A material box conveying and stacking device

Abstract

The present application relates to conveying device technical field, disclose a kind of material box conveying and stacking device, comprising: conveying module, for conveying material box along preset path;Detection module is arranged on conveying module, for detecting the closure state of material box flap;Posture correction module is arranged in the downstream station of detection module, for adjusting material box with flap posture exception;Packaging module is arranged in the downstream station of posture correction module, for sequentially closing flap of adjusted material box and carrying out adhesive tape packaging.The present application cooperates with control, posture correction and detection module, constructs full-automatic intelligent material box processing system, realizes material box flap state accurate detection and automatic correction.Overcome the drawbacks of traditional pure mechanical type packaging machine, realize conveying, detection and other whole-process automation and intelligentization, improve production line efficiency, reliability and package material adaptability, reduce downtime caused by manual intervention and packaging defect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of conveying devices, more particularly to a material box conveying and stacking device. BACKGROUND

[0002] In modern logistics and production systems, the automated conveying, packaging and stacking of material boxes are key links to improve work efficiency and reduce labor costs. Currently, this process is usually completed by an automated system composed of conveyors, packaging machines and stacking robots. The material boxes are transported to the packaging station by the conveyor, and the mechanical mechanism closes the flip cover and pastes the adhesive tape for fixation. After packaging is completed, the stacking robot grabs and stacks the material boxes to the designated position, preliminarily realizing continuous operation from conveying to final stacking.

[0003] However, the existing material box conveying and stacking device still has some deficiencies in actual application. For example, the flip cover of the material box is easily raised, misaligned or bent due to collision, vibration or its own deformation during the conveying process. The existing packaging equipment is mostly fixed mechanical guide rails or pressing mechanisms, which can only handle flip covers with standard posture. When encountering the above abnormal states, it often leads to packaging failure, such as loose adhesive tape, loose packaging, or even causes equipment jamming or material box damage, forcing the production line to stop and requiring manual intervention, affecting the operation efficiency, reliability and automation level of the entire system. SUMMARY

[0004] The present application provides a material box conveying and stacking device to solve the above technical problems.

[0005] The present application solves the above technical problems by the following technical solutions:

[0006] The present application provides a material box conveying and stacking device, comprising:

[0007] A conveying module for conveying material boxes along a predetermined path;

[0008] A detection module arranged on the conveying module for detecting the closed state of the flip cover of the material box;

[0009] A posture correction module arranged at a downstream station of the detection module for adjusting the material box with abnormal flip cover posture;

[0010] A packaging module arranged at a downstream station of the posture correction module for orderly closing the flip cover of the adjusted material box and packaging with adhesive tape;

[0011] A stacking module arranged at the discharge end of the packaging module for grabbing and orderly stacking the packaged material boxes;

[0012] The control module is signal-connected with the conveying module, the detection module, the posture correction module, the packaging module and the stacking module respectively, and is configured to:

[0013] receive the detection signal uploaded by the detection module and containing the flip cover state information;

[0014] determine whether the posture of the material box is abnormal based on the detection signal;

[0015] If the posture is abnormal, the corresponding correction control instruction is generated and sent to the posture correction module to drive it to perform the targeted correction action.

[0016] Preferably, the detection module is a machine vision detection unit, which includes at least one industrial camera and a matching light source, is used for collecting high-resolution images of the flip cover of the material box and performing image processing to identify the lifting, misplacement and bending state of the flip cover.

[0017] Preferably, the industrial camera is a 3D line laser scanning camera, which is used for obtaining point cloud data of the flip cover of the material box to quantify the lifting height and angle of the flip cover.

[0018] Preferably, the posture correction module includes a linear extension source, a rotary driver fixed to the end of the linear extension source, and an execution mechanism connected to the rotating end of the rotary driver, and the end of the execution mechanism is provided with a flexible contact head.

[0019] Preferably, the rotary driver is a servo motor, and the execution mechanism is two electric push rods with opposite extension directions.

[0020] Preferably, the packaging module includes a flip cover pressing mechanism, a adhesive tape sticking mechanism and a height adjusting mechanism, the flip cover pressing mechanism and the adhesive tape sticking mechanism are both arranged on the height adjusting mechanism, and the distance between the two and the conveying end face of the conveying module is adjusted by the height adjusting mechanism.

