Color box stacking equipment

Abstract

The invention discloses color box stacking equipment which comprises a rack, a feeding conveying line module, a color box arrangement module, a color box feeding gantry mechanical arm, a color box overturning and discharging mechanical arm and a color box transfer transverse moving module are arranged on the rack, and the color box feeding gantry mechanical arm carries color boxes from the feeding conveying line module to the color box arrangement module to be stacked and arranged; the color box overturning and discharging manipulator takes the stacked and arranged color boxes from the color box arrangement module and overturns the color boxes by 90 degrees to be in a vertical state; the color box overturning and discharging mechanical arm overturns the color boxes and then carries the color boxes to the color box transferring and transverse moving module to be vertically stacked, and the color box transferring and transverse moving module sends out the vertically stacked color boxes. The stacking machine is widely suitable for mobile phone manufacturing, electronic equipment packaging and other industries needing efficient stacking. Automatic sorting and stacking processes are combined with an intelligent control system, so that the whole process automation from sorting to stacking is realized, the production efficiency is greatly improved, and the labor cost is reduced.

Description

Technical Field

[0001] The present invention relates to a palletizing device, in particular to a color box palletizing device. Background Art

[0002] As a highly standardized, mass-produced product, mobile phones require extremely high efficiency and quality in their packaging. Traditional mobile phone color box packaging and palletizing rely heavily on manual labor, which is not only inefficient but also prone to problems such as missing or mixed boxes. Furthermore, manual palletizing is labor-intensive and requires significant space. Therefore, the development of efficient, automated, and reliable mobile phone color box palletizing equipment is an urgent need within the industry. Summary of the Invention

[0003] In order to overcome the shortcomings and deficiencies in the prior art, the present invention aims to provide a color box palletizing device.

[0004] The object of the present invention is achieved through the following technical solution: a color box palletizing device, comprising a frame, on which are provided a feeding conveyor line module, a color box sorting module, a color box loading gantry robot, a color box flipping and unloading robot, and a color box transfer and transverse movement module; a plurality of color box sorting modules are arranged in an array to reduce waiting time, and the color box sorting modules sort and palletize every 5 color boxes into a group; The color box loading gantry robot transports the color boxes from the feeding conveyor line module to the color box sorting module for palletizing and sorting; the color box flipping and unloading robot takes the palletized color boxes from the color box sorting module and flips the color boxes 90 degrees to an upright state; the color box flipping and unloading robot flips the color boxes and transports them to the color box transfer and transverse movement module for upright palletizing; the color box transfer and transverse movement module sends out the upright palletized color boxes.

[0005] As an improvement of the color box palletizing equipment of the present invention, it also includes a color box NG discharging module for conveying NG color boxes and a barcode scanning gun module for scanning and binding color boxes. The color box NG discharging module and the barcode scanning gun module are both arranged on the frame. The color boxes transported by the color box flipping and unloading robot are moved to the position of the barcode scanning gun module for scanning. When the color box is a defective product, the color box flipping and unloading robot transports the NG color box to the color box NG discharging module for palletizing, and transports the qualified products to the color box transfer and transverse movement module for upright palletizing.

[0006] As an improvement of the color box palletizing equipment of the present invention, the feeding conveyor line module includes a feeding conveyor line, on which a code scanning gun, a color box turning mechanism and a color box lifting mechanism are provided. When the feeding conveyor line conveys the color box to the code scanning position, the code scanning gun scans the color box. When the feeding conveyor line conveys the color box to the position of the color box lifting mechanism, the color box lifting mechanism lifts the color box, and the color box turning mechanism clamps the color box and turns the color box 180 degrees for turning over. The color box flipping mechanism includes a flipping cylinder mounting bracket, on which a flipping cylinder is provided. The flipping cylinder controls the rotation of a clamping cylinder mounting plate. The clamping cylinder mounting plate is provided with a clamping cylinder. The clamping cylinder controls two clamping arms to clamp the color box. Both clamping arms are provided with grooves, which facilitate the color box loading gantry robot to take the color box. The color box lifting mechanism includes a lifting cylinder, a lifting plate is provided at the piston rod end of the lifting cylinder, and the lifting cylinder is installed on the feeding conveyor line through a mounting plate; The feeding conveying line is provided with incoming material sensors at the positions of the barcode scanning gun and the color box lifting mechanism.

