Stacking device for foamed trays

Abstract

The application discloses a stacking device for foam trays, which comprises a warehouse body, a lifting platform plate, a servo module, a scraper and a scraper cylinder. The warehouse body is provided with an inner cavity for accommodating foam trays and an opening at the top of the warehouse body, and the opening is communicated with the inner cavity. The lifting platform plate is located at the bottom of the warehouse body and is used for supporting foam trays. The servo module drives the lifting platform plate to move up and down. The scraper is arranged at the opening. The scraper cylinder is used for pushing the scraper to extend so that two foam trays sleeved together can be separated. The scraper can enter between two foam trays by being pushed to extend by the scraper cylinder. After the uppermost foam tray is taken away, the next uppermost foam tray is separated from the uppermost foam tray by being blocked by the scraper. By arranging the lifting platform plate and the servo module, the foam tray can be accurately positioned at the position of the scraper every time, and the separation of two foam trays can be repeatedly realized.

Description

Technical Field

[0001] This invention relates to the field of foam pallet manufacturing technology, and particularly to a stacking device for foam pallets. Background Technology

[0002] In existing small round bottle packing processes, multiple small round bottles are placed on foam trays and then packed into boxes. Specifically, multiple foam trays are stacked to form a tray stack. When in use, a foam tray is taken from the stack and placed into the box, and then the small round bottle is placed into the recess of the foam tray. Because the foam trays are soft, highly flexible, and have poor cutting precision, they are extremely difficult to separate once they are stacked together, resulting in low efficiency when taking out a foam tray from the stack. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a stacking device for foam pallets, which can improve the efficiency of removing foam pallets from a pallet stack.

[0004] A stacking device for foam pallets according to an embodiment of the present invention includes a silo body, a lifting platform plate, a servo module, a scraper, and a scraper cylinder. The silo body has an inner cavity for accommodating foam pallets and an opening at the top of the silo body, the opening communicating with the inner cavity. The lifting platform plate is located at the bottom of the silo body and is used to support the foam pallets. The servo module drives the lifting platform plate to move up and down. The scraper is disposed at the opening. The scraper cylinder is used to push the scraper out so that two foam pallets nested together can be separated.

[0005] The foam pallet stacking device according to an embodiment of the present invention has at least the following advantages: By pushing the scraper outward with a scraper cylinder, the scraper can enter between two foam pallets. After the topmost foam pallet is removed, the next-topmost foam pallet is blocked by the scraper and separated from the topmost foam pallet. Furthermore, by setting a lifting platform plate and a servo module, it can be ensured that the foam pallet accurately reaches the scraper's position each time, and the separation of the two foam pallets can be repeatedly achieved.

[0006] According to some embodiments of the present invention, the stacking device further includes a spring and a foam tray, the foam tray being located above the lifting platform plate, the upper end of the spring being connected to the foam tray and the lower end being connected to the lifting platform plate, and the foam tray being placed on the foam tray.

[0007] According to some embodiments of the present invention, the stacking device further includes a control device and a photoelectric switch. The control device is connected to the servo module, the scraper cylinder and the photoelectric switch. The photoelectric switch is installed at the opening. The control device controls the action of the scraper cylinder and controls the operating power of the servo module according to the signal transmitted by the photoelectric switch, so as to adjust the movement speed and / or movement direction of the lifting platform plate.

[0008] According to some embodiments of the present invention, the control device controls the action of the scraper cylinder and the operating power of the servo module based on the transmission signal of the photoelectric switch, so as to adjust the movement speed of the lifting platform plate, including: When the lifting platform rises from the lowest point, the photoelectric switch detects that the foam tray has reached the preparatory position and transmits a signal to the control device. The control device controls the servo module to reduce its operating power, thereby slowing down the rising speed of the lifting platform. The control device also controls the scraper cylinder to extend the scraper.

[0009] According to some embodiments of the present invention, the control device controls the action of the scraper cylinder and the operating power of the servo module based on the transmission signal of the photoelectric switch, so as to adjust the movement speed and / or movement direction of the lifting platform plate, including: When the photoelectric switch detects that the top foam tray has been removed, it transmits a signal to the control device. The control device then activates the scraper cylinder to retract the scraper. The control device then controls the servo module to lower the lifting platform.

