Corrugated carton stacking equipment

Abstract

Corrugated carton stacking equipment relates to the technical field of stacking equipment and comprises a paperboard input mechanism, a stacking robot, a tray processing mechanism, a beating and aligning mechanism, a partition plate placing mechanism and a transfer mechanism, the paperboard input mechanism is used for conveying corrugated paperboards bundled into bundles, and the stacking robot transfers the corrugated paperboards conveyed in place to a tray to form a stack layer; the stacking layer forming mechanism is used for forming stacking layers, the beating and aligning mechanism is used for gathering the formed stacking layers and ascending along with the stacking layers, the partition plate placing mechanism is used for placing partition plates between the stacking layers, the tray processing mechanism is used for outputting full trays and supplying empty trays after the set stacking layers are reached, and the equipment can utilize transfer supporting plates to temporarily store temporary stacking layers in the process that the full trays are moved out and the empty trays are supplied. The stacking robot can continue to stack the corrugated boards to the transfer supporting plates without waiting for the tray processing mechanism to complete full tray output, full tray processing and new stack layer stacking are conducted synchronously, the vacancy time of equipment can be shortened, and the stacking efficiency of the equipment is improved.

Description

Technical Field

[0001] This invention relates to the field of palletizing equipment technology, and specifically to a corrugated cardboard box palletizing equipment. Background Technology

[0002] The core of corrugated cardboard boxes is corrugated cardboard. After the corrugated cardboard is produced, it is cut into box blanks according to the design drawings, and creasing lines are made at the same time to facilitate subsequent folding into boxes. In the traditional corrugated cardboard box stacking process, the box blanks formed by die cutting and creasing need to be stacked and bundled according to a set number of layers to form stacking units. Then, a stacking robot transfers the stacking units to a pallet according to a preset arrangement pattern for stacking layer by layer.

[0003] In existing technologies, after each layer is placed, the palletizing robot needs to use an alignment mechanism to align the loosely stacked layers to prevent misalignment and instability. The alignment mechanism needs to be raised synchronously with the stacking height to achieve the alignment function between layers. However, after the set stack height is achieved, the system needs to perform a series of sequential processes such as pallet retrieval, empty pallet supply, and alignment mechanism reset, causing the palletizing robot to be in a stopped and waiting state. Moreover, to avoid the stack collapsing, the pallet retrieval speed is usually set to be low, resulting in a long idle time for the equipment and restricting the efficiency of the production line. Summary of the Invention

[0004] In view of this, the present invention provides a corrugated cardboard box palletizing device with shorter idle time and higher working efficiency.

[0005] To achieve the above objectives, the present invention provides the following technical solutions.

[0006] The corrugated cardboard box palletizing equipment includes a cardboard input mechanism, a palletizing robot, a pallet handling mechanism, a aligning mechanism, a partition placement mechanism, and a transfer mechanism. The cardboard input mechanism conveys bundled corrugated cardboard. The palletizing robot transfers the delivered cardboard onto pallets to form stacks. The aligning mechanism aggregates the formed stacks and allows them to rise with the stacks. The partition placement mechanism places partitions between each stack. The pallet handling mechanism outputs full pallets and supplies empty pallets after a set stack level is reached. The transfer mechanism includes: The transfer pallet has a first station and a second station, and can slide and switch between the first station and the second station. The pallet drive mechanism is used to drive the transfer pallet to switch between the first station and the second station; When the transfer pallet is in the first station, it is positioned to the side of the alignment mechanism to avoid the working space of the palletizing robot. When the transfer pallet is in the second station, it is directly below the alignment mechanism, so that the palletizing robot can place the corrugated cardboard onto the transfer pallet to form a temporary stack.

[0007] By dynamically switching between the first and second workstations using a transfer pallet, the equipment can buffer temporary stack layers during the process of removing full pallets and supplying empty pallets. The palletizing robot can continue to stack corrugated cardboard to the transfer pallet without waiting for the pallet handling mechanism to complete the output of full pallets, realizing the synchronous processing of full pallets and the stacking of new layers, which can reduce equipment downtime and improve the palletizing efficiency of the equipment.