[0007] As an improvement of the color box palletizing equipment of the present invention, the color box sorting module includes a bracket and a positioning bracket, the positioning bracket is located above the bracket, and a transplanting drive and a linear slide are provided on the bracket. The transplanting drive controls a base plate to move on the linear slide, and a second lifting cylinder is provided on the base plate. The second lifting cylinder controls the lifting of a cylinder mounting plate, and a finger cylinder is provided on the cylinder mounting plate. The finger cylinder controls two second clamping arms to clamp the color box. Guide columns are provided at the four corners of the positioning bracket. The cross section of the guide column is L-shaped, and the inner side of the guide column is pasted with velvet. A plurality of position sensors are provided at intervals on the side of one of the guide columns; The transplanting drive includes a transplanting motor, a driving pulley and a driven pulley, the driving pulley and the driven pulley are connected by a synchronous belt, the driving pulley is connected to the output shaft of the transplanting motor, and the base plate is connected to the synchronous belt.

[0008] As an improvement of the color box palletizing equipment of the present invention, the positioning bracket is provided with a loading station and an unloading station, wherein two of the guide posts are located at the loading station, and the other two guide posts are located at the unloading station, and a plurality of position sensors are spaced apart on the guide post at one of the loading stations; The color boxes carried by the color box loading gantry robot are placed on the loading station for stacking. After the loading station stacks 5 color boxes, the finger cylinder clamps the 5 color boxes, the second lifting cylinder lifts the stacked color boxes, and the transplanting drive drives the 5 stacked color boxes to move to the unloading station.

[0009] As an improvement of the color box palletizing equipment of the present invention, the color box loading gantry robot includes a gantry bracket, and the gantry bracket is provided with an X-axis servo module and a Z-axis servo module, the X-axis servo module controls the movement of the Z-axis servo module, and the Z-axis servo module controls the lifting and movement of a lifting bracket, and a rotating cylinder is provided at the bottom of the lifting bracket, and the rotating cylinder controls the rotation of the second clamping cylinder mounting plate, and the second clamping cylinder is provided on the second clamping cylinder mounting plate, and the second clamping cylinder controls two third clamping arms to clamp the color box.

[0010] As an improvement of the color box palletizing equipment of the present invention, the color box flipping and unloading robot includes a Y-axis servo module, a second X-axis servo module and a second Z-axis servo module, the Y-axis servo module controls the movement of the second X-axis servo module, the second X-axis servo module controls the movement of the second Z-axis servo module, the second Z-axis servo module controls the lifting and movement of a lifting side plate, the lifting side plate is provided with a flipping motor, the flipping motor controls the rotation of the third clamping cylinder mounting plate, the third clamping cylinder mounting plate is provided with a third clamping cylinder, the third clamping cylinder controls two groups of clamping blocks to clamp the color box, and the clamping surface of each clamping block is provided with anti-slip teeth.

[0011] As an improvement of the color box palletizing equipment of the present invention, the color box transfer transverse movement module includes a transfer bracket, the transfer bracket is provided with a second transfer drive, the second transfer drive controls the movement of a slide, one end of the slide is provided with a displacement control cylinder, and both sides of the slide are provided with a color box clamping cylinder, the displacement control cylinder controls the transverse movement of two color box palletizing brackets, and the two color box palletizing brackets are slidably connected to the slide through a slide rail and a slider; When the color boxes are stacked on the two color box stacking supports, the displacement control cylinder controls the two color box stacking supports to move closer to each other. After the color boxes are stacked, the displacement control cylinder controls the two color box stacking supports to open, the color box clamping cylinder clamps the color boxes, and the second transplanting drive controls the color boxes to move to the unloading position.

[0012] As an improvement of the color box palletizing device of the present invention, it further includes a square protective cover, which is covered on the transfer bracket; The second transplanting drive includes a servo motor and a synchronous belt module, and the servo motor drives the movement of the slide plate through the synchronous belt module.

[0013] As an improvement of the color box palletizing equipment of the present invention, the color box NG discharging module includes two groups of width adjustment brackets, both groups of the width adjustment brackets are adjustably mounted on the bottom mounting plate, a second synchronous belt module is provided between the two groups of the width adjustment brackets, the second synchronous belt module is driven by a second servo motor, and both groups of the width adjustment brackets are provided with mounting profiles, the inner side of the mounting profiles is provided with a conveyor belt module, the conveyor belt module is controlled to rotate by a stepper motor, and positioning plates are provided on the two mounting profiles, and velvet is pasted on the inner side of the positioning plates; The second synchronous belt module is connected to a movable plate, which is provided with a stacking platform and a guide plate. The guide plate is located on one side of the stacking platform. When a sufficient number of NG color boxes are stacked on the stacking platform, the second servo motor drives the stacking platform to the unloading position via the second synchronous belt module. The stepper motor and the conveyor belt module operate together. In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of the present invention is to provide a color box stacking device.