[0010] According to some embodiments of the present invention, the stacking device further includes a baffle located on the inner wall of the cavity, such that a gap exists between the foam tray and the inner wall of the cavity.

[0011] According to some embodiments of the present invention, the baffle is arranged along the height direction of the hopper body, the top of the baffle protrudes from the opening, the number of baffles arranged on the same side wall is multiple, and they are spaced apart along the length direction of the side wall, and the scraper is located between two of the baffles.

[0012] According to some embodiments of the present invention, the cross-section of the silo is rectangular, and each side wall of the silo is provided with at least one scraper and one scraper cylinder.

[0013] According to some embodiments of the present invention, the scraper includes a plate body, on which a plurality of spaced protrusions are provided, the protrusions being located on the side of the plate body near the foam tray.

[0014] According to some embodiments of the present invention, an arcuate portion is provided between adjacent protrusions, and the two ends of the arcuate portion are respectively connected to the two protrusions.

[0015] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of an automatic palletizing and packing machine according to an embodiment of the present invention; Figure 2 for Figure 1 The schematic diagram of the plate arrangement device is shown. Figure 3 This is a schematic diagram of an equidistant material distribution mechanism; Figure 4 This is a schematic diagram of a stacking device for foam pallets according to an embodiment of the present invention; Figure 5 for Figure 4 The diagram shows the lifting platform plate located at the bottom; Figure 6 for Figure 4 The diagram shows the lifting platform plate rising and the topmost foam tray reaching the position of the photoelectric switch. Figure 7 for Figure 4 A schematic diagram showing the removal of the top foam tray from the whole-board transplanting device; Figure 8 This is a schematic diagram of the scraper; Figure 9 Schematic diagram of the box opening support device; Figure 10 This is a schematic diagram of a packing conveyor line; Figure 11 This is a schematic diagram of a foam tray; Figure 12 This is a diagram illustrating the placement of the small round bottle onto the foam tray.

[0017] Figure label: 1-Feeding conveyor line; 2-Planar SCARA robot; 3-Plate stacking device; 4-Equal distance material distribution mechanism; 5-Six-axis robot; 6-Plate transfer device; 7-Left foam pallet hopper; 8-Right foam pallet hopper; 9-Empty box storage line; 10-Box packing conveyor line; 11-Box opening device; 12-Finished product storage line; 13-Small round bottle; 14-Foam pallet; 15-Box; 21-Left panel; 22-Right panel; 23-Left slide cylinder; 24-Right slide cylinder; 25-Distribution cylinder; 26-Slider; 27-Connecting rod; 28-Fixed pin; 29-Modible pin; 30-First suction cup; 31-Push plate; 32-Fixed plate; 33-Servo module; 34-Lifting platform plate; 35-Spring; 36-Foam tray support plate; 37-Scraper cylinder; 38-Scraper; 39 - Photoelectric switch; 40- Rotary shaft; 41- Up and down adjustment plate; 42- Left support plate; 43- Right support plate; 44- Rotary shaft push plate; 45- Opening cylinder; 46- Electric roller; 47- Clamping cylinder; 48- Clamping plate; 49- Box blocking cylinder; 50- Box blocking plate; 51- Stopping cylinder; 52- Baffle; 61- Second suction cup; 311- Plate body; 312- Protrusion; 313- Arc-shaped part. Detailed Implementation

[0018] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0019] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0020] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0021] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0022] Reference Figure 1 The automatic palletizing and packing machine of this invention includes a feeding device, a palletizing and conveying device, a palletizing device 3, a foam pallet stacking device, and a whole pallet conveying device.

[0023] Among them, reference Figure 2The feeding device includes a feeding conveyor line 1 and a feeding channel. The feeding conveyor line 1 feeds the small round bottles 13 from the previous process into the feeding channel one by one and arranges them in a row. When a specified number is reached, the feeding conveyor line 1 stops, forming a queue.

