the gear rack transverse transmission mechanism 5 and other related components to rise and fall synchronously, thereby realizing the adjustment of the entire stacking device in the height direction to meet the needs of different stacking heights. The height adjustment mechanism 6 can easily adjust the working height of the stacking equipment, so as to achieve delivery to different box cigarette surface layered material racks 8, thereby achieving the purpose of classification, so that it can adapt to the stacking needs of box cigarette surfaces of different specifications and sizes.

[0048] Working principle;

[0049] like Figures 1-6 As shown;

[0050] In actual use, first, the piston rod of the translation drive cylinder 24 extends or retracts, and then drives the linear slider 25 fixedly connected to it to slide linearly along the outer side of the side beam bracket 22, and then drives the articulated transmission shaft 26 rotatably connected to the top of the linear slider 25 to move, and then drives the first transmission link 27 and the second transmission link 28 rotatably connected to the articulated transmission shaft 26 to move, and converts the linear motion of the linear slider 25 into a planar motion with a specific trajectory, thereby driving the extension transmission shaft 29 fixed to the bottom end of the first transmission link 27 and the connecting support 210 connecting all the extension transmission shafts 29 to perform translational motion according to a predetermined trajectory, which can drive the adsorption top plate 31 fixedly installed at the bottom end of the connecting support 210 to move to just above the surface of the smoke box, and then, The piston rod of the adsorption lifting cylinder 32 extends, and then drives the suction cup mounting plate 33 fixed to its driving end to descend, and then drives the suction cup support column 34 and the vacuum adsorption plate 35 fixed on the suction cup mounting plate 33 to descend and contact the surface of the smoke box, thereby starting the vacuum system, and the vacuum adsorption plate 35 adsorbs the surface of the smoke box, and then the piston rod of the adsorption lifting cylinder 32 retracts, which can drive the vacuum adsorption plate 35 adsorbing the surface of the smoke box to rise and leave the conveying surface. Usually, after the surface of the smoke box is adsorbed and lifted, the piston rod of the clamping drive cylinder 46 extends or retracts, and then drives the swing arm rotating shaft 43 fixed to its driving end to rotate, thereby driving the clamping support column 44 and the clamping vacuum suction cup 45 fixed on the bending swing arm 42 to move toward the side of the smoke box surface and contact, and then it gives the clamping vacuum The empty suction cup 45 adsorbs the side surface of the box smoke, and cooperates with the top vacuum adsorption device 3 to achieve multi-point stable clamping of the box smoke surface. Then the drive motor 56 is started, and then drives the transmission gear 55 fixed to its driving end to rotate. Since the transmission gear 55 is engaged with the transmission rack 51 fixed on the inner frame 65, the mobile platform 54 on which the drive motor 56 and the transmission gear 55 are installed is driven to make a horizontal linear motion along the linear guide rail 52 fixed on the inner wall of the inner frame 65 and slide on the linear guide rail 52, and then drives the load-bearing mounting shaft 58 fixed on the mobile platform 54 to move horizontally, thereby driving the box smoke surface load-bearing plate 59 fixed on the top of all the load-bearing mounting shafts 58 to move horizontally to above the specified stacking position, and the whole is connected with the support 210 The movement of the height adjustment cylinder 61 positioned at the last four corners above the box cigarette surface support plate 59 moves synchronously, and then drives the lifting adjustment frame 62 fixed to its driving end to rise and fall vertically, and then drives the guide positioning columns 63 fixed at both ends of the outer side of the lifting adjustment frame 62 to slide up and down along the guide slide 64 on the frame body 21, ensuring smooth lifting and accurate guiding, and then drives the inner frame 65 fixed on the outer side to the lifting adjustment frame 62 and all the components installed inside it to rise and fall synchronously, thereby driving the box cigarette surface grasped and positioned just above the box cigarette surface support plate 59 by the top vacuum adsorption device 3 and the bending clamping mechanism 4 to drop to the target height, corresponding to one layer of the box cigarette surface layered material rack 8, and then, the piston rod of the adsorption lifting cylinder 32 extends,Gently place the cigarette box surface on the cigarette box surface support plate 59, and at the same time retract the adsorption lifting cylinder 32. The adsorption lifting cylinder 32 and the clamping drive cylinder 46 release the adsorption of the vacuum adsorption plate 35 and the clamping vacuum suction cup 45 under the action of gravity, releasing the cigarette box surface.