[0008] Among them, the agencies that provide the best service include: The X-axis drive unit is equipped with two X-axis slides that can slide along the X-axis direction. The Y-axis drive unit has two sets and is respectively installed on two X-axis slides. Each of the two sets of Y-axis drive units has two Y-axis slides that can slide along the Y-axis direction, and the two sets of Y-axis slides are symmetrically distributed. Y-axis baffles are installed on the inner side of each of the two sets of Y-axis drive units. The X-axis baffle has four baffles, which are fixedly connected to each Y-axis slide. The X-axis baffles are perpendicular to the Y-axis baffles to form a aligning area. The lifting drive unit is used to drive the X-axis drive unit to rise and fall. The suction assembly consists of four sets, each mounted on the Y-axis slide. Each set of suction assemblies includes a Z-axis suction cup cylinder fixed to the Y-axis slide and a fixed suction cup connected to the output end of the Z-axis suction cup cylinder. After the temporary stack is formed, the alignment mechanism descends to the empty pallet. Each X-axis baffle and Y-axis baffle slides into the alignment area to aggregate the temporary stack. The transfer pallet switches from the second station to the first station. During the switching process, the fixed suction cup holds the temporary stack tightly. After the transfer pallet is switched, the Z-axis suction cup cylinder drives the fixed suction cup to descend, and the fixed suction cup releases the temporary stack to the empty pallet.

[0009] During the transfer pallet switching process, the cardboard in the temporary stack will gradually detach from the support. Due to the limited clamping force of the alignment mechanism, the cardboard that detaches first is prone to relative downward deviation, leading to interlayer misalignment. When the misaligned cardboard falls into the empty pallet, a stepped fit can easily form at the layer interface between the cardboards, causing a difference in stack height. This cumulative error will damage the verticality of the stack, causing the upper cardboard to risk tipping over during stacking. Furthermore, if the alignment mechanism is used to aggregate and align the cardboard directly after the stepped fit has formed, the fit will deepen. The Z-axis suction cylinder and four sets of fixed suction cups provide additional suction force to compensate for the lack of support force during transfer pallet switching, preventing the cardboard in the temporary stack from relative downward movement during the transfer pallet switching process and avoiding the formation of a stepped fit after the temporary stack loses support. The Z-axis suction cylinder and fixed suction cups are released after the transfer pallet has completely switched to the first station, reducing the probability of interlayer misalignment caused by free fall impact.

[0010] Furthermore, taking the interior of the alignment area as the innermost zone, after the transfer pallet switches from the second station to the first station, the fixed suction cups tighten the temporary stack, and the X-axis and Y-axis slides slide outwards respectively to separate the bundles of corrugated cardboard from each other in the temporary stack. Then, the Z-axis suction cup cylinder drives the fixed suction cup to descend, releasing the temporary stack to the empty pallet. The X-axis and Y-axis slides slide inwards respectively, so that the X-axis and Y-axis baffles re-aggregate the temporary stack. When a stepped fit is formed at the stacked section, the X-axis and Y-axis slides move outwards synchronously to widen the gap between the cardboard pieces, releasing the stepped fit at the stacked section. Then, the temporary stack is re-aggregated, reconstructing and correcting the temporary stack.

[0011] The alignment mechanism also includes two sets of movable suction cup components, which include: Two fixed sleeves are provided, which are respectively fixed to the output ends of two symmetrically distributed Z-axis suction cup cylinders; A support guide rod passes through two fixed sleeves and can slide along the X-axis. A first return spring is connected between the two ends of the support guide rod and the corresponding fixed sleeve. There are two movable suction cups, which are slidably sleeved on the support guide rod. The movable suction cups correspond one-to-one with the fixed sleeves, and a second return spring is connected between the movable suction cups and the corresponding fixed sleeves. Under the action of the second return springs, the two movable suction cups abut against the midpoint of the support guide rod.

[0012] Due to different stacking arrangements, the number of stacks varies, for example, 4, 5, or 6. When more than 4 cardboard pieces are stacked in one layer, the fixed suction cups around the perimeter can only hold the cardboard pieces on the perimeter and pull them outwards. The cardboard pieces in the middle, not being held, remain embedded and may move simultaneously with the other embedded cardboard pieces, making them unable to separate. By setting up a movable suction cup assembly, in the case of two columns, when each column of the stack has 2 cardboard pieces (2+2 mode, 4 cardboard pieces in total), the 4 movable suction cups attach to each of the 4 cardboard pieces, allowing them to separate simultaneously when pulled. When one column of the stack has 2 cardboard pieces and the other column has 3 cardboard pieces (2+3 mode, 5 cardboard pieces in total), for one side of the 2 cardboard pieces, the 2 movable suction cups on that side attach to the 2 cardboard pieces, allowing them to separate when pulled. The 2 movable suction cups on the other side attach to the cardboard pieces in the middle. When a cardboard is pulled, the cardboard held by two movable suction cups is simultaneously subjected to two equal and opposite pulling forces, so it will not move. Meanwhile, the cardboard on both sides is pulled apart from the cardboard in the middle by the fixed suction cups. At this time, the support guide rod is sliding inward relative to the fixed sleeve. When there are 3 cardboards in each column of the stack (3+3 mode, a total of 6 cardboards), the working principle is the same as the pulling principle of the above 3 cardboards on one side, and will not be repeated. Therefore, the movable suction cup assembly can be used simultaneously when the stack arrangement is 2+2, 2+3, or 3+3 mode.