[0024] The tray handling device includes a planar SCARA robot arm 2 (Selective Compliance Assembly Robot Arm, a robot arm used for assembly operations) and an equidistant material distribution mechanism 4 on it. Multiple first suction cups 30 installed on the equidistant material distribution mechanism 4 are used to transport the small round bottles 13 on the feed conveyor line 1 in a row to the tray handling device 3.

[0025] Reference Figure 2 The arranging device 3 includes a left arranging plate 21 and a right arranging plate 22, as well as a left sliding cylinder 23 that pushes the left arranging plate 21 and a right sliding cylinder 24 that pushes the right arranging plate 22. The left arranging plate 21 and the right arranging plate 22 are each provided with multiple recesses. The arrangement of the recesses on the left arranging plate 21 and the right arranging plate 22 is the same as the arrangement of the recesses on the foam tray 14. After the small round bottles 13 are placed into the recesses of the left arranging plate 21 or the right arranging plate 22, multiple small round bottles 13 can be arranged into a queue that meets the spacing requirements on the foam tray 14. The tray conveying device repeatedly places a queue of small round bottles 13 from the material channel into the tray device 3. When the left tray 21 is full of small round bottles 13, that is, when there are multiple queues of small round bottles 13 on the left tray 21, the left slide cylinder 23 pushes the left tray 21 backward to the waiting box position; when the right tray 22 is full of small round bottles 13, the right slide cylinder 2 pushes the right tray 22 backward to the waiting box position.

[0026] It is understood that in some other embodiments, the panel arrangement device 3 may also include only one panel and one slide cylinder.

[0027] Since the small round bottles 13 on the feed channel are arranged close together with a small gap between them, while the gap between the pits on the left plate 21 and the right plate 22 is relatively large, it is necessary to change the original gap between the rows of small round bottles 13 into the pit gap between the plates during the process of transporting the entire row of small round bottles 13 to the plate arrangement device 3.

[0028] Reference Figure 3The equidistant material distribution mechanism 4 includes a material distribution cylinder 25, a push plate 31, a fixed plate 32, a guide rail, multiple connecting rods 27, multiple sliders 26, multiple fixed pins 28, and multiple movable pins 29. The fixed plate 32 is fixedly connected to one end of the guide rail, the slider 26 is slidably connected to the guide rail, the push plate 31 is fixedly connected to one of the sliders 26, the movable pin 29 connects the ends of two connecting rods 27, the movable pin 29 connects the middle of two connecting rods 27, and the first suction cup 30 is set on the slider 26. The dispensing cylinder 25 pulls the push plate 31, driving the movement of a parallel four-bar linkage consisting of connecting rods 27, sliders 26, fixed pins 28, and movable pins 29. (Two connecting rods 27 intersect and are connected in the middle by a fixed pin 28 to form an X-shaped structure. The X-shaped structure can rotate around the fixed pin 28. Except for one fixed pin 28 connected to the fixed plate 32, the other fixed pins 28 are connected to a corresponding slider 26. The ends of the two X-shaped structures are connected by movable pins 29.) Each slider 26 can achieve equidistant synchronous extension and retraction relative to the origin position (where the fixed plate 32 remains stationary). Theoretically, provided the stroke and pulling force of the dispensing cylinder 25 are sufficient, the push plate 31 can be connected to any slider 26. That is, the equidistant dispensing mechanism 4 has a first state and a second state. In the first state, the distance between two adjacent sliders 26 decreases, making the distance between two adjacent first suction cups 30 smaller and basically the same as the distance between them and the small round bottles 13 at the top of the material channel, facilitating the first suction cup 30 to simultaneously pick up a queue of small round bottles 13. In the second state, the distance between two adjacent sliders 26 increases, making the distance between two adjacent first suction cups 30 larger, and basically the same as the distance between the pits on the left plate 21 and the right plate 22, so that a row of small round bottles 13 can be easily placed onto the left plate 21 or the right plate 22 as a whole.

[0029] It should be noted that in some other embodiments, an equidistant mechanism can also be set on the feeding device. The equidistant mechanism separates the adjacent small round bottles 13 by a certain distance at the material channel. After the plate-laying and conveying device transports the small round bottles 13 separated by the distance to the plate-laying device 3, they can be directly placed into the recess of the left plate 21 or the right plate 22.