[0021] Preferably, the height adjusting mechanism includes a support frame fixed to the conveying module, a lifting plate slidingly arranged on the support frame, a lead screw rotatably arranged on the support frame, and a drive motor for driving the rotation of the lead screw, and the sliding end of the lifting plate is threadedly connected with the lead screw.

[0022] Preferably, the flip cover pressing mechanism includes a base fixedly installed on the lifting plate, a short side extrusion body fixed to the bottom of the base, two long side extrusion bodies symmetrically fixed to the bottom of the lifting plate, and a short side roller pressing piece arranged on the base, and the short side extrusion body and the short side roller pressing piece respectively extrude and roll close the two short side flip covers of the material box.

[0023] Preferably, the short side roller pressing piece includes a swing arm hinged to the base, a roller rotatably arranged at the end of the swing arm, and a drive source for driving the swing of the swing arm.

[0024] Preferably, the stacking module is a multi-joint industrial robot, the end of which is equipped with an adaptive clamp for grabbing material boxes of different sizes.

[0025] The present application has the following advantages:

[0026] The present application cooperates with the control module, the posture correction module and the detection module to build a full-automatic intelligent material box processing system, realizes accurate detection and automatic correction of the flip cover state of the material box. The system can automatically identify abnormalities such as flip cover lifting and mispositioning, drive the posture correction module to perform actions such as pressing down and pushing sideways, adjust the flip cover to the standard closed position, then press and stick the adhesive tape by the packaging module, and finally stack by the stacking robot. This scheme overcomes the drawbacks of traditional pure mechanical packaging machines, realizes full-process automation and intelligentization of conveying, detection, etc., improves the production line efficiency, reliability and packaging material adaptability, and reduces downtime caused by manual intervention and packaging defects. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a structural schematic diagram of the overall appearance of the material box conveying and stacking device of the present application;

[0028] Figure 2 is a structural schematic diagram of the conveying module, the detection module, the packaging module and the posture correction module in the material box conveying and stacking device of the present application;

[0029] Figure 3 is a structural schematic diagram of the packaging module in the material box conveying and stacking device of the present application;

[0030] Figure 4 is a structural schematic diagram of the posture correction module in the material box conveying and stacking device of the present application;

[0031] Figure 5 is a front view of the posture correction module in the material box conveying and stacking device of the present application;

[0032] Figure 6 is a logic block diagram between the modules in the material box conveying and stacking device of the present application;

[0033] Figure 7 is a work flow chart of the material box conveying and stacking device of the present application.

[0034] In the figure: 100, conveying module; 200, detection module; 300, posture correction module; 301, linear extension source; 302, rotary driver; 303, actuator; 304, flexible contact head; 400, packaging module; 401, support frame; 402, lifting plate; 403, lead screw; 404, driving motor; 405, base; 406, short side extrusion body; 407, long side extrusion body; 408, swing arm; 409, roller; 410, driving source; 500, stacking module. DETAILED DESCRIPTION

[0035] The subject matter described herein will now be discussed with reference to example implementations. It should be understood that discussions of these implementations are merely provided to enable those skilled in the art to better understand so as to be able to implement the subject matter described herein, and variations of elements discussed can be made by one skilled in the art, without departing from the scope of the present description. Various examples can omit, substitute, or add various procedures or components as appropriate, and the methods described can not require the particular order described, or can involve additional or fewer steps. Additionally, features described in relation to some examples can also be combined in other examples.

[0036] Please refer to Figure 1 and Figure 2 A material box conveying and stacking device, comprising: a conveying module 100, a detection module 200, a posture correction module 300, a packaging module 400, a stacking module 500 and a control module. The conveying module 100 can be a traditional belt conveyor, which is mainly used to convey the material box along the preset path. The detection module 200 is arranged above or beside the conveying module 100, which is mainly used to detect the closing state of the material box cover. The detection module 200 is a machine vision detection unit, which includes at least one industrial camera and a matching light source, which is mainly used to collect high-resolution images of the material box cover and perform image processing to identify the lifting, misplacement and bending state of the cover. The industrial camera can be a 3D line laser scanning camera, which obtains point cloud data of the material box cover to quantify the lifting height and angle of the cover.