[0013] Furthermore, the partition placement mechanism includes a translation drive unit and an execution suction cup. The execution suction cup is fixed to the output end of the translation drive unit and has an initial station and an execution station. The execution station is located above the temporary stack layer. During the process of the X-axis baffle and Y-axis baffle re-aggregating the temporary stack layer, the execution suction cup adsorbs the partition at the initial station and is driven to the execution station to release the partition onto the stack layer surface. The palletizing robot picks up the next bundle of corrugated cardboard and places it temporarily at the initial station. After the temporary stack layer is aggregated, the execution suction cup adsorbs the bundle of corrugated cardboard and moves it to the new stacking position. The palletizing robot then performs the next gripping operation simultaneously.

[0014] Because temporary stacks require reorganization, the palletizing robot cannot perform palletizing of a new layer during this process, affecting production efficiency. Through a collaborative operation mechanism, during the unavoidable reorganization period of the alignment mechanism, the palletizing robot and the partition placement mechanism work together. The suction cups adsorb the new corrugated cardboard picked up by the palletizing robot and place it, while the palletizing robot simultaneously continues picking up the next corrugated cardboard, reducing the robot's idle time and further improving palletizing efficiency.

[0015] Furthermore, a dust removal mechanism is installed on the Y-axis drive unit near the first workstation. When the transfer pallet switches from the first workstation to the second workstation, the dust removal mechanism cleans the upper surface of the transfer pallet. Since dust easily accumulates on the upper surface of the transfer pallet, this accumulation can easily cause friction damage to the bottom of the corrugated cardboard during the workstation switching process. By installing a dust removal mechanism along the path of the transfer pallet's workstation switching, the upper surface of the transfer pallet can be cleaned before the corrugated cardboard is placed on it, achieving seamless coordination between dynamic cleaning and production cycle, and reducing friction damage to the bottom surface of the corrugated cardboard. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the corrugated cardboard box palletizing equipment of the present invention.

[0017] Figure 2 A three-dimensional structural diagram of the alignment mechanism and the partition placement mechanism.

[0018] Figure 3 An exploded view of the alignment mechanism and partition placement mechanism (the lifting drive component has been hidden for easier display).

[0019] Figure 4 This is a three-dimensional structural diagram of the alignment mechanism and partition placement mechanism when the transfer pallet is located at the second work station (the lifting drive component has been hidden for easy display).

[0020] Figure 5 This is a three-dimensional structural diagram of the alignment mechanism and partition placement mechanism when the transfer pallet is located at the first workstation (the lifting drive component has been hidden for easy display).

[0021] Figure 6 for Figure 5 Enlarged diagram of point A in the middle Figure 7 This is a bottom-view 3D structural diagram of the alignment mechanism and partition placement mechanism when the transfer pallet is located at the first workstation (the lifting drive component has been hidden for easy display).

[0022] Figure 8 for Figure 7 Enlarged diagram of point B in the middle.

[0023] Figure 9 (a) is a schematic diagram of the fixed suction cup and the movable suction cup just adsorbing the cardboard when there are 3 bundles of cardboard in a row of temporary stacks.

[0024] Figure 9 (b) is a schematic diagram of the fixed suction cup and the movable suction cup pulling the cardboard when there are 3 bundles of cardboard in a row of temporary stacks.

[0025] Figure 10(a) is a schematic diagram of the fixed suction cup and the movable suction cup just adsorbing the cardboard when there are two bundles of cardboard in a row of temporary stacks.

[0026] Figure 10 (b) is a schematic diagram of the fixed suction cup and the movable suction cup pulling the cardboard when there are two bundles of cardboard in a row of temporary stacks.