[0030] Reference Figure 1 The whole-plate handling device includes a six-axis robot 5 and a whole-plate transfer device 6. The whole-plate transfer device 6 is a device with multiple rows of second suction cups 61 installed on a flat plate and driven by the six-axis robot 5. The whole-plate transfer device 6 installed on the six-axis robot 5 will pick up all the small round bottles 13 on the left row plate 21 or the right row plate 22 that are in the position to be placed into the box at once, and then the six-axis robot 5 will transport them into the box for placement.

[0031] Reference Figure 1 There are two stacking devices: a left foam pallet hopper 7 and a right foam pallet hopper 8. The stacking device is a stacking warehouse with foam pallets 14. (Refer to...) Figure 4The stacking device includes a storage unit, a servo module 33, a lifting platform plate 34, a scraper cylinder 37, and a scraper 38. The storage unit has an inner cavity for accommodating foam pallets 14 and an opening at the top of the storage unit, which connects to the inner cavity. The lifting platform plate 34 is located at the bottom of the storage unit and supports the foam pallets 14. The servo module 33 drives the lifting platform plate 34 to move up and down. The scraper 38 is located at the opening. When the second suction cup 61, which is connected to the whole-plate transfer device 6 of the six-axis robot 5, picks up the foam pallet 14 and lifts it upward, the scraper cylinder 37 pushes the scraper 38 to extend and insert between the picked-up foam pallet 14 and the next foam pallet 14. The scraper 38 can effectively separate other foam pallets 14 stacked below. After one foam pallet is picked up, the whole stack of foam pallets 14 moves downward back to the lowest position under the drive of the servo module 33 (this action is to allow the foam pallets 14 that may have been lifted up during the pallet picking process to fall back to the top of the pallet stack).

[0032] It should be noted that the scraper cylinder 37 can also prevent the next foam tray 14 from being taken away along with the suction foam tray 14 by abutting against the side of the suction foam tray 14 and the next foam tray 14 through friction.

[0033] Reference Figure 4 The stacking device also includes a spring 35 and a foam tray support 36. The foam tray support 36 is located above the lifting platform plate. The upper end of the spring 35 is connected to the foam tray support 36, and the lower end is connected to the lifting platform plate 34. The foam tray 14 is placed on the foam tray support 36. The spring 35 and the foam tray support 36 play a buffering role when the six-axis robot 5 picks up the tray. That is, when the six-axis robot 5 presses down on the foam tray 14, the second suction cup 61 installed on the whole tray transfer device 6 can hold the foam tray 14, which is prone to deformation and damage. By setting the spring 35 and the foam tray support 36, the foam tray 14 can be deformed when subjected to downward pressure, thus buffering the pressure and preventing damage to the foam tray 14.

[0034] Reference Figure 4 The stacking device is also equipped with a photoelectric switch 39 near the opening. Each time the pallet rises from the lowest point, it quickly moves to this preparatory position. After the photoelectric switch 39 detects that it is in position, the rising speed slows down until it hits the second suction cup 61 of the whole board transplanting device 6 and is completely sucked in (the negative pressure on the suction cup reaches the switch setting value) and then stops rising.

[0035] Understandably, the stacking device also includes a control unit, which is connected to the servo module 33, scraper cylinder 37, and photoelectric switch 39, either via wired or wireless connection. The photoelectric switch 39 is installed at the opening; when the foam pallet 14 reaches the ready position, the photoelectric switch 39 senses this and sends a signal. The control unit controls the extension or retraction of the scraper cylinder 37 based on the signal from the photoelectric switch 39, thereby controlling the extension or retraction of the scraper 38. The control unit can also control the operating power of the servo module 33 based on the signal from the photoelectric switch 39 to adjust the movement speed and / or direction of the lifting platform plate 34.