[0037] Please refer to Figure 2 , Figure 4 and Figure 5The posture correction module 300 is arranged at a downstream station of the detection module 200, and is mainly used for adjusting the material box with abnormal flipper posture; the posture correction module 300 comprises a linear telescopic source 301, a rotary driver 302 fixed at the end of the linear telescopic source 301, an executing mechanism 303 connected to the rotating end of the rotary driver 302, and a flexible contact head 304 arranged at the end of the executing mechanism 303; the linear telescopic source 301 can be an electric push rod arranged vertically, and is fixed above the conveying module 100 through a mounting bracket; the rotary driver 302 is a servo motor, and the executing mechanism 303 is two electric push rods with opposite telescopic directions, which are integrated on a connecting seat, and the rotating end of the servo motor is fixed with the connecting seat. A force sensor is arranged on the flexible contact head 304, which is used to obtain the pressure value of the flexible contact head 304 in real time, so as to avoid damage to the flipper of the material box caused by excessive pressure of the flexible contact head 304.

[0038] When the posture correction module 300 is used, if one short-side flipper is outside the long-side flippers or both short-side flippers are outside the long-side flippers, the linear telescopic source 301 is elongated to drive the rotary driver 302 and the executing mechanism 303 to move downward as a whole, so that the flexible contact head 304 extends to a position below the short-side flippers of the material box, then the rotary driver 302 drives the executing mechanism 303 to rotate, so that the two flexible contact heads 304 are aligned with the two long-side flippers, the two electric push rods are synchronously elongated to elongate the two flexible contact heads 304 and push the two long-side flippers to turn outward, after the two long-side flippers are separated from the two short-side flippers, the abnormal short-side flippers move inward under the elastic force of the short-side flippers, if there is no elastic force, the short-side flippers remain static, then the two electric push rods are retracted, so that the two long-side flippers gradually move to the short-side flippers under the elastic force of the long-side flippers, then the linear telescopic source 301 is retracted to drive the executing mechanism 303 to move upward, so that the flexible contact head 304 is separated from the long-side flippers, then the linear telescopic source 301 continues to move downward to drive the two flexible contact heads 304 to contact the two long-side flippers again, and then the two electric push rods in the executing mechanism 303 are retracted to generate inward pushing force on the two long-side flippers through the two flexible contact heads 304, so as to ensure that the two long-side flippers are attached to the two short-side flippers, in this way, the flipper posture correction work of the material box is completed, and the linear telescopic source 301 is retracted to reset the posture correction module 300. If the posture of the two short-side flippers and the long-side flippers is too vertical, the above-mentioned mode can also be used to adapt to extrusion to bend the flippers to a suitable angle.

[0039] Please refer to Figures 2 to 3The packaging module 400 is arranged downstream of the posture correction module 300, and is mainly used for orderly closing the flaps of the adjusted material box and packaging the material box by adhesive tape. The packaging module 400 comprises a flap pressing mechanism, an adhesive tape sticking mechanism and a height adjusting mechanism. The flap pressing mechanism and the adhesive tape sticking mechanism are both arranged on the height adjusting mechanism, and the distance between the two mechanisms and the conveying end surface of the conveying module 100 is adjusted by the height adjusting mechanism, so as to adapt to material boxes of different heights.

[0040] The height adjusting mechanism comprises a support frame 401 fixed on the conveying module 100, a lifting plate 402 slidingly arranged on the support frame 401, a lead screw 403 rotatably arranged on the support frame 401 and a driving motor 404 for driving the lead screw 403 to rotate. The sliding end of the lifting plate 402 is threadedly connected with the lead screw 403. When the height of the flap pressing mechanism and the adhesive tape sticking mechanism is adjusted, the driving motor 404 drives the lead screw 403 to rotate, thereby driving the lifting plate 402 to ascend and descend on the support frame 401, so that the flap pressing mechanism and the adhesive tape sticking mechanism ascend and descend together. When the desired height is reached, the driving motor 404 stops rotating, and the lifting plate 402 stops ascending and descending under the locking action of the lead screw 403. The adhesive tape sticking mechanism is mainly used for synchronously sticking and fixing the adhesive tape to the gap between the long flaps of the material box after the long flaps and the short flaps are closed, and has the functions of automatic sticking and cutting. Since the adhesive tape sticking mechanism belongs to the conventional technology in the field, the specific structural details and working process are not disclosed herein.