[0051] The above description is merely a preferred embodiment of the present invention and does not constitute any other form of limitation to the present invention. Any person skilled in the art may utilize the technical contents disclosed above to change or modify them into equivalent embodiments with equivalent changes for application in other fields. However, any simple modification, equivalent change, and modification of the above embodiments made in accordance with the technical essence of the present invention without departing from the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A multi-directional positioning regular automatic palletizing device based on a palletizing robot, comprising a frame base (1), a cigarette box surface conveying frame (7) and a cigarette box surface layering material rack (8), wherein the cigarette box surface conveying frame (7) and the cigarette box surface layering material rack (8) are installed at both ends of the frame base (1), characterized in that: The invention also includes a connecting rod type translation transmission mechanism (2), wherein the connecting rod type translation transmission mechanism (2) includes a frame body (21) fixedly connected to the frame base (1), the inner ends of the frame body (21) are fixedly connected to side beam brackets (22), the outer ends of the side beam brackets (22) are fixedly connected to cylinder mounting supports (23), the inner ends of the cylinder mounting supports (23) are slidably connected to a translation drive cylinder (24), and the outer ends of the translation drive cylinder (24) are fixedly connected to the side beam brackets (22). A linear slider (25) is connected, the top end of the linear slider (25) is rotatably connected to an articulated transmission shaft (26), the outer side of one of the articulated transmission shafts (26) is rotatably connected to a first transmission link (27), the outer side of the other articulated transmission shaft (26) is rotatably connected to a second transmission link (28), the bottom end of the first transmission link (27) is fixedly connected to an extension transmission shaft (29), and the bottom ends of the two extension transmission shafts (29) are fixedly connected to a connecting support (210); A top vacuum adsorption device (3), the top vacuum adsorption device (3) comprising an adsorption top plate (31) fixedly connected to the bottom ends of two connection supports (210), four inner corners of the adsorption top plate (31) are fixedly connected to adsorption lifting cylinders (32), and the driving ends of each two adsorption lifting cylinders (32) are fixedly connected to suction cup mounting plates (33); A bending clamping mechanism (4), the bending clamping mechanism (4) comprising a limit block (41) fixedly connected to the inner side of the side beam bracket (22), one end of the limit block (41) away from the side beam bracket (22) being rotatably connected to a bending swing arm (42), and both ends of the inner side of the bending swing arm (42) being rotatably connected to a swing arm rotating shaft (43); A rack and pinion transverse transmission mechanism (5), wherein the rack and pinion transverse transmission mechanism (5) comprises a transmission rack (51), an inner frame (65) is slidably connected to the interior of the frame base (1), both sides of the inner wall of the inner frame (65) are fixedly connected to linear guide rails (52), the outer side of the linear guide rail (52) is slidably connected to a guide rail slider (53), the outer side of the guide rail slider (53) is fixedly connected to a moving platform (54), the inner wall of the inner frame (65) is fixedly connected to one end away from the transmission rack (51) with a travel limit pin (57), and the outer sides of the moving platform (54) and the travel limit pin (57) are both provided with a load-bearing mounting shaft (58); A height adjustment mechanism (6) includes a height adjustment cylinder (61) fixedly connected to the four corners of the outer side of the frame base (1), a driving end of the height adjustment cylinder (61) fixedly connected to a lifting adjustment frame (62), both ends of the outer side of the lifting adjustment frame (62) fixedly connected to guide positioning columns (63), and a guide slot (64) is provided inside the frame body (21).

2. The multi-directional positioning and regular automatic palletizing equipment based on a palletizing robot according to claim 1, characterized in that: A plurality of suction cup support columns (34) are fixedly connected to the interior of the suction cup mounting plate (33), and a vacuum adsorption disc (35) is fixedly connected to the bottom end of the suction cup support column (34).

3. The multi-directional positioning and regular automatic palletizing equipment based on a palletizing robot according to claim 1, characterized in that: A plurality of clamping support columns (44) are fixedly connected inside the bending swing arm (42), and a clamping vacuum suction cup (45) is fixedly connected to the bottom end of the clamping support column (44).

4. The multi-directional positioning and regular automatic palletizing equipment based on a palletizing robot according to claim 1, characterized in that: Clamping drive cylinders (46) are installed on both sides of the bottom end of the side beam bracket (22), and the driving ends of the clamping drive cylinders (46) are fixedly connected to the swing arm rotating shaft (43).

5. The multi-directional positioning and regular automatic palletizing equipment based on a palletizing robot according to claim 1, characterized in that: A driving motor (56) is installed inside the mobile platform (54), and a driving end of the driving motor (56) is fixedly connected to a transmission gear (55), and the transmission gear (55) is meshed with the transmission rack (51).

6. The multi-directional positioning and regular automatic palletizing equipment based on a palletizing robot according to claim 1, characterized in that: The top ends of the four bearing mounting shafts (58) are fixedly connected to a cigarette box surface bearing plate (59), wherein the outer sides of two of the bearing mounting shafts (58) are slidably connected to the cigarette box surface conveying frame (7) of the bending clamping mechanism (4), and the outer sides of the other two bearing mounting shafts (58) are fixedly connected to the moving platform (54).

7. The multi-directional positioning and regular automatic palletizing equipment based on a palletizing robot according to claim 1, characterized in that: The inner portion of the linear slider (25) is slidably connected to the outer side of the side beam bracket (22), and the bottom end of the second transmission link (28) is rotatably connected to the first transmission link (27).

8. The multi-directional positioning and regular automatic palletizing equipment based on a palletizing robot according to claim 1, characterized in that: The outer side of the guide positioning column (63) is slidably connected to the guide sliding groove (64), and the outer side of the inner frame (65) is fixedly connected to the lifting adjustment frame (62).

9. The multi-directional positioning and regular automatic palletizing equipment based on a palletizing robot according to claim 1, characterized in that: The outer side of the transmission rack (51) is fixedly connected to the inner frame (65).

Images