[0036] For example, when the lifting platform 34 rises from its lowest point, the control device controls the servo module 33 to operate at higher power, enabling the lifting platform 34 to rise quickly and improving the efficiency of picking up the foam tray 14. When the photoelectric switch 39 detects that the foam tray 14 has reached the ready position, it transmits a signal to the control device, which then controls the servo module 33 to reduce its operating power, thus slowing down the rising speed of the lifting platform 34 and preventing the foam tray 14 from colliding with the whole-board transfer device 6 and being damaged. Furthermore, the control device controls the scraper cylinder 37 to actuate, causing the scraper 38 to extend. The position where the scraper 38 extends is precisely between the picked-up foam tray 14 and the next foam tray 14.

[0037] For example, when the photoelectric switch 39 detects that the top foam tray 14 has been removed, the detection signal of the photoelectric switch 39 changes, transmitting another signal to the control device. The control device's scraper cylinder 37 actuates, causing the scraper 38 to retract, preventing the scraper 38 from blocking the foam tray 14. The control device controls the servo module 33 to actuate, causing the lifting platform plate 34 to descend, allowing the foam tray 14 that may have been lifted during the tray removal process to fall back to the top of the tray stack, facilitating accurate positioning for the next process of picking up the foam tray 14.

[0038] In addition, the second suction cup 61 is also equipped with a negative pressure switch, which is connected to the control device. During the process of the second suction cup 61 picking up the foam tray 14, when the negative pressure switch reaches the set value, it indicates that the foam tray 14 has been picked up by all the second suction cups 61 on the whole board transplanting device 6. At this time, the control device receives the information transmitted by the negative pressure switch and controls the lifting platform plate 34 to stop rising.

[0039] Reference Figures 4 to 7 The stacking device also includes a baffle 52 located on the inner wall of the cavity, creating a gap between the foam pallet and the inner wall of the cavity. In other words, the side of the foam pallet abuts against the baffle 52, but does not contact the inner wall of the cavity. This reduces the resistance when the foam pallet 14 moves up and down, making the movement of the foam pallet 14 smoother.

[0040] Reference Figures 4 to 7The baffle 52 is installed along the height of the silo body, with its top protruding beyond the opening. The baffle 52 guides the foam pallet 14 in the vertical direction and continues to guide its movement even when the foam pallet 14 is sucked away by the whole-pallet transfer device 6. Multiple baffles 52 are installed on the same side wall at intervals along its length. A scraper 38 is located between two baffles 52. When the scraper 38 retracts, the baffle 52 prevents the foam pallet 14 from following the scraper 38, ensuring that the foam pallet 14 does not detach from the silo body.

[0041] Reference Figure 4 The cross-section of the silo is rectangular, and each side wall of the silo is provided with at least one scraper 38 and one scraper cylinder 37. That is, a set of scrapers 38 and scraper cylinders 37 are provided in all four directions of the silo, so that the foam pallet 14 can be evenly separated from four directions, avoiding the foam pallet 14 from tilting severely.

[0042] Reference Figure 8 The scraper 38 includes a plate body 311 connected to a scraper cylinder 37. The plate body 311 has multiple spaced protrusions 312, located on the side of the plate body 311 closest to the foam tray 14; that is, the plate body 311 protrudes towards the foam tray 14 to form the protrusions 312. When the scraper cylinder 37 pushes the scraper 38 towards the foam tray 14, the protrusions 312 first enter between the two foam trays 14. The small area of ​​the protrusions 312 facilitates quickly finding the gap between the two foam trays 14 and entering the gap to separate them. However, if the plate body 311 were to directly enter the gap, it might be blocked by the tilted foam tray 14 below, affecting the separation of the two foam trays 14.

[0043] Reference Figure 8 An arc-shaped portion 313 is provided between adjacent protrusions 312, and the two ends of the arc-shaped portion 313 are respectively connected to the two protrusions 312. By providing the arc-shaped portion 313 as a transition between the two protrusions 312, compared with a right-angle transition, the foam tray 14 can be prevented from being stuck between the two protrusions 312, making it easier for the scraper 38 to detach from the foam tray 14.

[0044] Reference Figure 1 The automatic packing and boxing machine of this embodiment also includes an empty box storage line 9, which is used to temporarily store empty boxes for fully automatic operation, reducing the number of times empty boxes are manually placed, and can also be connected to a box opening device at the front end.