[0041] The flap pressing mechanism comprises a base 405 fixedly installed on the lifting plate 402, a short edge extruding body 406 fixedly arranged at the bottom of the base 405, two long edge extruding bodies 407 symmetrically fixedly arranged at the bottom of the lifting plate 402, and a short edge roller pressing member arranged on the base 405. The front end of the short edge extruding body 406 is upwardly curved, and the bottom is flat. The short edge extruding body 406 is used for slidingly extruding and closing the short flaps on the right side of the material box. The short edge roller pressing member is mainly used for roll-closing the short flaps on the left side of the material box. The short edge roller pressing member comprises a swing arm 408 hingedly connected to the base 405, a roller 409 rotatably arranged at the end of the swing arm 408 and a driving source 410 for driving the swing arm 408 to swing. The driving source 410 can be a servo motor. The long edge extruding bodies 407 are rod structures arranged in the shape of a broken line and in an inclined posture, and are respectively used for slidingly extruding and closing the two long flaps of the material box.

[0042] The working process of the packaging module 400 is as follows: at this time, the long side flaps and the short side flaps of the default material box are in a standard state, that is, the two long side flaps are located outside the two short side flaps, and after the material box enters the working position of the packaging module 400 through the conveying module 100, the short side flap at the right end of the material box first contacts the short side extrusion body 406 and is gradually extruded flat, then the driving source 410 rotates forward to drive the swing arm 408 to swing downward, so that the roller 409 starts to contact the short side flap at the left end of the material box and makes the short side flap at the left end close, then the driving source 410 reverses to drive the swing arm 408 and the roller 409 to swing upward and reset, and the driving source 410 continues to move with the material box, so that the closed flap at the left end contacts the short side extrusion body 406, at the same time, the two long side flaps contact the two long side extrusion bodies 407 respectively, so that the two long side flaps are gradually turned over and finally closed and covered on the top surface of the short side flap, at the same time, the adhesive taping mechanism synchronously tapes and cuts the closed long side flaps to complete the packaging of the material box, and the conveying module 100 drives the packaged material box to move to the next working position.

[0043] Please refer to Figure 1 , the stacking module 500 is arranged at the discharge end of the packaging module 400 and is used for grabbing and orderly stacking the packaged material box; the stacking module 500 is a multi-joint industrial robot, and an adaptive clamp is arranged at the tail end of the stacking module 500 and is used for grabbing material boxes of different sizes.

[0044] Please refer to Figure 6 , the control module is signal-connected with the conveying module 100, the detection module 200, the posture correction module 300, the packaging module 400 and the stacking module 500, and is configured to receive the detection signal uploaded by the detection module 200 and containing the flap state information, to judge whether the posture of the material box flap is abnormal based on the detection signal, to generate a corresponding correction control instruction and send it to the posture correction module 300 if the posture is abnormal, so as to drive the posture correction module 300 to perform a targeted correction action.

[0045] The use process of the material box conveying and stacking device is as follows:

[0046] Step S100: initial state and trigger.

[0047] The conveying module 100 continuously conveys the material box, and when the 3D line laser scanning camera of the detection module 200 detects that a material box enters its field of view, a high-speed acquisition signal is triggered.

[0048] Step S200: receiving and analyzing the detection signal.

[0049] The control module receives the point cloud data package uploaded by the detection module 200, analyzes the data package in real time through the built-in processor, and calculates the accurate three-dimensional posture of the two short-side flaps and the two long-side flaps of the material box through an algorithm. Specifically, the calculation includes:

[0050] The angle of each flap relative to the top surface of the box, the relative position relationship between each flap (for example, whether the short-side flap is on the outside of the long-side flap), and the degree of bending of the flap.

[0051] Step S300: posture judgment and decision.