[0014] The object of the present invention is achieved through the following technical solution: a color box palletizing device, comprising a frame, on which are provided a feeding conveyor line module, a color box sorting module, a color box loading gantry robot, a color box flipping and unloading robot, and a color box transfer and transverse movement module; a plurality of color box sorting modules are arranged in an array to reduce waiting time, and the color box sorting modules sort and palletize every 5 color boxes into a group; The color box loading gantry robot transports the color boxes from the feeding conveyor line module to the color box sorting module for palletizing and sorting; the color box flipping and unloading robot takes the palletized color boxes from the color box sorting module and flips the color boxes 90 degrees to an upright state; the color box flipping and unloading robot flips the color boxes and transports them to the color box transfer and transverse movement module for upright palletizing; the color box transfer and transverse movement module sends out the upright palletized color boxes.

[0015] As an improvement of the color box palletizing equipment of the present invention, it also includes a color box NG discharging module for conveying NG color boxes and a barcode scanning gun module for scanning and binding color boxes. The color box NG discharging module and the barcode scanning gun module are both arranged on the frame. The color boxes transported by the color box flipping and unloading robot are moved to the position of the barcode scanning gun module for scanning. When the color box is a defective product, the color box flipping and unloading robot transports the NG color box to the color box NG discharging module for palletizing, and transports the qualified products to the color box transfer and transverse movement module for upright palletizing.

[0016] As an improvement of the color box palletizing equipment of the present invention, the feeding conveyor line module includes a feeding conveyor line, on which a code scanning gun, a color box turning mechanism and a color box lifting mechanism are provided. When the feeding conveyor line conveys the color box to the code scanning position, the code scanning gun scans the color box. When the feeding conveyor line conveys the color box to the position of the color box lifting mechanism, the color box lifting mechanism lifts the color box, and the color box turning mechanism clamps the color box and turns the color box 180 degrees for turning over. The color box flipping mechanism includes a flipping cylinder mounting bracket, on which a flipping cylinder is provided. The flipping cylinder controls the rotation of a clamping cylinder mounting plate. The clamping cylinder mounting plate is provided with a clamping cylinder. The clamping cylinder controls two clamping arms to clamp the color box. Both clamping arms are provided with grooves, which facilitate the color box loading gantry robot to take the color box. The color box lifting mechanism includes a lifting cylinder, a lifting plate is provided at the piston rod end of the lifting cylinder, and the lifting cylinder is installed on the feeding conveyor line through a mounting plate; The feeding conveying line is provided with incoming material sensors at the positions of the barcode scanning gun and the color box lifting mechanism.

[0017] As an improvement of the color box palletizing equipment of the present invention, the color box sorting module includes a bracket and a positioning bracket, the positioning bracket is located above the bracket, and a transplanting drive and a linear slide are provided on the bracket. The transplanting drive controls a base plate to move on the linear slide, and a second lifting cylinder is provided on the base plate. The second lifting cylinder controls the lifting of a cylinder mounting plate, and a finger cylinder is provided on the cylinder mounting plate. The finger cylinder controls two second clamping arms to clamp the color box. Guide columns are provided at the four corners of the positioning bracket. The cross section of the guide column is L-shaped, and the inner side of the guide column is pasted with velvet. A plurality of position sensors are provided at intervals on the side of one of the guide columns; The transplanting drive includes a transplanting motor, a driving pulley and a driven pulley, the driving pulley and the driven pulley are connected by a synchronous belt, the driving pulley is connected to the output shaft of the transplanting motor, and the base plate is connected to the synchronous belt.

[0018] As an improvement of the color box palletizing equipment of the present invention, the positioning bracket is provided with a loading station and an unloading station, wherein two of the guide posts are located at the loading station, and the other two guide posts are located at the unloading station, and a plurality of position sensors are spaced apart on the guide post at one of the loading stations; The color boxes carried by the color box loading gantry robot are placed on the loading station for stacking. After the loading station stacks 5 color boxes, the finger cylinder clamps the 5 color boxes, the second lifting cylinder lifts the stacked color boxes, and the transplanting drive drives the 5 stacked color boxes to move to the unloading station.