[0027] The reference numerals in the figures include: Alignment mechanism 1, X-axis drive unit 11, X-axis slide 111, Y-axis drive unit 12, Y-axis slide 121, Y-axis baffle 122, X-axis baffle 123, lifting drive unit 13, Z-axis suction cup cylinder 14, fixed suction cup 15, fixed sleeve 16, support guide rod 17, first return spring 171, second return spring 172, movable suction cup 18; Transfer pallet 2, fixed guide post 21, first station 211, second station 212, pallet drive mechanism 22; Partition placement mechanism 3, translation drive unit 31, X-axis translation unit 311, Y-axis translation unit 312, Z-axis translation unit 313, execution suction cup 32, initial station 321, execution station 322, partition 33; Temporary stack 4, corrugated cardboard 41, pallet 5, cardboard input mechanism 6, palletizing robot 7, pallet handling mechanism 8, dust removal mechanism 9. Detailed Implementation

[0028] The invention will be described in detail below with reference to specific embodiments.

[0029] Combination Figures 1-3 The cardboard palletizing equipment in this embodiment is used to palletize pre-produced bundles of corrugated cardboard 41, which, when unfolded, form corrugated cardboard boxes. The equipment includes a cardboard input mechanism 6, a palletizing robot 7, a pallet handling mechanism 8, a stacking mechanism 1, a partition placement mechanism 3, and a transfer mechanism. The cardboard input mechanism 6 transports the bundled corrugated cardboard 41. The palletizing robot 7 transfers the transported corrugated cardboard 41 to a pallet 5 to form a stack. After each layer is placed on the pallet 5 (i.e., a stack is formed), the stacking robot... Alignment mechanism 1 gathers the formed stack layers, bringing together and adhering the bundles of corrugated cardboard 41 within that stack layer, ensuring the outer edge of the stack layer is flush with other stack layers. Alignment mechanism 1 rises with the stack layer. Partition placement mechanism 3 places partitions 33 between each stack layer. After alignment mechanism 1 gathers the stack layers, partition placement mechanism 3 places a partition 33 on that stack layer. Pallet handling mechanism 8, after the set number of stack layers is reached (i.e., a stack is full), transports and outputs the stack, supplying an empty pallet 5 for stacking the next stack. The transfer mechanism includes a transfer pallet 2, fixed guide posts 21, and a pallet drive mechanism 22. (See [link]). Figure 5The transfer pallet 2 has a first station 211 and a second station 212. The fixed guide post 21 is fixedly connected to the alignment mechanism 1. The fixed guide post 21 is equipped with a guide rail. The transfer pallet 2 is slidably connected to the fixed guide post 21 via the guide rail, so that it can slide and switch between the first station 211 and the second station 212. The pallet drive mechanism 22 is installed at the bottom of the alignment mechanism 1, and it drives the transfer pallet 2 to slide and switch between the first station 211 and the second station 212.

[0030] When the intermediate transfer pallet 2 is located at the first station 211, it is positioned to the side of the aligning mechanism 1 to avoid the working space of the palletizing robot 7; when the intermediate transfer pallet 2 is located at the second station 212, it is positioned directly below the aligning mechanism 1 so that the palletizing robot 7 can place the corrugated cardboard 41 onto the intermediate transfer pallet 2 to form a temporary stack layer 4.

[0031] Initially, the transfer pallet 2 is located at the first station 211. When the stack reaches the set number of layers, the alignment mechanism 1 rises to avoid the path of the full pallet 5. The pallet handling mechanism 8 transports away the full pallet 5 (the pallet with a full stack of corrugated cardboard 41). At the same time, the transfer pallet 2 switches to the second station 212, and the palletizing robot 7 places the corrugated cardboard 41 onto the transfer pallet 2 until a temporary stack layer 4 is formed. At this time, the previous full pallet 5 has been transported away, and the empty pallet 5 has been placed in place. The alignment mechanism 1 and the transfer mechanism descend synchronously to the empty pallet 5. At this point, the transfer pallet 2 switches to the first workstation 211. During this process, the aligning mechanism 1 can pre-gather the temporary stack layer 4, or simply move to the edge of the temporary stack layer 4. After the transfer pallet 2 slides to the first workstation 211, the temporary stack layer 4 cannot be moved with the transfer pallet 2 due to the obstruction of the aligning mechanism 1, and thus falls onto the empty pallet 5 below. The aligning mechanism 1 gathers the fallen temporary stack layer 4, and the palletizing robot 7 continues to stack the subsequent corrugated cardboard 41. The partition placement mechanism 3 places partitions 33 between each stack layer, and the cycle continues until the full stack is output.