[0052] The control module compares the analysis result with the preset qualified threshold, and the typical cases judged as "abnormal" include:

[0053] Case A: One or two short-side flaps are on the outside of the long-side flaps;

[0054] Case B: The long-side and short-side flaps are not misaligned, but the angle of lifting is too large (too vertical), which cannot smoothly enter the subsequent packaging guide rail;

[0055] If the posture is normal, the control module sends a signal to the conveying module 100, so that the material box directly and uniformly passes through the position where the posture correction module 300 is located, without the need for action;

[0056] If it is judged as case A, the control module generates a first set of correction instruction sequence; if it is case B, a second set of correction instruction sequence is generated.

[0057] Step S400: drive the posture correction module 300 (typical process for case A).

[0058] Step S401 (positioning by lowering): the control module sends an instruction to the linear extension source 301 (electric push rod), so that it is extended at a speed V1, drives the entire execution mechanism 303 to descend, and until the flexible contact head 304 is lowered to a predetermined position (P1 point) below the height of the short-side flap;

[0059] Step S402 (rotating and aligning): the control module sends an instruction to the rotating driver 302 (servo motor), so that it is accurately rotated by θ angle (for example, 90° or 180°), so that the two opposite electric push rods and their end flexible contact heads 304 on the connecting seat are respectively aligned with the two long-side flaps of the material box;

[0060] Step S403 (pushing the long sides outward): the control module sends a synchronous instruction to the two electric push rods of the execution mechanism 303, so that they are synchronously extended in force control mode F1, push the two long-side flaps to turn outward, so that they are separated from the short-side flaps. During this process, the force sensor feedback data ensures that the pushing force will not damage the material box;

[0061] Step S404 (release and elastic reset): the control module instructs the two electric push rods to retract; the abnormal short side flap falls inward to the correct position under the action of its own elasticity (or remains stationary if it has no elasticity);

[0062] Step S405 (again lower and press the long side): the control module instructs the linear extension source 301 to lower again, so that the flexible contact head 304 lightly touches the outside of the long side flap; then, instructs the two electric push rods to retract in position control mode, generating an inward pushing force to smoothly press the two long side flaps back until they are completely attached to the short side flap;

[0063] Step S406 (reset): after confirming that the correction is complete, the control module sends instructions in sequence: the electric push rod of the actuator 303 fully retracts, the rotary driver 302 reverses θ degrees to zero, and the linear extension source 301 retracts to the highest point, preparing for the next material box.

[0064] Step S500: drive the packaging module 400.

[0065] Step S501: after the material box enters the packaging module 400 work station, the control module first adjusts the lifting plate 402 to the preset height according to the height of the material box by controlling the motor of the lead screw 403;

[0066] Step S502: the control module drives the drive source 410 (servo motor) of the short side roller pressing part to rotate forward, driving the swing arm 408 to swing downward, so that the roller 409 rolls and presses the left short side flap to close; then, immediately control the drive source 410 to reverse, so that the swing arm 408 and the roller 409 quickly lift and reset to avoid interference with the contact of the right end flap with the short side pressing body 406;

[0067] Step S503: this process is a pure mechanical sliding and pressing, without the intervention of the control module; the material box is driven by the conveyor belt, and its right end short side flap is naturally pressed flat on the lower surface of the short side pressing body 406, and the two long side flaps are naturally closed in the inclined guide rod of the long side pressing body 407;

[0068] Step S504: when the long side flap closing action is about to be completed, the control module sends a start signal to the adhesive tape sticking mechanism, so that it synchronously performs adhesive tape sticking and cutting operations.

[0069] Step S600: drive the stacking module 500.

[0070] When the packaged material box reaches the end of the conveying module 100, the photoelectric sensor triggers a signal; the control module sends a grabbing instruction to the stacking module 500 (multi-joint industrial robot). The robot grabs the material box with the self-adaptive clamp according to the preset stacking control, and moves to the specified stacking position for stacking.