[0019] As an improvement of the color box palletizing equipment of the present invention, the color box loading gantry robot includes a gantry bracket, and the gantry bracket is provided with an X-axis servo module and a Z-axis servo module, the X-axis servo module controls the movement of the Z-axis servo module, and the Z-axis servo module controls the lifting and movement of a lifting bracket, and a rotating cylinder is provided at the bottom of the lifting bracket, and the rotating cylinder controls the rotation of the second clamping cylinder mounting plate, and the second clamping cylinder is provided on the second clamping cylinder mounting plate, and the second clamping cylinder controls two third clamping arms to clamp the color box.

[0020] As an improvement of the color box palletizing equipment of the present invention, the color box flipping and unloading robot includes a Y-axis servo module, a second X-axis servo module and a second Z-axis servo module, the Y-axis servo module controls the movement of the second X-axis servo module, the second X-axis servo module controls the movement of the second Z-axis servo module, the second Z-axis servo module controls the lifting and movement of a lifting side plate, the lifting side plate is provided with a flipping motor, the flipping motor controls the rotation of the third clamping cylinder mounting plate, the third clamping cylinder mounting plate is provided with a third clamping cylinder, the third clamping cylinder controls two groups of clamping blocks to clamp the color box, and the clamping surface of each clamping block is provided with anti-slip teeth.

[0021] As an improvement of the color box palletizing equipment of the present invention, the color box transfer transverse movement module includes a transfer bracket, the transfer bracket is provided with a second transfer drive, the second transfer drive controls the movement of a slide, one end of the slide is provided with a displacement control cylinder, and both sides of the slide are provided with a color box clamping cylinder, the displacement control cylinder controls the transverse movement of two color box palletizing brackets, and the two color box palletizing brackets are slidably connected to the slide through a slide rail and a slider; When the color boxes are stacked on the two color box stacking supports, the displacement control cylinder controls the two color box stacking supports to move closer to each other. After the color boxes are stacked, the displacement control cylinder controls the two color box stacking supports to open, the color box clamping cylinder clamps the color boxes, and the second transplanting drive controls the color boxes to move to the unloading position.

[0022] As an improvement of the color box palletizing device of the present invention, it further includes a square protective cover, which is covered on the transfer bracket; The second transplanting drive includes a servo motor and a synchronous belt module, and the servo motor drives the movement of the slide plate through the synchronous belt module.

[0023] As an improvement of the color box palletizing equipment of the present invention, the color box NG discharging module includes two groups of width adjustment brackets, both groups of the width adjustment brackets are adjustably mounted on the bottom mounting plate, a second synchronous belt module is provided between the two groups of the width adjustment brackets, the second synchronous belt module is driven by a second servo motor, and both groups of the width adjustment brackets are provided with mounting profiles, the inner side of the mounting profiles is provided with a conveyor belt module, the conveyor belt module is controlled to rotate by a stepper motor, and positioning plates are provided on the two mounting profiles, and velvet is pasted on the inner side of the positioning plates; The second synchronous belt module is connected to a movable plate, on which a stacking platform and a guide plate are provided. The guide plate is located on one side of the stacking platform. When a sufficient number of NG color boxes are stacked on the stacking platform, the second servo motor drives the stacking platform to move to the unloading position through the second synchronous belt module, and the stepper motor and the conveyor belt module work together.

[0024] The beneficial effects of the present invention are as follows: the present invention is widely applicable to mobile phone manufacturing, electronic equipment packaging and other industries requiring efficient palletizing; the automated sorting and palletizing process, combined with an intelligent control system, realizes full process automation from sorting to palletizing, greatly improving production efficiency and reducing labor costs; The present invention also has the following advantages: This equipment significantly improves production efficiency by automating the sorting and palletizing processes. The high-speed color box sorter's front and rear flow channels operate simultaneously, significantly shortening production cycles.

[0025] The equipment is compatible with a variety of products and packaging specifications, and can adapt to mobile phone boxes of different sizes and shapes. This flexibility enables the equipment to meet diverse market demands.

[0026] Through intelligent packaging systems and automated control, the equipment can ensure the accuracy and reliability of the production process and reduce errors caused by manual operations.