[0032] By dynamically switching between the first station 211 and the second station 212, the equipment can buffer temporary stack layers 4 during the process of removing full pallets 5 and supplying empty pallets 5. The palletizing robot 7 can continue to stack corrugated cardboard 41 to the transfer pallet 2 without waiting for the pallet handling mechanism 8 to complete the output of full pallets 5, realizing the synchronous processing of full pallets 5 and the stacking of new stack layers, which can reduce equipment idle time and improve the palletizing efficiency of the equipment.

[0033] During the switching process of the transfer pallet 2, the bundles of corrugated cardboard 41 in the temporary stack 4 will gradually detach from the support and fall onto the empty pallet 5 one after another. Each bundle of corrugated cardboard 41 has multiple stacked and bundled pieces, so the edges of each bundle are not flush but serrated. Due to the different times of falling, the edges of adjacent bundles of corrugated cardboard 41 may be misaligned, resulting in overlapping, similar to two serrated edges interlocking, causing an upward bulge. The stack is also not flush, and the cumulative error of continued stacking will damage the verticality of the stack, making it difficult to gather and easy to fall apart, increasing the risk of tipping over. Furthermore, when the subsequent alignment mechanism 1 gathers and aligns the stack, it not only fails to untie the interlocking of the edges of adjacent bundles of corrugated cardboard 41, but also causes the interlocking to deepen. To solve this problem, combined with Figures 3-6 The alignment mechanism 1 includes an X-axis drive unit 11, a Y-axis drive unit 12, a lifting drive unit 13, and a clamping assembly. Each drive unit can employ common drive mechanisms such as ball screws or linear modules. The X-axis drive unit 11 has two X-axis slides 111 that can slide along the X-axis direction. Two sets of Y-axis drive units 12 are respectively mounted on the two X-axis slides 111. Each set of Y-axis drive units 12 has two Y-axis slides 121 that can slide along the Y-axis direction, and the two sets of Y-axis slides 121 are symmetrically distributed. Y-axis baffles 122 are installed on the inner side of each set of Y-axis drive units 12. An X-axis baffle 123 is fixedly mounted on each Y-axis slide 121, perpendicular to the Y-axis baffles 122 to enclose and form an alignment area. The X-axis drive unit 11 is mounted on the lifting drive unit 13, and the pallet drive mechanism 22 is mounted on the bottom of the X-axis drive unit 11. Each Y-axis slide 121 is equipped with a suction assembly. Each suction assembly includes a Z-axis suction cup cylinder 14 fixed to the Y-axis slide 121 and a fixed suction cup 15 connected to the output end of the Z-axis suction cup cylinder 14. The fixed suction cup 15 is connected to an external air source so that it can be pumped to form a negative pressure.

[0034] After the temporary stack 4 is formed, the alignment mechanism 1 descends to the empty pallet 5. Each X-axis baffle 123 and Y-axis baffle 122 slides into the alignment area to aggregate the temporary stack 4. The transfer pallet 2 switches from the second station 212 to the first station 211. During the switching process, the fixed suction cup 15 clamps the temporary stack 4. After the transfer pallet 2 is switched, the Z-axis suction cup cylinder 14 drives the fixed suction cup 15 to descend, and the fixed suction cup 15 releases the temporary stack 4 to the empty pallet 5.

[0035] The Z-axis suction cylinder 14 and fixed suction cups 15 provide additional suction force, which can hold the corrugated cardboard 41 to prevent its lateral displacement and compensate for the lack of support force when the transfer pallet 2 is switched, thus preventing the edges of adjacent bundles of corrugated cardboard 41 in the temporary stack 4 from interlocking. The Z-axis suction cylinder 14 and fixed suction cups 15 are released after the transfer pallet 2 is completely switched to the first station 211, reducing the probability of interlayer misalignment caused by free fall impact.

[0036] Furthermore, the movements of the X-axis slide 111, Y-axis slide 121, and suction assembly can be controlled to release the edge-to-edge engagement of adjacent bundles of corrugated cardboard 41. Taking the interior of the alignment area as the inside, after the transfer pallet 2 switches from the second station 212 to the first station 211, the fixed suction cup 15 suctions the temporary stack 4, and the X-axis slide 111 and Y-axis slide 121 slide outwards respectively, so as to separate the bundles of corrugated cardboard 41 of the temporary stack 4 from each other. Then, the fixed suction cup 15 releases the temporary stack 4 to the empty tray 5 below, and the X-axis slide 111 and Y-axis slide 121 slide inwards respectively, so that the X-axis baffle 123 and Y-axis baffle 122 re-aggregate the temporary stack 4. When a stepped fit is formed at the stacked section, the X-axis slide 111 and Y-axis slide 121 move outward synchronously to expand the spacing between each bundle of corrugated cardboard 41, thereby releasing the stepped fit formed at the stacked section. Then, the temporary stack 4 is aggregated again to reconstruct and correct the temporary stack 4.