[0071] From the above, the material box conveying and stacking device provided by the application has the following effects:

[0072] The application cooperates the control module, the posture correction module 300 and the detection module 200 to construct a full-automatic intelligent material box processing system, realizes accurate detection and automatic correction of the flip cover state of the material box, can automatically identify abnormal states such as lifting, misplacement and bending of the flip cover, drive the special posture correction module 300 to perform accurate and targeted pressing, side pushing or combing actions, adjust the abnormal flip cover to the standard closed position, then complete reliable pressing and adhesive tape pasting by the packaging module 400, and finally orderly stack by the stacking robot. The scheme overcomes the disadvantages of the traditional pure mechanical packaging machine that cannot handle complex abnormalities, is easy to be blocked and damaged, realizes full-process automation and intelligentization from conveying, detection, deviation correction, packaging to stacking, significantly improves the efficiency, reliability and adaptability to diversified packaging materials of the production line, and greatly reduces the demand for manual intervention and downtime caused by poor packaging.

[0073] The embodiments of the application are described above, but the application is not limited to the specific embodiments described above, and the specific embodiments described above are only illustrative but not limiting, and those skilled in the art can make many forms under the inspiration of the application, which all belong to the protection of the application.

Claims

1. A material box conveying and stacking device, characterized in that, include: The conveying module is used to transport material boxes along a preset path; The detection module, installed on the conveying module, is used to detect the closed state of the material box lid; The posture correction module is located downstream of the detection module and is used to adjust the material box with abnormal flip-top posture. The packaging module, located downstream of the attitude correction module, is used to close the adjusted material box lid in an orderly manner and seal it with tape. The palletizing module is located at the discharge end of the packaging module and is used to grab and orderly palletize the packaged material boxes. The control module is connected to the conveying module, detection module, attitude correction module, packaging module, and palletizing module via signals, and is configured as follows: Receive detection signals uploaded by the detection module, which include information about the flip-up status; Determine whether the opening posture of the material box is abnormal based on the detection signal; If the attitude is abnormal, a corresponding correction control command is generated and sent to the attitude correction module to drive it to perform targeted correction actions. The attitude correction module includes a linear telescopic source, a rotary driver fixed to the end of the linear telescopic source, and an actuator connected to the rotating end of the rotary driver. The end of the actuator is provided with a flexible contact head. The packaging module includes a flip-top pressing mechanism, an adhesive tape pasting mechanism, and a height adjustment mechanism. The flip-top pressing mechanism and the adhesive tape pasting mechanism are both mounted on the height adjustment mechanism, and the distance between the two mechanisms and the conveying end face of the conveying module is adjusted by the height adjustment mechanism. The flip-top pressing mechanism includes a base fixedly installed on the lifting plate, a short-side extrusion body fixed to the bottom of the base, two long-side extrusion bodies symmetrically fixed to the bottom of the lifting plate, and a short-side roller pressing component provided on the base. The short-side extrusion body and the short-side roller pressing component respectively extrude and roll-close the two short-side flip-tops of the material box.

2. A material box conveying and stacking apparatus according to claim 1, wherein The detection module is a machine vision detection unit, which includes at least one industrial camera and a matching light source, used to acquire high-resolution images of the material box lid and perform image processing to identify the lid's tilting, misalignment, and bending states.

3. A material box conveying and stacking apparatus according to claim 2, wherein The industrial camera is a 3D line laser scanning camera, used to acquire point cloud data of the flip-top of the material box in order to quantify the tilt height and angle of the flip-top.

4. The material box conveying and stacking device according to claim 3, characterized in that, The rotary driver is a servo motor, and the actuator is two electric push rods with opposite extension and retraction directions.

5. A material box conveying and stacking device according to claim 4, characterized in that, The height adjustment mechanism includes a support frame fixed to the conveying module, a lifting plate slidably mounted on the support frame, a lead screw rotatably mounted on the support frame, and a drive motor for driving the lead screw to rotate. The sliding end of the lifting plate is threadedly connected to the lead screw.

6. A material box conveying and stacking device according to claim 5, characterized in that, The short-side roller pressing component includes a swing arm hinged to a base, a roller rotatably located at the end of the swing arm, and a drive source for driving the swing arm to swing.

7. A material box conveying and stacking device according to claim 1, characterized in that, The palletizing module is a multi-joint industrial robot with an adaptive gripper at its end for gripping material boxes of different sizes.

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