[0027] Automated operations significantly reduce dependence on manpower, lowering labor intensity and labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a perspective view of the present invention; Figure 2 This is a first-direction stereoscopic view of the present invention without the frame; Figure 3 This is a second-direction stereogram of the present invention without the frame; Figure 4 This is a three-dimensional diagram of the feed conveyor line module of the present invention; Figure 5 It is a three-dimensional diagram of the color box arrangement module of the present invention; Figure 6 This is a three-dimensional diagram of the color box loading gantry robot of the present invention; Figure 7 This is a three-dimensional diagram of the color box turning and blanking robot of the present invention; Figure 8 This is a three-dimensional diagram of the color box transfer and transverse movement module of the present invention; Figure 9 It is a three-dimensional diagram of the color box NG discharging module of the present invention. DETAILED DESCRIPTION

[0029] The following will provide a clear and complete description of 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. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0030] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship and movement status of various components under a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0031] In addition, the terms "first," "second," and so on, used in this disclosure are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features designated as "first" or "second" may explicitly or implicitly include at least one such feature. Furthermore, the technical solutions of various embodiments may be combined with each other, but this must be based on the ability of a person of ordinary skill in the art to implement them. If a combination of technical solutions contradicts or cannot be implemented, such combination of technical solutions shall be deemed non-existent and outside the scope of protection claimed by this disclosure.

[0032] like Figures 1-9 As shown, a color box palletizing equipment includes a frame 1, on which are provided a feeding conveyor line module 2, a color box sorting module 3, a color box loading gantry robot 4, a color box flipping and unloading robot 5 and a color box transfer and transverse movement module 6; a plurality of color box sorting modules 3 are arranged to reduce waiting time, and the color box sorting module 3 sorts and palletizes every 5 color boxes as a group; after palletizing 5 color boxes, they are transported to the unloading position through the color box sorting module 3, and the color box flipping and unloading robot 5 takes 5 color boxes for scanning and binding, and then puts them on the color box transfer and transverse movement module 6, and waits for another group of color boxes to be placed, and then is clamped, positioned and transported to the next stage equipment; The feeding conveyor line module 2 is used for scanning, sorting and conveying color boxes, and cooperates with the material picking module to realize product palletizing. The color box loading gantry robot 4 transports the color boxes from the feeding conveyor line module 2 to the color box sorting module 3 for palletizing. The color box flipping and unloading robot 5 takes the palletized color boxes from the color box sorting module 3 and flips the color boxes 90 degrees to an upright state; the color box flipping and unloading robot 5 flips the color boxes and transports them to the color box transfer and transverse movement module 6 for upright palletizing. The color box transfer and transverse movement module 6 sends out the upright palletized color boxes.

[0033] Preferably, the system further includes a color box NG discharging module 7 for conveying NG color boxes and a barcode scanning gun module 8 for scanning and binding color boxes. Both the color box NG discharging module 7 and the barcode scanning gun module 8 are arranged on the frame 1. The color boxes carried by the color box flipping and unloading robot 5 are moved to the position of the barcode scanning gun module for scanning. When the color boxes are defective, the color box flipping and unloading robot 5 transports the NG color boxes to the color box NG discharging module 7 for palletizing, and transports the qualified ones to the color box transfer and transverse movement module 6 for upright palletizing. NG color boxes are defective color boxes that are judged to have surface defects or damaged appearance.

[0034] Preferably, the feeding conveyor line module 2 includes a feeding conveyor line 21, on which a code scanning gun 22, a color box turning mechanism 23 and a color box lifting mechanism 24 are provided. When the feeding conveyor line 21 conveys the color box to the code scanning position, the code scanning gun 22 scans the color box. When the feeding conveyor line 21 conveys the color box to the position of the color box lifting mechanism 24, the color box lifting mechanism 24 lifts the color box, and the color box turning mechanism 23 clamps the color box and turns the color box 180 degrees to turn it over. The color box flipping mechanism 23 includes a flipping cylinder mounting bracket 231, on which a flipping cylinder 232 is provided. The flipping cylinder 232 controls the rotation of a clamping cylinder mounting plate 233. The clamping cylinder mounting plate 233 is provided with a clamping cylinder 234. The clamping cylinder 234 controls two clamping arms 235 to clamp the color box. Both clamping arms 235 are provided with grooves 236. The grooves 236 facilitate the color box loading gantry robot 4 to take the color box. The color box lifting mechanism 24 includes a lifting cylinder 241, a lifting plate 242 is provided at the piston rod end of the lifting cylinder 241, and the lifting cylinder 241 is installed on the feed conveyor line 21 through a mounting plate; The feeding conveying line 21 is provided with incoming material sensors at the positions of the barcode scanning gun 22 and the color box lifting mechanism 24.