[0045] Reference Figure 1The automatic packing and boxing machine of this embodiment of the invention also includes a boxing conveyor line 10, which is used to transport empty boxes to the boxing station located in the middle, and then to pack and transport foam trays 14 and small round bottles 13.

[0046] Reference Figure 10 The packing conveyor line includes a stop cylinder 51, two clamping cylinders 47, two clamping plates 48, a box-blocking cylinder 49, and a box-blocking plate 50. The two clamping plates 48 are located on both sides of the box 15. Each clamping cylinder 47 is connected to a clamping plate 48. The stop cylinder 51 extends to allow the empty box to reach the packing station. After it reaches the station, the clamping cylinders 47 on both sides drive the clamping plates 48 to extend and fix the position of the empty box. The box-blocking cylinders 49 on both sides push out the box-blocking plate 50 to block the subsequent empty boxes.

[0047] Reference Figure 1 The automatic packing and boxing machine of this invention also includes a box opening opening device 11, which is used to open the box opening outward at a certain angle to prevent the box opening from being scratched and deformed during the packing process.

[0048] Reference Figure 9 The box opening device 11 includes an opening cylinder 45, a rotating shaft push plate 44, a rotating shaft 40, an upper and lower adjustment plate 41, a left support box plate 42, and a right support box plate 43. The rotating shaft push plate 44 is fixedly connected to one end of the rotating shaft 40, the upper and lower adjustment plate 41 is fixedly connected to the rotating shaft 40, and the left support box plate 42 and the right support box plate 43 are connected to the upper and lower adjustment plate 41. The opening cylinder 45 pushes and pulls the rotating shaft push plate 44, thereby driving the rotating shaft 40 to rotate. The upper and lower adjustment plate 41 installed on the rotating shaft 40, together with the left support box plate 42 and the right support box plate 43, flips down, thereby opening the box opening.

[0049] Reference Figure 1 The automatic packing and boxing machine of this embodiment also includes a finished product storage line 12, which is used to temporarily store the full boxes 15, waiting for them to enter the next process. The running route of the boxes 15 is as follows: from the empty box storage line 9, they are transported to the boxing conveyor line 10, and after being packed, they arrive at the finished product storage line 12.

[0050] To better understand the technical solution of the automatic plating and packing machine according to the embodiments of the present invention, the operation process of the automatic plating and packing machine according to the embodiments of the present invention will be described in detail below.

[0051] Small round bottles 13 are continuously fed from the previous process via the feeding conveyor line 1 and arranged in a row. Once a specified quantity is reached, the feeding conveyor line 1 stops, and the planar SCARA robot arm 2 descends to pick up the bottles. At this time, the equidistant dispensing mechanism 4 installed at the lower part of the planar SCARA robot arm 2 has its dispensing cylinder 25 extended, and the first suction cups 30 in a row are in a small-interval state. After reaching the picking position, the first suction cups 30 use vacuum to pick up the row of small round bottles 13 on the feeding conveyor line 1.

[0052] After the planar SCARA robot arm 2 rises, it moves to the position above the corresponding row on the left shelf 21. The dispensing cylinder 25 retracts, driving the parallel four-bar linkage composed of connecting rod 27, slider 26, fixed pin 28, and movable pin 29 to move. This switches the first suction cup 30 of the first row to a large-pitch state (the same as the spacing between the slots on the shelf). Then, the planar SCARA robot arm 2 descends to place the small bottle into the slot. After completing the dispensing action, the planar SCARA robot arm 2 returns to above the feeding conveyor line 1, the dispensing cylinder 25 extends, and the first suction cup 30 of the first row switches back to a small-pitch state, ready to receive the next row of small round bottles 13. This process is repeated.

[0053] When the left panel 21 is full of small round bottles 13, the left slide cylinder 23 pushes them backward to the position to be transported. At this time, the planar SCARA robot 2 automatically places the subsequent incoming materials into the right panel 22 (the two alternately put materials in and push them out).