[0037] The stacking arrangement and number of layers vary depending on the type of corrugated cardboard product (e.g., 4, 5, or 6 layers). If more than 4 cardboard layers are stacked in one layer, interlocking issues may arise. The suction cups 15 located around the perimeter can only hold the outermost layers and pull them outwards, while the cardboard in the middle of each column cannot be held and remains interlocked. This interlocked cardboard may move simultaneously with the other interlocked cardboard and become impossible to separate. Figures 4-6 The alignment mechanism 1 also includes two sets of movable suction cup assemblies. Each movable suction cup assembly includes a fixed sleeve 16, a support guide rod 17, and a movable suction cup 18. Two fixed sleeves 16 are provided, each fixed to the output end of one of two symmetrically distributed Z-axis suction cup cylinders 14. The support guide rod 17 is installed through both fixed sleeves 16 and slidably connected to them to allow sliding along the X-axis. Figure 9 A first return spring 171 is connected between the two ends of the support guide rod 17 and the corresponding fixed sleeve 16. Two movable suction cups 18 are provided, which are slidably sleeved on the support guide rod 17 and connected to an external air source. The movable suction cups 18 correspond one-to-one with the fixed sleeves 16. A second return spring 172 is connected between the corresponding movable suction cup 18 and the fixed sleeve 16. The two movable suction cups 18 abut against the midpoint of the support guide rod 17 under the action of the second return spring 172.

[0038] See Figure 10 When the corrugated cardboard 41 of the temporary stack 4 is arranged in 2 columns, and each column of the stack contains only 2 bundles of corrugated cardboard 41 (2+2 pattern, a total of 4 bundles of cardboard), see [reference]. Figure 10 (a) Four movable suction cups 18 are respectively attached to four bundles of corrugated cardboard 41, see Figure 10 (b) Each bundle of corrugated cardboard 41 can be separated simultaneously when pulled. When one column of the stack has 2 bundles of corrugated cardboard 41 and the other column has 3 bundles of corrugated cardboard 41 (2+3 mode, a total of 5 bundles of cardboard), for one side of the 2 bundles of corrugated cardboard 41, the two movable suction cups 18 of the movable suction cup assembly on that side are respectively attached to the 2 bundles of corrugated cardboard 41, and the two bundles of corrugated cardboard 41 can be separated when pulled. See [link to relevant documentation]. Figure 9 (a) On the other side, the two movable suction cups 18 of the movable suction cup assembly adhere to the same bundle of corrugated cardboard 41 located in the middle, see [reference]. Figure 9 (b) When pulled, the corrugated cardboard 41 adsorbed by the two movable suction cups 18 is simultaneously subjected to two pulling forces of equal magnitude and opposite direction, so it will not move. The corrugated cardboard 41 on both sides is pulled and separated from the middle cardboard under the action of the fixed suction cup 15. At this time, the state of the support guide rod 17 is to slide inward relative to the fixed sleeve 16. When each stack has 3 bundles of corrugated cardboard 41 (3+3 mode, a total of 6 cardboard), its working principle is the same as the pulling principle of the 3 bundles of corrugated cardboard 41 on one side, and will not be repeated. Therefore, the movable suction cup assembly can simultaneously meet the needs of the stack arrangement in 2+2, 2+3, and 3+3 modes.

[0039] Because temporary pallet layer 4 needs to be reorganized, palletizing robot 7 cannot perform palletizing operations on a new layer during this process. Figures 3-4 As shown, the partition placement mechanism 3 includes a translation drive unit 31 and an execution suction cup 32. The execution suction cup 32 is fixed to the output end of the translation drive unit 31 and connected to an external air source. The execution suction cup 32 is provided with an initial station 321 and an execution station 322. The execution station 322 is located above the temporary stack layer 4. The translation drive unit 31 includes an X-axis translation unit 311, a Y-axis translation unit 312, and a Z-axis translation unit 313, which enables the execution suction cup 32 to form a spatial moving pair. During the process of the X-axis baffle 123 and the Y-axis baffle 122 re-aggregating the temporary stack layer 4, the execution suction cup 32 first adsorbs the partition 33 at the initial station 321, and then moves to the execution station 322 under the drive of the translation drive unit 31 to release the partition 33 to the surface of the stack layer. At this time, the palletizing robot 7 picks up a bundle of corrugated cardboard 41 and places it on the partition 33 of the initial station 321 for temporary placement. After the temporary stack layer 4 is sorted, the execution suction cup 32 adsorbs the bundle of corrugated cardboard 41 and moves it to the new stacking position. In this way, the palletizing robot 7 does not need to wait during the process of sorting the temporary stack layer 4.