[0035] Preferably, the color box sorting module 3 includes a bracket 31 and a positioning bracket 301, the positioning bracket 301 is located above the bracket 31, and a transplanting drive 32 and a linear slide 33 are provided on the bracket 31. The transplanting drive 32 controls a base plate 34 to move on the linear slide 33. A second lifting cylinder 35 is provided on the base plate 34, and the second lifting cylinder 35 controls the lifting of a cylinder mounting plate 36. A finger cylinder 37 is provided on the cylinder mounting plate 36, and the finger cylinder 37 controls two second clamping arms 38 to clamp the color box. Guide columns 39 are provided at the four corners of the positioning bracket 301. The cross section of the guide column 39 is L-shaped, and the inner side of the guide column 39 is pasted with velvet. A plurality of position sensors 30 are provided at intervals on the side of one of the guide columns 39; The transplanting drive 32 includes a transplanting motor 321 , a driving pulley 322 and a driven pulley 323 . The driving pulley 322 and the driven pulley 323 are connected by a synchronous belt 324 . The driving pulley 322 is connected to the output shaft of the transplanting motor 321 . The base plate 34 is connected to the synchronous belt 324 .

[0036] Preferably, a loading station 302 and a blanking station 303 are provided on the positioning bracket 301, wherein two guide posts 39 are located on the loading station 302, and another two guide posts 39 are located at the blanking station 303, and a plurality of position sensors 30 are spaced apart on the guide posts 39 at one of the loading stations 302; The color boxes carried by the color box loading gantry robot 4 are placed on the loading station 302 for stacking. After the loading station stacks 5 color boxes, the finger cylinder 37 clamps the 5 color boxes, the second lifting cylinder 35 lifts the stacked color boxes, and the transfer drive 32 drives the 5 stacked color boxes to move to the unloading station 303.

[0037] Preferably, the color box loading gantry robot 4 includes a gantry bracket 41, on which are mounted an X-axis servo module 42 and a Z-axis servo module 43. The X-axis servo module 42 controls the movement of the Z-axis servo module 43, which in turn controls the lifting and movement of a lifting bracket 44. A rotary cylinder 45 is provided at the bottom of the lifting bracket 44, which controls the rotation of a second clamping cylinder mounting plate 46. A second clamping cylinder 47 is provided on the second clamping cylinder mounting plate 46, which controls two third clamping arms 48 to clamp the color boxes. The X-axis servo module 42 and the Z-axis servo module 43 each include a module bracket, on which are mounted a drive screw and a servo motor. The output shaft of the servo motor is connected to the drive screw via a coupling, and a screw nut is threaded onto the drive screw.

[0038] Preferably, the color box flipping and unloading robot 5 includes a Y-axis servo module 51, a second X-axis servo module 52, and a second Z-axis servo module 53. The Y-axis servo module 51 controls the movement of the second X-axis servo module 52, which controls the movement of the second Z-axis servo module 53. The second Z-axis servo module 53 controls the lifting and movement of a lifting side plate 54. The lifting side plate 54 is provided with a flip motor 55, which controls the rotation of a third clamping cylinder mounting plate 56. The third clamping cylinder mounting plate 56 is provided with a third clamping cylinder 57, which controls two sets of clamping blocks 58 to clamp the color box. The clamping surface of each clamping block 58 is provided with anti-slip teeth. The Y-axis servo module 51, the second X-axis servo module 52, and the second Z-axis servo module 53 all include a module bracket, on which a transmission screw and a servo motor are provided. The output shaft of the servo motor is connected to the transmission screw via a coupling, and a screw nut is screwed onto the transmission screw.

[0039] Preferably, the color box transfer transverse movement module 6 includes a transfer bracket 61, a second transfer drive 62 is provided on the transfer bracket 61, the second transfer drive 62 controls the movement of a slide 63, one end of the slide 63 is provided with a displacement control cylinder 64, and both sides of the slide 63 are provided with a color box clamping cylinder 65, the displacement control cylinder 64 controls the transverse movement of two color box stacking brackets 66, and the two color box stacking brackets 66 are slidably connected to the slide 63 through a slide rail and a slider; When the color boxes are stacked on the two color box stacking supports 66, the displacement control cylinder 64 controls the two color box stacking supports 66 to move closer to each other. After the color box stacking is completed, the displacement control cylinder 64 controls the two color box stacking supports 66 to open, the color box clamping cylinder 65 clamps the color box, and the second transplanting drive 62 controls the color box to move to the unloading position.