[0054] While performing the above-mentioned board arrangement work, the six-axis robot 5 on the other side turns right to the left foam pallet hopper 7 or the right foam pallet hopper 8 (depending on which hopper has a pallet) to pick up a foam pallet 14. The whole board transfer device 6 installed at the bottom of the six-axis robot 5 first stops at the top of the stacking device to pick up the material. The second suction cup 61 in the whole board transfer device 6 maintains a vacuum suction state.

[0055] The servo module 33 drives the pallet stack to move upward rapidly. When it reaches the position of the photoelectric switch 39, the upward movement slows down. The top foam pallet 14 of the pallet stack is sent to the second suction cup 61 of the whole board transfer device 6 and is partially sucked by the second suction cup 61. At the same time, due to the combined action of the lifting platform plate 34, spring 35 and foam tray support plate 36, a greater upward force is applied until the foam pallet 14 is sucked by all the second suction cups 61 on the whole board transfer device 6. Then, the negative pressure switch connected to the second suction cups 61 reaches the set value, and the lifting platform plate 34 stops rising.

[0056] The four scraper cylinders 37 on the stacking device simultaneously push out the scrapers 38, inserting them between the sucked-up foam pallet 14 and the next pallet. Driven by the six-axis robot 5, the sucked-up foam pallet 14 is lifted, thus achieving the separation operation of the nested foam pallets 14. Next, the six-axis robot 5 places the sucked-up foam pallet 14 into the box 15. The scrapers 38 on the stacking device retract, and the servo module 33 drives the pallet stack to quickly return to the bottom. The loose, floating foam pallets 14 on the upper layer fall back into the hopper, facilitating the next positioning and picking.

[0057] After the foam tray 14 is placed, the six-axis robot 5 and the whole-board transfer device 6 installed below it turn to the left and pick up all the small round bottles 13 on the left row plate 21 at once, and place them on the corresponding layer of the box 15 of the packing conveyor line 10.

[0058] Reference Figure 11 and Figure 12 As shown, the foam tray 14 has a series of tapered circular indentations, wider at the top and narrower at the bottom. The center distance between each indentation is accurate. However, because the foam tray 14 is made of flexible material and is easily deformed, the distance from the four edges to the center point of the indentation at the edge deviates significantly after the cutting process. When the foam tray 14 is inserted into the box 15, the four edges contact the perimeter of the box 15. Due to the deviation in the inner width of the box 15, the center point of the indentation on the foam tray 14 will deviate from the preset center point when the six-axis robot 5 is unloading the material. Sometimes, when the small round bottle 13 is placed directly, the bottle mouth may fall exactly on the tapered slope of the indentation, resulting in misalignment and the bottle tipping over. Because the foam tray 14 is made of soft and easily deformable material, the following method is required for placement: After the six-axis robot 5 is placed into the box 15 at the predetermined layer height, while holding the small round bottle 13, the robotic arm of the six-axis robot 5 moves back and forth and left and right twice. That is, when the six-axis robot 5 places the small round bottle 13 on the foam tray 14, the second suction cup 61 is not released. The entire tray is moved back and forth and left and right with small amplitude twice, and then the vacuum is released. The purpose is to use the outer circle of the bottle mouth of the small round bottle 13 to drag back and forth to fit the tapered slope on the recess of the foam tray 14, so as to achieve the self-alignment function. When the second suction cup 61 is released, the bottle mouth of the small round bottle 13 is on the bottom plane of the foam tray 14 to ensure that the entire layer is placed flat, that is, to ensure that the small round bottle 13 is accurately placed in the recess of the foam tray 14.

[0059] Repeat this process, placing a foam tray 14 before each small round bottle 13 is taken out, until the box is full.

[0060] After a box is filled, the flipping cylinder 45 in the box opening device 11 drives the rotating shaft 40 to rotate by pushing the rotating shaft push plate 44, causing the left support plate 42 and the right support plate 43 to flip up to a horizontal position. The clamping plates 48 on both sides of the boxing conveyor line 10 retract, the stop cylinder 51 retracts, and the boxing conveyor line 10 starts to send the full box to the finished product storage line 12.