[0040] Through a collaborative operation mechanism, during the unavoidable aggregation and reorganization period of the alignment mechanism 1, the palletizing robot 7 and the partition placement mechanism 3 work together to allow the suction cup 32 to adsorb the new corrugated cardboard 41 picked up by the palletizing robot 7 and place it temporarily. Then, the palletizing robot 7 continues to pick up the next corrugated cardboard 41 in sync, reducing the idle time of the palletizing robot 7 and further improving palletizing efficiency.

[0041] Because the upper surface of the transfer pallet 2 is prone to dust accumulation, this dust can easily cause friction damage to the bottom of the corrugated cardboard 41 during station switching. Combined with... Figures 7-8 A dust removal mechanism 9 is provided on the Y-axis drive unit 12 near the first station 211. The dust removal mechanism 9 can be a negative pressure dust collection device, an electrostatic dust collection device, or a jet dust blowing device, etc. The output port of the dust removal mechanism 9 is aligned with the upper surface of the transfer pallet 2. When the transfer pallet 2 switches from the first station 211 to the second station 212, the upper surface of the transfer pallet 2 passes through the output port of the dust removal mechanism 9, and the dust removal mechanism 9 removes dust from the upper surface of the transfer pallet 2. By setting the dust removal mechanism 9 on the path of the transfer pallet 2 switching stations, the upper surface of the transfer pallet 2 can be cleaned before the corrugated cardboard 41 is placed on the transfer pallet 2, achieving seamless coordination between dynamic cleaning and production cycle, and reducing friction damage to the bottom surface of the corrugated cardboard 41.

[0042] The working process of the corrugated cardboard box palletizing equipment of the present invention is as follows: Initially, the transfer pallet 2 is located at the first station 211, avoiding the working space of the palletizing robot 7. The cardboard input mechanism 6 delivers bundled cardboard, and the palletizing robot 7 transfers the cardboard to the pallet 5 to stack it into layers. The alignment mechanism 1 aggregates each layer of the stack and lifts it synchronously with the stack. After each layer of the stack is formed and aggregated by the alignment mechanism 1, the partition placement mechanism 3 places a partition 33 on the stack. When the number of layers is reached, the pallet processing mechanism 8 outputs a full pallet 5 and inputs an empty pallet 5. During this process, the alignment mechanism 1 lifts to avoid the space, and the transfer pallet 2 switches to the second station 212 to receive the temporary stack 4 that the palletizing robot 7 continues to stack. After completing one temporary stack layer 4, the alignment mechanism 1 and the transfer mechanism simultaneously descend to the empty pallet 5 position. The fixed suction cup 15 and the movable suction cup 18 adsorb the temporary stack layer 4, and the transfer pallet 2 retracts to the first station 211. The X-axis slide 111, the Y-axis slide 121, and the suction assembly move to cause the bundles of corrugated cardboard 41 adsorbed by the suction cups to spread and separate outwards. The Z-axis suction cup cylinder 14 controls the release of the temporary stack layer 4 to the empty pallet 5. Subsequently, the alignment mechanism 1 reconstructs and reassembles the temporary stack layer 4 through the X and Y axis baffles 122. The movable suction cup assembly adaptively separates the interlocked corrugated cardboard 41 according to the arrangement pattern. The partition placement mechanism 3 performs partition 33 placement and, in coordination with the palletizing robot 7, performs the temporary placement and re-movement of the first bundle of corrugated cardboard 41 of the next layer to the new placement position, achieving seamless process connection. During the process of the transfer pallet 2 switching from the first station 211 to the second station 212, the dust removal mechanism 9 cleans the upper surface of the transfer pallet 2.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions created by the present invention, and are not intended to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions created by the present invention without departing from the essence and scope of the technical solutions created by the present invention.