[0040] Preferably, it further comprises a square protective cover 67, which covers the transfer bracket 61; The second transplanting drive 62 includes a servo motor 621 and a synchronous belt module 622. The servo motor 621 drives the movement of the slide 63 through the synchronous belt module 622. The synchronous belt module 622 includes two synchronous pulleys and a synchronous belt. The two synchronous pulleys are connected by the synchronous belt, and one of the synchronous pulleys is connected to the output shaft of the servo motor 621.

[0041] Preferably, the color box NG discharging module 7 includes two sets of width adjustment brackets 71, both of which are adjustably mounted on the bottom mounting plate 72, a second synchronous belt module 73 is provided between the two sets of width adjustment brackets 71, the second synchronous belt module 73 is driven by a second servo motor 74, and both sets of width adjustment brackets 71 are provided with mounting profiles 75, the inner side of the mounting profiles 75 is provided with a conveyor belt module 76, the conveyor belt module 76 is controlled to rotate by a stepping motor 77, and positioning plates 78 are provided on both mounting profiles 75, and the inner side of the positioning plates 78 is pasted with velvet. The second synchronous belt module 73 is connected to a movable plate 79, on which a stacking platform 70 and a guide plate 701 are provided. The guide plate 701 is located on one side of the stacking platform 70. When a sufficient number of NG color boxes are stacked on the stacking platform 70, the second servo motor 74 drives the stacking platform 70 to move to the unloading position through the second synchronous belt module 73, and the stepper motor 77 and the conveyor belt module 76 work together to transport the color boxes.

[0042] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and structure of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A color box palletizing device, comprising a frame, characterized in that: The frame is provided with a feeding conveyor line module, a color box sorting module, a color box loading gantry robot, a color box flipping and unloading robot and a color box transfer and transverse movement module; The color box loading gantry robot transports the color boxes from the feeding conveyor line module to the color box sorting module for palletizing and sorting; the color box flipping and unloading robot takes the palletized color boxes from the color box sorting module and flips the color boxes 90 degrees to an upright state; the color box flipping and unloading robot flips the color boxes and transports them to the color box transfer and transverse movement module for upright palletizing; the color box transfer and transverse movement module sends out the upright palletized color boxes.

2. The color box palletizing equipment according to claim 1, characterized in that: It also includes a color box NG discharging module for conveying NG color boxes and a barcode scanning gun module for scanning and binding color boxes. The color box NG discharging module and the barcode scanning gun module are both arranged on the frame. The color boxes transported by the color box flipping and unloading robot are moved to the position of the barcode scanning gun module for scanning. When the color boxes are defective products, the color box flipping and unloading robot transports the NG color boxes to the color box NG discharging module for palletizing, and transports the qualified products to the color box transfer and transverse movement module for upright palletizing.

3. The color box palletizing equipment according to claim 1, characterized in that: The feeding conveyor line module includes a feeding conveyor line, on which a code scanning gun, a color box turning mechanism and a color box lifting mechanism are provided. When the feeding conveyor line conveys the color box to the code scanning position, the code scanning gun scans the color box. When the feeding conveyor line conveys the color box to the position of the color box lifting mechanism, the color box lifting mechanism lifts the color box. The color box turning mechanism clamps the color box and turns the color box 180 degrees to turn it over. The color box flipping mechanism includes a flipping cylinder mounting bracket, on which a flipping cylinder is provided. The flipping cylinder controls the rotation of a clamping cylinder mounting plate. The clamping cylinder mounting plate is provided with a clamping cylinder. The clamping cylinder controls two clamping arms to clamp the color box. Both clamping arms are provided with grooves, which facilitate the color box loading gantry robot to take the color box. The color box lifting mechanism includes a lifting cylinder, a lifting plate is provided at the piston rod end of the lifting cylinder, and the lifting cylinder is installed on the feeding conveyor line through a mounting plate; The feeding conveying line is provided with incoming material sensors at the positions of the barcode scanning gun and the color box lifting mechanism.