[0061] After a full box leaves the packing station, the stop cylinder 51 extends, and the side box-blocking cylinders 49 retract the box-blocking plates 50. The empty box storage line 9 starts, and empty boxes begin to be fed in. After an empty box arrives at the packing station, the side clamping cylinders 47 push out the clamping plates 48 to fix the position of the empty box, and the side box-blocking cylinders 49 push out the box-blocking plates 50 to stop subsequent empty boxes. The empty box storage line 9 stops. The left box-blocking plate 42 and the right box-blocking plate 43 in the box opening device 11 flip down to the box-blocking position, and the next box begins to be loaded.

[0062] This invention also provides a process method for a stacking device for foam pallets.

[0063] Step 1: Obtain the first signal indicating that the foam tray needs to be grabbed, and the servo module drives the lifting platform plate to rise at the first speed.

[0064] Step 2: Obtain a second signal indicating that the uppermost foam tray has reached the preparatory position. The servo module drives the lifting platform plate to rise at a second speed, and the scraper cylinder pushes out the scraper. The second speed is less than the first speed.

[0065] Step 3: Obtain the third signal indicating that the topmost foam tray has been lifted, the servo module stops, and the scraper cylinder drives the scraper to retract.

[0066] Step 4: The servo module drives the lifting platform plate to descend until it returns to the lowest position.

[0067] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A device for stacking of foamed trays, characterized in that include: The container body has an inner cavity for accommodating a foam tray and an opening at the top of the container body, the opening communicating with the inner cavity; A lifting platform plate, located at the bottom of the silo body and used to support foam pallets; The servo module drives the lifting platform plate to move up and down; A scraper is provided at the opening. The scraper includes a plate body with a plurality of spaced protrusions on the plate body. The protrusions are located on the side of the plate body close to the foam tray. An arc-shaped portion is provided between adjacent protrusions, and the two ends of the arc-shaped portion are respectively connected to the two protrusions. A scraper cylinder is used to push the scraper out so that the two foam trays that are nested together can be separated. The stacking device further includes a control device and a photoelectric switch. The control device is connected to the servo module, the scraper cylinder, and the photoelectric switch. The photoelectric switch is installed at the opening. The control device controls the action of the scraper cylinder and the operating power of the servo module according to the signal transmitted by the photoelectric switch, so as to adjust the movement speed and / or movement direction of the lifting platform plate. The control device controls the action of the scraper cylinder and the operating power of the servo module according to the signal transmitted by the photoelectric switch, so as to adjust the movement speed of the lifting platform plate, including: When the lifting platform rises from the lowest point, the photoelectric switch detects that the foam tray has reached the preparatory position and transmits a signal to the control device. The control device controls the servo module to reduce its operating power, thereby slowing down the rising speed of the lifting platform. The control device also controls the scraper cylinder to extend the scraper.

2. The stacking device for foam pallets according to claim 1, characterized in that, The stacking device also includes a spring and a foam tray support plate. The foam tray support plate is located above the lifting platform plate. The upper end of the spring is connected to the foam tray support plate, and the lower end is connected to the lifting platform plate. The foam tray is placed on the foam tray support plate.

3. The stacking device for foam pallets according to claim 1, characterized in that, The control device controls the action of the scraper cylinder and the operating power of the servo module according to the signal transmitted by the photoelectric switch, so as to adjust the movement speed and / or movement direction of the lifting platform plate, including: When the photoelectric switch detects that the topmost foam tray has been removed, it transmits a signal to the control device. The control device then controls the scraper cylinder to retract the scraper and controls the servo module to lower the lifting platform.

4. The stacking device for foam pallets according to claim 1, characterized in that, The stacking device further includes a baffle located on the inner wall of the cavity, so that there is a gap between the foam tray and the inner wall of the cavity.

5. The stacking device for foam pallets according to claim 4, characterized in that, The baffle is arranged along the height direction of the hopper body, and the top of the baffle protrudes from the opening. There are multiple baffles arranged on the same side wall and they are spaced apart along the length direction of the side wall. The scraper is located between two baffles.

6. The stacking device for foam pallets according to claim 1, characterized in that, The cross-section of the chamber is rectangular, and each side wall of the chamber is provided with at least one scraper and one scraper cylinder.

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