Claims

1. A corrugated cardboard box palletizing equipment, comprising a cardboard input mechanism, a palletizing robot, a pallet handling mechanism, an alignment mechanism, and a partition placement mechanism. The cardboard input mechanism is used to transport bundled corrugated cardboard. The palletizing robot transfers the transported corrugated cardboard to a pallet to form a stack. The alignment mechanism aggregates the formed stacks and rises with them. The partition placement mechanism is used to place partitions between each stack. The pallet handling mechanism outputs a full pallet and supplies an empty pallet after a set stack level is reached. The equipment is characterized by... It also includes transit agencies, which include: The transfer pallet has a first station and a second station, and can slide and switch between the first station and the second station. The pallet drive mechanism is used to drive the transfer pallet to switch between the first station and the second station; When the transfer pallet is in the first station, it is positioned to the side of the alignment mechanism to avoid the working space of the palletizing robot. When the transfer pallet is in the second station, it is directly below the alignment mechanism, so that the palletizing robot can place the corrugated cardboard onto the transfer pallet to form a temporary stack.

2. The corrugated cardboard box palletizing equipment as described in claim 1, characterized in that, Paiqi agencies include: The X-axis drive unit is equipped with two X-axis slides that can slide along the X-axis direction. The Y-axis drive unit has two sets and is respectively installed on two X-axis slides. Each of the two sets of Y-axis drive units has two Y-axis slides that can slide along the Y-axis direction, and the two sets of Y-axis slides are symmetrically distributed. Y-axis baffles are installed on the inner side of each of the two sets of Y-axis drive units. The X-axis baffle has four baffles, which are fixedly connected to each Y-axis slide. The X-axis baffles are perpendicular to the Y-axis baffles to form a aligning area. The lifting drive unit is used to drive the X-axis drive unit to rise and fall. The suction assembly consists of four sets, each mounted on the Y-axis slide. Each set of suction assemblies includes a Z-axis suction cup cylinder fixed to the Y-axis slide and a fixed suction cup connected to the output end of the Z-axis suction cup cylinder. After the temporary stack is formed, the alignment mechanism descends to the empty pallet. Each X-axis baffle and Y-axis baffle slides into the alignment area to aggregate the temporary stack. The transfer pallet switches from the second station to the first station. During the switching process, the fixed suction cup holds the temporary stack tightly. After the transfer pallet is switched, the Z-axis suction cup cylinder drives the fixed suction cup to descend, and the fixed suction cup releases the temporary stack to the empty pallet.

3. The corrugated cardboard box palletizing equipment as described in claim 2, characterized in that, Taking the interior of the alignment area as the inside, after the transfer pallet switches from the second station to the first station, the fixed suction cups tighten the temporary stack, and the X-axis slide and Y-axis slide respectively slide outward to separate the bundles of corrugated cardboard from each other in the temporary stack. Then, the Z-axis suction cup cylinder drives the fixed suction cup to descend, and the fixed suction cup releases the temporary stack to the empty pallet. The X-axis slide and Y-axis slide respectively slide inward to allow the X-axis baffle and Y-axis baffle to re-aggregate the temporary stack.

4. The corrugated cardboard box palletizing equipment as described in claim 3, characterized in that, The alignment mechanism also includes two sets of movable suction cup components, which include: Two fixed sleeves are provided, which are respectively fixed to the output ends of two symmetrically distributed Z-axis suction cup cylinders; A support guide rod passes through two fixed sleeves and can slide along the X-axis. A first return spring is connected between the two ends of the support guide rod and the corresponding fixed sleeve. There are two movable suction cups, which are slidably sleeved on the support guide rod. The movable suction cups correspond one-to-one with the fixed sleeves, and a second return spring is connected between the movable suction cups and the corresponding fixed sleeves. Under the action of the second return springs, the two movable suction cups abut against the midpoint of the support guide rod.

5. The corrugated cardboard box palletizing equipment as described in claim 3, characterized in that, The partition placement mechanism includes a translation drive unit and an execution suction cup. The execution suction cup is fixed to the output end of the translation drive unit. The execution suction cup has an initial station and an execution station. The execution station is located above the temporary stack layer. During the process of the X-axis baffle and Y-axis baffle re-aggregating the temporary stack layer, the execution suction cup adsorbs the partition at the initial station and is driven to the execution station to release the partition onto the stack layer surface. The palletizing robot picks up the next bundle of corrugated cardboard and places it temporarily at the initial station. After the temporary stack layer is aggregated, the execution suction cup adsorbs the bundle of corrugated cardboard and moves it to the new stacking position. The palletizing robot then performs the next gripping operation simultaneously.

6. The corrugated cardboard box palletizing equipment as described in claim 2, characterized in that, A dust removal mechanism is installed on the Y-axis drive unit near the first workstation. When the transfer tray is switched from the first workstation to the second workstation, the dust removal mechanism removes dust from the upper surface of the transfer tray.

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