4. The color box palletizing equipment according to claim 1, characterized in that: The color box sorting module includes a bracket and a positioning bracket, the positioning bracket is located above the bracket, and a transplanting drive and a linear slide are provided on the bracket. The transplanting drive controls a base plate to move on the linear slide. A second lifting cylinder is provided on the base plate, and the second lifting cylinder controls the lifting of a cylinder mounting plate. A finger cylinder is provided on the cylinder mounting plate, and the finger cylinder controls two second clamping arms to clamp the color box. Guide columns are provided at the four corners of the positioning bracket. The cross section of the guide column is L-shaped, and the inner side of the guide column is pasted with velvet. A plurality of position sensors are provided at intervals on the side of one of the guide columns; The transplanting drive includes a transplanting motor, a driving pulley and a driven pulley, the driving pulley and the driven pulley are connected by a synchronous belt, the driving pulley is connected to the output shaft of the transplanting motor, and the base plate is connected to the synchronous belt.

5. The color box palletizing equipment according to claim 4, characterized in that: The positioning bracket is provided with a loading station and a unloading station, wherein two of the guide posts are located at the loading station, and the other two guide posts are located at the unloading station, and a plurality of position sensors are spaced apart on the guide post at one of the loading stations; The color boxes carried by the color box loading gantry robot are placed on the loading station for stacking. After the loading station stacks 5 color boxes, the finger cylinder clamps the 5 color boxes, the second lifting cylinder lifts the stacked color boxes, and the transplanting drive drives the 5 stacked color boxes to move to the unloading station.

6. The color box palletizing equipment according to claim 1, characterized in that: The color box loading gantry robot includes a gantry bracket, on which an X-axis servo module and a Z-axis servo module are provided. The X-axis servo module controls the movement of the Z-axis servo module, and the Z-axis servo module controls the lifting and movement of a lifting bracket. A rotating cylinder is provided at the bottom of the lifting bracket, and the rotating cylinder controls the rotation of the second clamping cylinder mounting plate. The second clamping cylinder mounting plate is provided with a second clamping cylinder, and the second clamping cylinder controls two third clamping arms to clamp the color box.

7. The color box palletizing equipment according to claim 1, characterized in that: The color box flipping and blanking robot includes a Y-axis servo module, a second X-axis servo module and a second Z-axis servo module. The Y-axis servo module controls the movement of the second X-axis servo module, the second X-axis servo module controls the movement of the second Z-axis servo module, and the second Z-axis servo module controls the lifting and movement of a lifting side plate. The lifting side plate is provided with a flipping motor, and the flipping motor controls the rotation of the third clamping cylinder mounting plate. The third clamping cylinder mounting plate is provided with a third clamping cylinder. The third clamping cylinder controls two groups of clamping blocks to clamp the color box, and the clamping surface of each clamping block is provided with anti-slip teeth.

8. The color box palletizing equipment according to claim 1, characterized in that: The color box transfer transverse movement module includes a transfer bracket, a second transfer drive is provided on the transfer bracket, and the second transfer drive controls the movement of a slide. A displacement control cylinder is provided at one end of the slide, and color box clamping cylinders are provided on both sides of the slide. The displacement control cylinders control the transverse movement of two color box stacking brackets. Both color box stacking brackets are slidably connected to the slide through a slide rail and a slider. When the color boxes are stacked on the two color box stacking supports, the displacement control cylinder controls the two color box stacking supports to move closer to each other. After the color boxes are stacked, the displacement control cylinder controls the two color box stacking supports to open, the color box clamping cylinder clamps the color boxes, and the second transplanting drive controls the color boxes to move to the unloading position.

9. The color box palletizing equipment according to claim 8, characterized in that: It also includes a square protective cover, which covers the transfer bracket; The second transplanting drive includes a servo motor and a synchronous belt module, and the servo motor drives the movement of the slide plate through the synchronous belt module.

10. The color box palletizing equipment according to claim 2, characterized in that: The color box NG discharging module includes two groups of width adjustment brackets, both groups of the width adjustment brackets are adjustably mounted on the bottom mounting plate, a second synchronous belt module is provided between the two groups of the width adjustment brackets, the second synchronous belt module is driven by a second servo motor, and both groups of the width adjustment brackets are provided with mounting profiles, the inner side of the mounting profiles is provided with a conveyor belt module, the conveyor belt module is controlled to rotate by a stepper motor, and positioning plates are provided on the two mounting profiles, and velvet is pasted on the inner side of the positioning plates; The second synchronous belt module is connected to a movable plate, on which a stacking platform and a guide plate are provided. The guide plate is located on one side of the stacking platform. When a sufficient number of NG color boxes are stacked on the stacking platform, the second servo motor drives the stacking platform to move to the unloading position through the second synchronous belt module, and the stepper motor and the conveyor belt module work together.

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